Prozessdaten
Sync Manager (SM)
Der Umfang der angebotenen Prozessdaten kann über den Reiter „Process Data“ verändert werden:
- Sync Manager SM2 „Outputs“
- Sync Manager SM3 „Inputs“
PDO-Zuordnung
Zur Konfiguration der Prozessdaten markieren Sie im oberen linken Feld „Sync Manager“ den gewünschten Sync Manager SM 2 oder SM 3. Im Feld darunter „PDO Assignment“ können Sie die dem gewählten Sync Manager zugeordneten Prozessdaten anschalten oder abschalten. Ein Neustart des EtherCAT-Systems oder Neuladen der Konfiguration im Config-Modus 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 | |
0x1600 (default) | 2.0 | DRV Controlword | Index 0x7010:01 | |
0x1601 | 4.0 | DRV Target velocity | Index 0x7010:06 | |
0x1602 | 2.0 | DRV Target torque | Index 0x7010:09 | |
0x1603 | 2.0 | DRV Commutation angle | Index 0x7010:0E | |
0x1604 | 2.0 | DRV Torque limitation | Index 0x7010:0B | |
0x1606 (default) | 4.0 | DRV Target position | Index 0x7010:05 | |
0x1607 | 2.0 | FB Touch probe control | Index 0x7001:0 | |
Index 0x7001:01 | TP1 Enable | |||
Index 0x7001:02 | TP1 Continous | |||
Index 0x7001:03 | TP1 Trigger mode | |||
Index 0x7001:05 | TP1 Enable pos edge | |||
Index 0x7001:06 | TP1 Enable neg edge | |||
Index 0x7001:09 | TP2 Enable | |||
Index 0x7001:0A | TP2 Continous | |||
Index 0x7001:0B | TP2 Trigger mode | |||
Index 0x7001:0D | TP2 Enable pos edge | |||
Index 0x7001:0E | TP2 Enable neg edge | |||
0x1608 | 2.0 | FAN Outputs Device | Index 0xF700:01 | |
0x1640 1) | 40.0 | DMC Outputs | Index 0x7040 | |
Index 0x7040:02 | DMC__FeedbackControl__Enable latch extern on positive edge | |||
Index 0x7040:03 | DMC__FeedbackControl__Set counter | |||
Index 0x7040:04 | DMC__FeedbackControl__Enable latch extern on negative edge | |||
Index 0x7040:11 | DMC__DriveControl__Enable | |||
Index 0x7040:12 | DMC__DriveControl__Reset | |||
Index 0x7040:21 | DMC__PositioningControl__Execute | |||
Index 0x7040:22 | DMC__PositioningControl__Emergency stop | |||
Index 0x7040:31 | DMC__Set counter value | |||
Index 0x7040:32 | DMC__Target position | |||
Index 0x7040:33 | DMC__Target velocity | |||
Index 0x7040:34 | DMC__Start type | |||
Index 0x7040:35 | DMC__Target acceleration | |||
Index 0x7040:36 | DMC__Target deceleration | |||
SM2, PDO-Zuordnung 0x1C12 | ||||
|---|---|---|---|---|
Index | Größe (Byte.Bit) | Name | PDO Inhalt | |
0x1641 1) | 40.0 | DMC Outputs 32 Bit | Index 0x7040 | |
Index 0x7040:02 | DMC__FeedbackControl__Enable latch extern on positive edge | |||
Index 0x7040:03 | DMC__FeedbackControl__Set counter | |||
Index 0x7040:04 | DMC__FeedbackControl__Enable latch extern on negative edge | |||
Index 0x7040:11 | DMC__DriveControl__Enable | |||
Index 0x7040:12 | DMC__DriveControl__Reset | |||
Index 0x7040:21 | DMC__PositioningControl__Execute | |||
Index 0x7040:22 | DMC__PositioningControl__Emergency stop | |||
Index 0x7040:31 | DMC__Set counter value | |||
Index 0x7040:32 | DMC__Target position | |||
Index 0x7040:33 | DMC__Target velocity | |||
Index 0x7040:34 | DMC__Start type | |||
Index 0x7040:35 | DMC__Target acceleration | |||
Index 0x7040:36 | DMC__Target deceleration | |||
1) Diese Prozessdatenobjekte sind erst ab Firmware 06 und ESI 0019 verfügbar.
SM3, PDO-Zuordnung 0x1C13 | ||||
|---|---|---|---|---|
Index | Größe (Byte.Bit) | Name | PDO Inhalt | |
0x1A00 (default) | 4.0 | FB Position | Index 0x6000:11 | |
0x1A01 (default) | 2.0 | DRV Statusword | Index 0x6010:01 | |
0x1A02 | 4.0 | DRV Velocity actual value | Index 0x6010:07 | |
0x1A03 | 2.0 | DRV Torque actual value | Index 0x6010:08 | |
0x1A04 | 2.0 | DRV Info data 1 | Index 0x6010:12 | |
0x1A05 | 2.0 | DRV Info data 2 | Index 0x6010:13 | |
0x1A06 (default) | 4.0 | DRV Following error actual value | Index 0x6010:06 | |
0x1A07 | 2.0 | FB Touch probe status | Index 0x6001:0 | |
Index 0x6001:01 | TP1 Enable | |||
Index 0x6001:02 | TP1 Pos value stored | |||
Index 0x6001:03 | TP1 Neg value stored | |||
Index 0x6001:08 | TP1 Input | |||
Index 0x6001:09 | TP2 Enable | |||
Index 0x6001:0A | TP2 Pos value stored | |||
Index 0x6001:0B | TP2 Neg value stored | |||
Index 0x6001:10 | TP2 Input | |||
0x1A08 | 4.0 | FB Touch probe 1 pos position | Index 0x6001:11 | |
0x1A09 | 4.0 | FB Touch probe 1 neg position | Index 0x6001:12 | |
0x1A0A | 4.0 | FB Touch probe 2 pos position | Index 0x6001:13 | |
0x1A0B | 4.0 | FB Touch probe 2 neg position | Index 0x6001:14 | |
0x1A0D | 2.0 | DRV Info data 3 | Index 0x6010:14 | |
0x1A0E | 4.0 | FB Enc Position | Index 0x6000:12 | |
0x1A0F | 2.0 | FAN Inputs Device | Index 0xF600:01 | |
0x1A10 | 2.0 | DI Inputs | Index 0x6020:0 | |
Index 0x6020:01 | Input 1 | |||
Index 0x6020:02 | Input 2 | |||
Index 0x6020:03 | Fan Diag | |||
Index 0x6020:05 | Encoder A | |||
Index 0x6020:06 | Encoder B | |||
Index 0x6020:07 | Encoder C | |||
Index 0x6020:09 | Hall A | |||
Index 0x6020:0A | Hall B | |||
Index 0x6020:0B | Hall C | |||
Index 0x6020:0D | Level of ENA input | |||
0x1A40 1) | 64.0 | DMC Inputs | Index 0x6040:0 | |
Index 0x6040:02 | DMC__FeedbackStatus__Latch extern valid | |||
Index 0x6040:03 | DMC__FeedbackStatus__Set counter done | |||
Index 0x6040:0D | DMC__FeedbackStatus__Status of extern latch | |||
Index 0x6040:11 | DMC__DriveStatus__Ready to enable | |||
Index 0x6040:12 | DMC__DriveStatus__Ready | |||
Index 0x6040:13 | DMC__DriveStatus__Warning | |||
Index 0x6040:14 | DMC__DriveStatus__Error | |||
Index 0x6040:15 | DMC__DriveStatus__Moving positive | |||
Index 0x6040:16 | DMC__DriveStatus__Moving negative | |||
Index 0x6040:1C | DMC__DriveStatus__Digital input 1 | |||
Index 0x6040:1D | DMC__DriveStatus__Digital input 2 | |||
Index 0x6040:21 | DMC__PositioningStatus__Busy | |||
Index 0x6040:22 | DMC__PositioningStatus__In-Target | |||
Index 0x6040:23 | DMC__PositioningStatus__Warning | |||
Index 0x6040:24 | DMC__PositioningStatus__Error | |||
Index 0x6040:25 | DMC__PositioningStatus__Calibrated | |||
Index 0x6040:26 | DMC__PositioningStatus__Accelerate | |||
Index 0x6040:27 | DMC__PositioningStatus__Decelerate | |||
Index 0x6040:28 | DMC__PositioningStatus__Ready to execute | |||
Index 0x6040:31 | DMC__Set position | |||
Index 0x6040:32 | DMC__Set velocity | |||
Index 0x6040:33 | DMC__Actual drive time | |||
Index 0x6040:34 | DMC__Actual position lag | |||
Index 0x6040:35 | DMC__Actual velocity | |||
Index 0x6040:36 | DMC__Actual position | |||
Index 0x6040:37 | DMC__Error id | |||
Index 0x6040:38 | DMC__Input cycle counter | |||
Index 0x6040:39 | DMC__Channel id | |||
Index 0x6040:3A | DMC__Latch value | |||
Index 0x6040:3B | DMC__Cyclic info data 1 | |||
Index 0x6040:3C | DMC__Cyclic info data 2 | |||
0x1A41 1) | 64.0 | DMC Inputs 32 Bit | Index 0x6040:0 | |
Index 0x6040:02 | DMC__FeedbackStatus__Latch extern valid | |||
Index 0x6040:03 | DMC__FeedbackStatus__Set counter done | |||
Index 0x6040:0D | DMC__FeedbackStatus__Status of extern latch | |||
Index 0x6040:11 | DMC__DriveStatus__Ready to enable | |||
Index 0x6040:12 | DMC__DriveStatus__Ready | |||
Index 0x6040:13 | DMC__DriveStatus__Warning | |||
Index 0x6040:14 | DMC__DriveStatus__Error | |||
Index 0x6040:15 | DMC__DriveStatus__Moving positive | |||
Index 0x6040:16 | DMC__DriveStatus__Moving negative | |||
Index 0x6040:1C | DMC__DriveStatus__Digital input 1 | |||
Index 0x6040:1D | DMC__DriveStatus__Digital input 2 | |||
Index 0x6040:21 | DMC__PositioningStatus__Busy | |||
Index 0x6040:22 | DMC__PositioningStatus__In-Target | |||
Index 0x6040:23 | DMC__PositioningStatus__Warning | |||
Index 0x6040:24 | DMC__PositioningStatus__Error | |||
Index 0x6040:25 | DMC__PositioningStatus__Calibrated | |||
Index 0x6040:26 | DMC__PositioningStatus__Accelerate | |||
Index 0x6040:27 | DMC__PositioningStatus__Decelerate | |||
Index 0x6040:28 | DMC__PositioningStatus__Ready to execute | |||
Index 0x6040:31 | DMC__Set position | |||
Index 0x6040:32 | DMC__Set velocity | |||
Index 0x6040:33 | DMC__Actual drive time | |||
Index 0x6040:34 | DMC__Actual position lag | |||
Index 0x6040:35 | DMC__Actual velocity | |||
Index 0x6040:36 | DMC__Actual position | |||
Index 0x6040:37 | DMC__Error id | |||
Index 0x6040:38 | DMC__Input cycle counter | |||
Index 0x6040:39 | DMC__Channel id | |||
Index 0x6040:3A | DMC__Latch value | |||
Index 0x6040:3B | DMC__Cyclic info data 1 | |||
Index 0x6040:3C | DMC__Cyclic info data 2 | |||
1) Diese Prozessdatenobjekte sind erst ab Firmware 06 und ESI 0019 verfügbar.
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.
Die folgenden PDO-Zuordnungen stehen zur Auswahl:
Name | SM2, PDO-Zuordnung | SM3, PDO-Zuordnung |
|---|---|---|
Velocity | 0x1600 (DRV Controlword) 0x1601 (DRV Target velocity) | 0x1A00 (FB Position) 0x1A01 (DRV Statusword) |
Position | 0x1600 (DRV Controlword) 0x1606 (DRV Target position) | 0x1A00 (FB Position) 0x1A01 (DRV Statusword) 0x1A06 (DRV Following error actual value) |
Torque | 0x1600 (DRV Controlword) 0x1602 (DRV Target torque) | 0x1A00 (FB Position) 0x1A01 (DRV Statusword) |
Drive motion control (For TC3 DriveMotionControl Lib) | 0x1640 (DMC Outputs) | 0x1A40 (DMC Inputs) |
Drive motion control (32 Bit) | 0x1641 (DMC Outputs 32 Bit) | 0x1A41 (DMC Inputs 32 Bit) |