Process data
The process data selection in the System Manager specifies the operation mode of the EL2521-xxxx. The process data can be set according to the tables below for inputs and outputs either individually by hand or via the predefined PDO selection with a single click.
Three process data sets are available for the EL2521-xxxx and are listed in following table.
Sync Manager (SM)
PDO assignment of the SyncManager
SM3, PDO Assignment 0x1C13, inputs | |||||
|---|---|---|---|---|---|
Index | assigned to PDO setting | Index of excluded PDOs | Size (byte.bit) | Name | PDO content |
0x1A00 (default) | Legacy (MDP 252) | 0x1A01 0x1A05 | 4.0 | Inputs | |
0x1A01 | Standard 16 bit (MDP 253/511) Standard 32 bit (MDP 253/511) | 0x1A00 | 2.0 | PTO Status | 0x6010:01 - Sel. Ack./End counter |
0x1A02 | Standard 16 bit (MDP 253/511) | 0x1A00 | 4.0 | ENC Status compact | 0x6020:03 - Set counter done |
0x1A05 | Standard 32 bit (MDP 253/511) | 0x1A00 | 6.0 | ENC Status | 0x6020:03 - Set counter done |
SM2, PDO assignment 0x1C12, outputs | |||||
|---|---|---|---|---|---|
Index | assigned to PDO setting | Index of excluded PDOs | Size (byte.bit) | Name | PDO content |
0x1600 (default) | Legacy (MDP 252) | 0x1601 | 4.0 | Inputs | |
0x1601 | Standard 16 bit (MDP 253/511) Standard 32 bit (MDP 253/511) | 0x1600 | 4.0 | PTO Control | 0x7010:01 - Frequency select |
0x1604 | Standard 16 bit (MDP 253/511) | 0x1600 | 2.0 | PTO Target compact | 0x7010:12 - Target counter value |
0x1607 | Standard 32 bit (MDP 253/511) | 0x1600 | 4.0 | PTO Target | 0x7010:12 - Target counter value |
0x1602 | Standard 16 bit (MDP 253/511) | 0x1600 | 4.0 | ENC Control compact | |
0x1605 | Standard 32 bit (MDP 253/511) | 0x1600 | 6.0 | ENC Control | |
Process data setting options
The extent of process data can be set via the Process Data tab as described below.
PDO setting 1: Legacy (MDP 252)
- preset standard configuration in TwinCAT 2.10 (see note below for more up-to-date TwinCAT versions)
- to be used only in normal operation mode
- compatible with terminals up to and including FW02
 | Standard configuration in TwinCAT The further development of the EL2521-xxxx from FW03 also necessitates a new process image, which is to be used preferentially in new systems. Therefore the standard configuration from TwinCAT 2.11 onwards is normally PDO setting 2 (see below), with which an EL2521-xxxx inserted manually or by scanning appears in the configuration. For reasons of compatibility with existing software, however, some customers require PDO setting 1 "Legacy MDP253" to appear as the standard configuration, even for newly created configurations. In this case the so-called compatibility flag is to be set in the System Manager. Legacy is then selected as the standard PDO configuration. Nevertheless the PDO can, of course, be converted/changed after inserting the terminal into the configuration. |
PDO setting 2: Standard 16 bit (MDP 253/511)
- preset standard configuration in TwinCAT 2.11, TwinCAT 3
- to be used only in enhanced operating mode
- so-called compact process image, since it has only 16-bit-wide variables
- allows linking to NC axes according to MDP 253, subprofile 511
PDO setting 3: Standard 32 bit (MDP 253/511)
- to be used only in enhanced operating mode
- 32-bit-wide variables
- allows linking to NC axes according to MDP 253, subprofile 511
