PDO-Zuordnung

Zur Konfiguration der Prozessdaten markieren Sie im oberen linken Feld „Sync Manager“ (siehe Abb. Karteireiter Prozessdaten SM2, EL70xx (default) und SM3, EL70xx (default)) den gewünschten Sync Manager (editierbar sind hier SM 2 + 3).
Im Feld darunter „PDO Zuordnung“ können dann die diesem Sync Manager zugeordneten Prozessdaten an- oder abschaltet werden.
Ein Neustart des EtherCAT-Systems oder Neuladen der Konfiguration im Config-Modus (F4) bewirkt einen Neustart der EtherCAT-Kommunikation und die Prozessdaten werden von der Klemme übertragen.

SM2, PDO-Zuordnung 0x1C12
Index	Index ausgeschlossener PDOs	Größe (Byte.Bit)	Name	PDO Inhalt Index - Name
0x1600 (default)	0x1601	4.0	ENC Control compact	0x7000:02 - Enable Latch extern on positive edge 0x7000:03 - Set counter 0x7000:04 - Enable Latch extern on negative edge 0x7000:11 - Set counter value (16-bit)
0x1601	0x1600	6.0	ENC Control	0x7000:02 - Enable Latch extern on positive edge 0x7000:03 - Set counter 0x7000:04 - Enable Latch extern on negative edge 0x7000:11 - Set counter value (32-bit)
0x1602 (default)	-	2.0	STM Control	0x7010:01 - Enable 0x7010:02 - Reset 0x7010:03 - Reduce torque
0x1603	0x1604 0x1605 0x1606	4.0	STM Position	0x7010:11 - Position
0x1604 (default)	0x1603 0x1605 0x1606	2.0	STM Velocity	0x7010:21 - Velocity
0x1605	0x1603 0x1604 0x1606	6.0	POS Control compact	0x7020:01 - Execute 0x7020:02 - Emergency stop 0x7020:11 - Target position
0x1606	0x1603 0x1604 0x1605	14.0	POS Control	0x7020:01 - Execute 0x7020:02 - Emergency stop 0x7020:11 - Target position 0x7020:21 - Velocity 0x7020:22 - Start type 0x7020:23 - Acceleration 0x7020:24 - Deceleration
0x1607	0x1603 0x1604 0x1605	14.0	POS Control 2	0x7021:03 – Enable auto start 0x7021:11 – Target Velocity 0x7021:21 – Velocity 0x7021:22 – Start type 0x7021:23 – Acceleration 0x7021:24 – Deceleration

SM3, PDO-Zuordnung 0x1C13
Index	Index ausgeschlossener PDOs	Größe (Byte.Bit)	Name	PDO Inhalt Index - Name
0x1A00 (default)	0x1A01	6.0	ENC Status compact	0x6000:02 - Latch extern valid 0x6000:03 - Set counter done 0x6000:04 - Counter underflow 0x6000:05 - Counter overflow 0x6000:0D - Status of extern latch 0x6000:0E - Sync error 0x6000:10 - TxPDO Toggle 0x6000:11 - Counter value (16-Bit) 0x6000:12 - Latch value (16-Bit)
0x1A01	0x1A00	10.0	ENC Status	0x6000:02 - Latch extern valid 0x6000:03 - Set counter done 0x6000:04 - Counter underflow 0x6000:05 - Counter overflow 0x6000:0D - Status of extern latch 0x6000:0E - Sync error 0x6000:10 - TxPDO Toggle 0x6000:11 - Counter value (32-Bit) 0x6000:12 - Latch value (32-Bit)
0x1A02	-	4.0	ENC Timest. compact	0x6000:16 - Timestamp
0x1A03 (default)	-	2.0	STM Status	0x6010:01 - Ready to enable 0x6010:02 - Ready 0x6010:03 - Warning 0x6010:04 - Error 0x6010:05 - Moving positive 0x6010:06 - Moving negative 0x6010:07 - Torque reduced 0x6010:0C - Digital input 1 0x6010:0D - Digital input 2 0x6010:0E - Sync error 0x6010:10 - TxPDO Toggle
0x1A04	-	4.0	STM Synchron info data	0x6010:11 - Info data 1 0x6010:12 - Info data 2
0x1A05	0x1A06	2.0	POS Status compact	0x6020:01 - Busy 0x6020:02 - in-Target 0x6020:03 - Warning 0x6020:04 - Error 0x6020:05 - Calibrated 0x6020:06 - Accelerate 0x6020:07 - Decelerate 0x6020:08 - Ready to execute
0x1A06	0x1A05	12.0	POS Status	0x6020:01 - Busy 0x6020:02 - in-Target 0x6020:03 - Warning 0x6020:04 - Error 0x6020:05 - Calibrated 0x6020:06 - Accelerate 0x6020:07 - Decelerate 0x6020:08 - Ready to execute 0x6020:11 - Actual position 0x6020:21 - Actual velocity 0x6020:22 - Actual drive time
0x1A07	-	4.0	STM Internal position	0x6010:14 - Internal position
0x1A08	-	4.0	STM External position	0x6010:15 - External position
0x1A09	-	4.0	POS actual position lag	0x6020:23 - Actual position lag
0x1A0A	0x1A0B	4.0	AI Standard Channel 1	0x6030:01 - Underrange 0x6030:02 - Overrange 0x6030:03 - Limit 1 0x6030:05 - Limit 2 0x6030:10 - TxPDO Toggle 0x6030:11 - Value
0x1A0B	0x1A0A	2.0	AI Compact Channel 1	0x6030:11 - Value
0x1A0C	0x1A0D	4.0	AI Standard Channel 2	0x6040:01 - Underrange 0x6040:02 - Overrange 0x6040:03 - Limit 1 0x6040:05 - Limit 2 0x6040:10 - TxPDO Toggle 0x6040:11 - Value
0x1A0D	0x1A0C	2.0	AI Standard Channel 2	0x6040:11 - Value