Prozessdaten MDP742

Inhaltsverzeichnis
Sync Manger PDO-Zuordnung Predefined PDO Assignment

Sync Manager (SM)

Sync Manager (SM) Der Umfang der angebotenen Prozessdaten kann über den Reiter „Prozessdaten“ verändert werden (siehe folgende Abb.).

Prozessdaten MDP742 1: — Karteireiter Prozessdaten SM2, EL72x1-0010 (default)

Prozessdaten MDP742 2: — Karteireiter Prozessdaten SM3, EL72x1-0010 (default)

PDO-Zuordnung

Zur Konfiguration der Prozessdaten markieren Sie im oberen linken Feld „Sync Manager“ (siehe Abb. Karteireiter Prozessdaten SM3, EL72x1-0010) den gewünschten Sync Manager (editierbar sind hier SM2 und SM3).
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	Größe (Byte.Bit)	Name	PDO Inhalt Index - Name, Größe (Byte.Bit)
0x1600 (default)	2.0	DRV Controlword	0x7010:01 - Controlword (2.0)
0x1601 (default)	4.0	DRV Target velocity	0x7010:06 - Target velocity (4.0)
0x1602	2.0	DRV Target torque	0x7010:09 - Target torque (2.0)
0x1603	2.0	DRV Commutation angle	0x7010:0E - Commutation angle (2.0)
0x1604	2.0	DRV Torque limitation	0x7010:0B - Torque limitation (2.0)
0x1605	2.0	DRV Torque offset	0x7010:0A - Torque offset (2.0)
0x1606	4.0	DRV Target position	0x7010:05 - Target position (4.0)
0x1607	2.0	FB Touch probe control	0x7001:01 - Touch probe function_TP1 Enable (0.1) 0x7001:02 - Touch probe function_TP1 Continous (0.1) 0x7001:03 - Touch probe function_TP1 Trigger mode (0.2) 0x7001:05 - Touch probe function_TP1 Enable pos. edge (0.1) 0x7001:06 - Touch probe function_TP1 Enable neg. edge (0.1) 0x7001:09 - Touch probe function_TP2 Enable (0.1) 0x7001:0A - Touch probe function_TP2 Continous (0.1) 0x7001:0B - Touch probe function_TP2 Trigger mode (0.2) 0x7001:0D - Touch probe function_TP2 Enable pos. edge (0.1) 0x7001:0E - Touch probe function_TP2 Enable neg. edge (0.1)
0x1608	1.0	DRV Modes of operation	0x7010:03 - Modes of operation (1.0)
0x1630*	40.0	DMC Outputs	0x7030:02 - DMC_FeedbackControl_Enable latch extern on positive edge (0.1) 0x7030:03 - DMC_FeedbackControl_Set counter (0.1) 0x7030:04 - DMC_FeedbackControl_Enable latch extern on negative edge (0.1) 0x7030:11 - DMC_DriveControl_Enable (0.1) 0x7030:12 - DMC_DriveControl_Reset (0.1) 0x7030:21 - DMC_PositioningControl_Execute (0.1) 0x7030:22 - DMC_PositioningControl_Emergency stop (0.1) 0x7030:31 - DMC_Set counter value (8.0) 0x7030:32 - DMC_Target position (8.0) 0x7030:33 - DMC_Target velocity (2.0) 0x7030:34 - DMC_Start typev (2.0) 0x7030:35 - DMC_Target acceleration (2.0) 0x7030:36 - DMC_Target deceleration (2.0)
0x1630*	40.0	DMC Outputs 32 Bit	0x7030:02 - DMC_FeedbackControl_Enable latch extern on positive edge (0.1) 0x7030:03 - DMC_FeedbackControl_Set counter (0.1) 0x7030:04 - DMC_FeedbackControl_Enable latch extern on negative edge (0.1) 0x7030:11 - DMC_DriveControl_Enable (0.1) 0x7030:12 - DMC_DriveControl_Reset (0.1) 0x7030:21 - DMC_PositioningControl_Execute (0.1) 0x7030:22 - DMC_PositioningControl_Emergency stop (0.1) 0x7030:31 - DMC_Set counter value (4.0) 0x7030:32 - DMC_Target position (4.0) 0x7030:33 - DMC_Target velocity (2.0) 0x7030:34 - DMC_Start type (2.0) 0x7030:35 - DMC_Target acceleration (2.0) 0x7030:36 - DMC_Target deceleration (2.0)

*) ab Firmware 19

SM3, PDO-Zuordnung 0x1C13

Index	Größe (Byte.Bit)	Name	PDO Inhalt Index - Name, Größe (Byte.Bit)
0x1A00 (default)	4.0	FB Position	0x6000:11 - Position (4.0)
0x1A01 (default)	2.0	DRV Statusword	0x6010:01 - Statusword (2.0)
0x1A02	4.0	DRV Velocity actual value	0x6010:07 - Velocity actual value (4.0)
0x1A03	2.0	DRV Torque actual value	0x6010:08 - Torque actual value (2.0)
0x1A04	2.0	DRV Info data 1	0x6010:12 - Info data 1 (2.0)
0x1A05	2.0	DRV Info data 2	0x6010:13 - Info data 2 (2.0)
0x1A06	4.0	DRV Following error actual value	0x6010:09 - Following error actual value (4.0)
0x1A07	2.0	FB Touch probe status	0x6001:01 - Touch probe status_ TP1 Enable (0.1) 0x6001:02 - Touch probe status_ TP1 Pos. value stored (0.1) 0x6001:03 - Touch probe status_ TP1 Neg. value stored (0.1) 0x6001:08 - Touch probe status_ TP1 Input (0.1) 0x6001:09 - Touch probe status_ TP2 Enable (0.1) 0x6001:0A - Touch probe status_ TP2 Pos. value stored (0.1) 0x6001:0B - Touch probe status_ TP2 Neg. value stored (0.1) 0x6001:10 - Touch probe status_ TP2 Input (0.1)
0x1A08	4.0	FB Touch probe 1 pos. position	0x6001:11 - TP1 Pos position (4.0)
0x1A09	4.0	FB Touch probe 1 neg. position	0x6001:12 - TP1 Neg position (4.0)
0x1A0A	4.0	FB Touch probe 2 pos. position	0x6001:13 - TP2 Pos position (4.0)
0x1A0B	4.0	FB Touch probe 2 neg. position	0x6001:14 - TP2 Neg position (4.0)
0x1A0C	2.0	FB Status	0x6000:0E - Status_TxPDO State (0.1) 0x6000:0F - Status_Input Cycle Counter (0.2)
0x1A0E	1.0	DRV Modes of operation display	0x6010:03 - Modes of operation display (1.0)
0x1A30*	64.0	DMC Inputs	0x6030:02 - DMC_FeedbackStatus_Latch extern valid (0.1) 0x6030:03 - DMC_FeedbackStatus_Set counter done (0.1) 0x6030:0D - DMC_FeedbackStatus_Status of extern Latch (0.1) 0x6030:11 - DMC_DriveStatus_Ready to enable (0.1) 0x6030:12 - DMC_DriveStatus_Ready (0.1) 0x6030:13 - DMC_DriveStatus_Warning (0.1) 0x6030:14 - DMC_DriveStatus_Error (0.1) 0x6030:15 - DMC_DriveStatus_Movin positive (0.1) 0x6030:16 - DMC_DriveStatus_Moving negative (0.1) 0x6030:1C - DMC_DriveStatus_Digital input 1 (0.1) 0x6030:1D - DMC_DriveStatus_Digital input 2 (0.1) 0x6030:21 - DMC_PositioningStatus_Busy (0.1) 0x6030:22 - DMC_PositioningStatus_In-Target (0.1) 0x6030:23 - DMC_PositioningStatus_Warning (0.1) 0x6030:24 - DMC_PositioningStatus_Error (0.1) 0x6030:25 - DMC_PositioningStatus_Calibrated (0.1) 0x6030:26 - DMC_PositioningStatus_Accelerate (0.1) 0x6030:27 - DMC_PositioningStatus_Decelerate (0.1) 0x6030:28 - DMC_PositioningStatus_Ready to execute (0.1) 0x6030:31 - DMC_Set position (8.0) 0x6030:32 - DMC_Set velocity (2.0) 0x6030:33 - DMC_Actual drive time (4.0) 0x6030:34 - DMC_Actual position lag (8.0) 0x6030:35 - DMC_Actual velocity (2.0) 0x6030:36 - DMC_Actual position (8.0) 0x6030:37 - DMC_Error id (4.0) 0x6030:38 - DMC_Input cycle counter (1.0) 0x6030:3A - DMC_Latch value (8.0) 0x6030:3B - DMC_Cyclic info data 1 (2.0) 0x6030:3C - DMC_Cyclic info data 2 (2.0)

Index	Größe (Byte.Bit)	Name	PDO Inhalt Index - Name, Größe (Byte.Bit)
0x1A31*	64.0	DMC Inputs 32 Bit	0x6030:02 - DMC_FeedbackStatus_Latch extern valid (0.1) 0x6030:03 - DMC_FeedbackStatus_Set counter done (0.1) 0x6030:0D - DMC_FeedbackStatus_Status of extern Latch (0.1) 0x6030:11 - DMC_DriveStatus_Ready to enable (0.1) 0x6030:12 - DMC_DriveStatus_Ready (0.1) 0x6030:13 - DMC_DriveStatus_Warning (0.1) 0x6030:14 - DMC_DriveStatus_Error (0.1) 0x6030:15 - DMC_DriveStatus_Movin positive (0.1) 0x6030:16 - DMC_DriveStatus_Moving negative (0.1) 0x6030:1C - DMC_DriveStatus_Digital input 1 (0.1) 0x6030:1D - DMC_DriveStatus_Digital input 2 (0.1) 0x6030:21 - DMC_PositioningStatus_Busy (0.1) 0x6030:22 - DMC_PositioningStatus_In-Target (0.1) 0x6030:23 - DMC_PositioningStatus_Warning (0.1) 0x6030:24 - DMC_PositioningStatus_Error (0.1) 0x6030:25 - DMC_PositioningStatus_Calibrated (0.1) 0x6030:26 - DMC_PositioningStatus_Accelerate (0.1) 0x6030:27 - DMC_PositioningStatus_Decelerate (0.1) 0x6030:28 - DMC_PositioningStatus_Ready to execute (0.1) 0x6030:31 - DMC_Set position (4.0) 0x6030:32 - DMC_Set velocity (2.0) 0x6030:33 - DMC_Actual drive time (4.0) 0x6030:34 - DMC_Actual position lag (4.0) 0x6030:35 - DMC_Actual velocity (2.0) 0x6030:36 - DMC_Actual position (4.0) 0x6030:37 - DMC_Error id (4.0) 0x6030:38 - DMC_Input cycle counter (1.0) 0x6030:3A - DMC_Latch value (4.0) 0x6030:3B - DMC_Cyclic info data 1 (2.0) 0x6030:3C - DMC_Cyclic info data 2 (2.0)

Index

Größe (Byte.Bit)

Name

PDO Inhalt
Index - Name, Größe (Byte.Bit)

0x1A31*

64.0

DMC Inputs 32 Bit

0x6030:02 - DMC_FeedbackStatus_Latch extern valid (0.1)
0x6030:03 - DMC_FeedbackStatus_Set counter done (0.1)
0x6030:0D - DMC_FeedbackStatus_Status of extern Latch (0.1)

0x6030:11 - DMC_DriveStatus_Ready to enable (0.1)
0x6030:12 - DMC_DriveStatus_Ready (0.1)
0x6030:13 - DMC_DriveStatus_Warning (0.1)
0x6030:14 - DMC_DriveStatus_Error (0.1)
0x6030:15 - DMC_DriveStatus_Movin positive (0.1)
0x6030:16 - DMC_DriveStatus_Moving negative (0.1)
0x6030:1C - DMC_DriveStatus_Digital input 1 (0.1)
0x6030:1D - DMC_DriveStatus_Digital input 2 (0.1)

0x6030:21 - DMC_PositioningStatus_Busy (0.1)
0x6030:22 - DMC_PositioningStatus_In-Target (0.1)
0x6030:23 - DMC_PositioningStatus_Warning (0.1)
0x6030:24 - DMC_PositioningStatus_Error (0.1)
0x6030:25 - DMC_PositioningStatus_Calibrated (0.1)
0x6030:26 - DMC_PositioningStatus_Accelerate (0.1)
0x6030:27 - DMC_PositioningStatus_Decelerate (0.1)
0x6030:28 - DMC_PositioningStatus_Ready to execute (0.1)

0x6030:31 - DMC_Set position (4.0)
0x6030:32 - DMC_Set velocity (2.0)
0x6030:33 - DMC_Actual drive time (4.0)
0x6030:34 - DMC_Actual position lag (4.0)
0x6030:35 - DMC_Actual velocity (2.0)
0x6030:36 - DMC_Actual position (4.0)
0x6030:37 - DMC_Error id (4.0)
0x6030:38 - DMC_Input cycle counter (1.0)
0x6030:3A - DMC_Latch value (4.0)
0x6030:3B - DMC_Cyclic info data 1 (2.0)
0x6030:3C - DMC_Cyclic info data 2 (2.0)

*) ab Firmware 19

Predefined PDO Assignment

Eine vereinfachte Auswahl der Prozessdaten ermöglicht das "Predefined PDO Assignment". Am unteren Teil des Prozessdatenreiters wählen Sie die gewünschte Funktion aus. Es werden dadurch alle benötigten PDOs automatisch aktiviert, bzw. die nicht benötigten deaktiviert.

Sechs PDO-Zuordnungen stehen zur Auswahl:

Name	SM2, PDO-Zuordnung	SM3, PDO-Zuordnung
Cyclic synchronous velocity mode (CSV)	0x1600 (DRV Controlword) 0x1601 (DRV Target velocity)	0x1A00 (FB Position) 0x1A01 (DRV Statusword)
Cyclic synchronous torque mode (CST)	0x1600 (DRV Controlword) 0x1602 (DRV Target torque)	0x1A00 (FB Position) 0x1A01 (DRV Statusword) 0x1A03 (DRV Torque actual value)
Cyclic synchronous torque mode with commutation angle (CSTCA)	0x1600 (DRV Controlword) 0x1602 (DRV Target torque) 0x1603 (DRV Commutation angle)	0x1A01 (DRV Statusword)
Cyclic synchronous position mode (CSP)	0x1600 (DRV Controlword) 0x1606 (DRV Target position)	0x1A00 (FB Position) 0x1A01 (DRV Statusword) 0x1A06 (DRV Following error actual value)
Drive motion control (For TC3 DriveMotionControl Lib)*	0x1630 (DMC Outputs)	0x1A30 (DMC Inputs)
Drive motion control (32 Bit)*	0x1631 (DMC Outputs 32 Bit)	0x1A31 (DMC Inputs 32 Bit)

*) ab Firmware 19

Prozessdaten MDP742 3: — Karteireiter Prozessdaten Predefined PDO Assignment, EL72x1-0010