Configuration

You have the possibility to configure variables several times in one PDO in order to use the oversampling.

A general explanation of PDOs and the ProcessData tab can be found here.

Proceed as follows to use the oversampling:

1. Selecting the required axis module in the I/O tree
Configuration 1:
2. Left-click "Process Data"

The dialog box "Process Data" opens

Configuration 2:
3. Select "0x1A32 ChA Torque Control Inputs"

 

The currently configured PDOs can be found in the dialog box "PDO Content" below the "PDO List". These are part of the previously selected PDO.

Configuration 3:
4. Right-click "PDO Content"

A new dialog box opens.

Configuration 4:
5. Left-click "Add New Item"

 

 

A new dialog box "Edit PDO Entry" opens

Configuration 5:
6. Select "0x3241:09 TorCtrl Torque/Force actual value" [1]
7. Confirm with "OK" [2]

 

Configuration 6:
8. In the "PDO Assignment", check whether the checkbox for the PDO "0x1A32" is active

If the checkbox is not active, the PDOs in the process image are not ready:

9. Activate the TwinCAT configuration in order to accept changes

Repeat the above actions in order to add further PDOs to the process image. The oversampling is now active for all PDOs that exist multiple times in the process image.

The oversampled variables must directly follow each other in the configuration. No other variable may be inserted.