Process data
The extent of the process data that is made available can be changed through the "Process Data" tab:
Sync Manager SM2 "Outputs"
Sync Manager SM3 "Inputs"
PDO Assignment
- To configure the process data, select the required Sync Manager (SM2 and SM3 can be edited here) in the "Sync Manager" box at the top left (see fig. tab Process Data SM3, EJ7411).
- The process data assigned to this Sync Manager can then be switched on or off in the “PDO Assignment” box underneath.
- Restarting the EtherCAT system, or reloading the configuration in Config mode (F4), causes the EtherCAT communication to restart, and the process data is transferred from the terminal.
SM2, PDO Assignment 0x1C12
Index | Size (byte.bit) | Name | PDO contents |
|---|---|---|---|
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) |
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) 0x7001:09 - Touch probe function_TP2 Enable (0.1) |
0x1640 | 40.0 | DMC Outputs | 0x7040:02 - DMC_FeedbackControl_Enable latch extern on positive edge (0.1) 0x7040:11 - DMC_DriveControl_Enable (0.1) 0x7040:21 - DMC_PositioningControl_Execute (0.1) 0x7040:31 - DMC_Set counter value (8.0) |
0x1641 | 40.0 | DMC Outputs 32 Bit | 0x7040:02 - DMC_FeedbackControl_Enable latch extern on positive edge (0.1) 0x7040:11 - DMC_DriveControl_Enable (0.1) 0x7040:21 - DMC_PositioningControl_Execute (0.1) 0x7040:31 - DMC_Set counter value (4.0) |
SM3, PDO Assignment 0x1C13
Index | Size (byte.bit) | Name | PDO contents |
|---|---|---|---|
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 | 0x6010:06 - Following error actual value (4.0) |
0x1A07 | 2.0 | FB Touch probe status | 0x6001:01 - Touch probe status_ TP1 Enable (0.1) 0x6001:09 - Touch probe status_ TP2 Enable (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) |
0x1A0D | 2.0 | DRV Info data 3 | 0x6010:14 - Info data 3 (2.0) |
0x1A0E | 4.0 | FB Enc Position | 0x6000:12 - Enc Position (4.0) |
0x1A10 | 2.0 | DI Inputs | 0x6020:01 - Input 1 (0.1) 0x6020:05 - Encoder A (0.1) 0x6020:09 - Hall A (0.1) 0x6020:0D - Level of ENA input (0.1) |
Index | Size (byte.bit) | Name | PDO contents |
|---|---|---|---|
0x1A40 | 64.0 | DMC Inputs | 0x6040:02 - DMC_FeedbackStatus_Latch extern valid (0.1) 0x6040:11 - DMC_DriveStatus_Ready to enable (0.1) 0x6040:21 - DMC_PositioningStatus_Busy (0.1) 0x6040:31 - DMC_Set position (8.0) |
0x1A41 | 64.0 | DMC Inputs 32 Bit | 0x6040:02 - DMC_FeedbackStatus_Latch extern valid (0.1) 0x6040:11 - DMC_DriveStatus_Ready to enable (0.1) 0x6040:21 - DMC_PositioningStatus_Busy (0.1) 0x6040:31 - DMC_Set position (4.0) |
Predefined PDO Assignment
The "Predefined PDO Assignment" enables a simplified selection of the process data. The desired function is selected on the lower part of the Process Data tab. As a result, all necessary PDOs are automatically enabled and the unnecessary PDOs are disabled.
The following PDO assignments are available:
Name | SM2, PDO assignment | SM3, PDO assignment |
|---|---|---|
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) |