Process Data

The process data selection in the System Manager specifies the operation mode of the EL2522.

The process data are entered individually by hand or as "Predefined PDO Assignment" via the "Process Data" tab.

When selecting the EL2522 in the System Manager, the appropriate operation mode can be selected in accordance with the table above by clicking on the "Process Data" tab and selecting the predefined PDO assignments.

Process Data 1: — "Predefined PDO-Assignment" – excerpt from the TwinCAT System Manager on the "Process Data" tab of the EL2522

Eight process data sets are available for the EL2522 and are listed in following table on the basis of the CoE objects used.

Sync Manager (SM)

PDO assignment of the SyncManager

SM1, PDO Assignment 0x1C13, inputs
Index	assigned to PDO setting	Index of excluded PDOs	Size (byte.bit)	Name	PDO Content Index - Name
0x1A00	1 Ch. Standard 16 Bit (MDP 253/511) 1 Ch. Standard 32 Bit (MDP 253/511)	0x1A01, 0x1A03, 0x1A04, 0x1A05	2.0	PTO Status Ch. 1	0x6000:01 - Sel. Ack/End counter 0x6000:02 - Ramp active 0x6000:07 - Error 0x6000:0E - Sync error 0x6000:10 - TxPDO Toggle
0x1A00	2 Ch. Standard 16 Bit (MDP 253/511)	0x1A03, 0x1A05	2.0	PTO Status Ch. 1
0x1A01	2 Ch. Standard 16 Bit (MDP 253/511)	0x1A03, 0x1A05	2.0	PTO Status Ch. 2
0x1A02	1 Ch. Standard 16 Bit (MDP 253/511)	0x1A01, 0x1A03, 0x1A04, 0x1A05	4.0	ENC Status compact Ch. 1	0x6020:03 - Set counter done 0x6020:04 - Counter underflow 0x6020:05 - Counter overflow 0x6020:0E - Sync error 0x6020:0F - TxPDO State 0x6020:10 - TxPDO Toggle 0x6020:11 - Counter value
0x1A02	2 Ch. Standard 16 Bit (MDP 253/511)	0x1A03, 0x1A05	4.0	ENC Status compact Ch. 1
0x1A03	1 Ch. Standard 32 Bit (MDP 253/511)	0x1A01, 0x1A02, 0x1A04, 0x1A05	6.0	ENC Status Ch. 1
	1 Ch. Standard 32 Bit (MDP 253/511), continues position 1 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time	0x1A00, 0x1A01, 0x1A02, 0x1A04, 0x1A05
	2 Ch. Standard 32 Bit (MDP 253/511), continuous position	0x1A00, 0x1A01, 0x1A02, 0x1A04
0x1A04	2 Ch. Standard 16 Bit (MDP 253/511)	0x1A03, 0x1A05	4.0	ENC Status compact Ch. 2
0x1A05	2 Ch. Standard 32 Bit (MDP 253/511)	0x1A02, 0x1A04	6.0	ENC Status Ch. 2
0x1A05	2 Ch. Standard 32 Bit (MDP 253/511), continuous position 2 Ch. Standard 32 Bit (MDP 253/511), continuous position w. arrival time	0x1A00, 0x1A01, 0x1A02, 0x1A04	6.0	ENC Status Ch. 2

SM2, PDO assignment 0x1C12, outputs
Index	assigned to PDO setting	Index of excluded PDOs	Size (byte.bit)	Name	PDO Content Index - Name
0x1600	1 Ch. Standard 16 Bit (MDP 253/511)	0x1601, 0x1603, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160B, 0x160C, 0x160D	4.0	PTO Control Ch. 1	0x7000:01 - Frequency select 0x7000:02 - Disable ramp 0x7000:03 - Go counter 0x7000:11 - Frequency value
	2 Ch. Standard 16 Bit (MDP 253/511)	0x1601, 0x1603, 0x1604, 0x1606, 0x1608, 0x1609, 0x160B, 0x160D
	1 Ch. Standard 32 Bit (MDP 253/511)	0x1601, 0x1602, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D
	2 Ch. Standard 32 Bit (MDP 253/511)	0x1601, 0x1602, 0x1604, 0x1606, 0x1607, 0x1609, 0x160A, 0x160C
0x1601	1 Ch. Standard 32 Bit (MDP 253/511), continues position	0x1600, 0x1602, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D	6.0	PTO Control Position Ch. 1	0x7000:04 - Automatic direction 0x7000:05 - Forward 0x7000:06 - Backward 0x7000:12 - Target counter value
	1 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time	0x1600, 0x1602, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D
	2 Ch. Standard 32 Bit (MDP 253/511), continues position	0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C
	2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time	0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C
0x1602	1 Ch. Standard 16 Bit (MDP 253/511)	0x1601, 0x1603, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160B, 0x160C, 0x160D	2.0	PTO Target compact Ch. 1	0x7000:12 - Target counter value
0x1602	2 Ch. Standard 16 Bit (MDP 253/511)	0x1601, 0x1603, 0x1604, 0x1606, 0x1608, 0x1609, 0x160B, 0x160D	2.0	PTO Target compact Ch. 1	0x7000:12 - Target counter value
0x1603	1 Ch. Standard 32 Bit (MDP 253/511)	0x1601, 0x1602, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D	4.0	PTO Target Ch. 1	0x7000:12 - Target counter value
0x1603	2 Ch. Standard 32 Bit (MDP 253/511)	0x1601, 0x1602, 0x1604, 0x1606, 0x1607, 0x1609, 0x160A, 0x160C	4.0	PTO Target Ch. 1	0x7000:12 - Target counter value

SM2, PDO assignment 0x1C12, outputs
Index	assigned to PDO setting	Index of excluded PDOs	Size (byte.bit)	Name	PDO Content Index - Name
0x1604	1 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time	0x1600, 0x1602, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D	8.0	PTO Arrival Ch. 1	0x7000:13 - Target arrival time
0x1604	2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time	0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C	8.0	PTO Arrival Ch. 1	0x7000:13 - Target arrival time
0x1605	2 Ch. Standard 16 Bit (MDP 253/511)	0x1601, 0x1603, 0x1604, 0x1606, 0x1608, 0x1609, 0x160B, 0x160D	4.0	PTO Control Ch. 2	0x7010:01 - Frequency select 0x7010:02 - Disable ramp 0x7010:03 - Go counter 0x7010:11 - Frequency value
0x1605	2 Ch. Standard 32 Bit (MDP 253/511)	0x1601, 0x1602, 0x1604, 0x1606, 0x1607, 0x1609, 0x160A, 0x160C	4.0	PTO Control Ch. 2
0x1606	2 Ch. Standard 32 Bit (MDP 253/511), continues position	0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C	6.0	PTO Control Position Ch. 2	0x7010:04 - Automatic direction 0x7010:05 - Forward 0x7010:06 - Backward 0x7010:12 - Target counter value
0x1606	2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time	0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C	6.0	PTO Control Position Ch. 2
0x1607	2 Ch. Standard 16 Bit (MDP 253/511)	0x1601, 0x1603, 0x1604, 0x1606, 0x1608, 0x1609, 0x160B, 0x160D	2.0	PTO Target compact Ch. 2	0x7010:12 - Target counter value
0x1608	2 Ch. Standard 32 Bit (MDP 253/511)	0x1601, 0x1602, 0x1604, 0x1606, 0x1607, 0x1609, 0x160A, 0x160C	4.0	PTO Target Ch. 2	0x7010:12 - Target counter value
0x1609	2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time	0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C	8.0	PTO Arrival Ch. 2	0x7010:13 - Target arrival time
0x160A	1 Ch. Standard 16 Bit (MDP 253/511)	0x1601, 0x1603, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160B, 0x160C, 0x160D	4.0	ENC Control compact Ch. 1	0x7020:03 - Set counter (0x7020:10 - Reserved) 0x7020:11 - Set counter value
0x160A	2 Ch. Standard 16 Bit (MDP 253/511)	0x1601, 0x1603, 0x1604, 0x1606, 0x1608, 0x1609, 0x160B, 0x160D	4.0	ENC Control compact Ch. 1

SM2, PDO assignment 0x1C12, outputs
Index	assigned to PDO setting	Index of excluded PDOs	Size (byte.bit)	Name	PDO Content Index - Name
0x160B	1 Ch. Standard 32 Bit (MDP 253/511)	0x1601, 0x1602, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D	6.0	ENC Control Ch. 1	0x7020:03 - Set counter (0x7020:10 - Reserved) 0x7020:11 - Set counter value
	2 Ch. Standard 32 Bit (MDP 253/511)	0x1601, 0x1602, 0x1604, 0x1606, 0x1607, 0x1609, 0x160A, 0x160C
	1 Ch. Standard 32 Bit (MDP 253/511), continues position	0x1600, 0x1602, 0x1604, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D
	1 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time	0x1600, 0x1602, 0x1605, 0x1606, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C, 0x160D
	2 Ch. Standard 32 Bit (MDP 253/511), continues position	0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C
	2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time	0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C
0x160C	2 Ch. Standard 16 Bit (MDP 253/511)	0x1601, 0x1603, 0x1604, 0x1606, 0x1608, 0x1609, 0x160B, 0x160D	4.0	ENC Control compact Ch. 2	0x7030:03 - Set counter (0x7030:10 - Reserved) 0x7030:11 - Set counter value
0x160D	2 Ch. Standard 32 Bit (MDP 253/511)	0x1601, 0x1602, 0x1604, 0x1606, 0x1607, 0x1609, 0x160A, 0x160C	6.0	ENC Control Ch. 2	0x7030:03 - Set counter (0x7030:10 - Reserved) 0x7030:11 - Set counter value
	2 Ch. Standard 32 Bit (MDP 253/511), continues position	0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C
	2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time	0x1600, 0x1602, 0x1603, 0x1604, 0x1605, 0x1607, 0x1608, 0x1609, 0x160A, 0x160C

Process data setting options

The extent of process data can be set via the Process Data tab as described below (2-level incremental encoder settings are presented only):

PDO setting: 1 Ch. Standard 16 Bit (MDP 253/511)

preset standard configuration in TwinCAT 2.11, TwinCAT 3
so-called compact process image since it has only 16-bit-wide variables
allows linking to NC axes according to MDP 253, subprofile 511
C-track within output mode incremental encoder

Process Data 2: — Process data and PDO-assignment: “Standard 16 Bit (MDP 253/511)”

PDO setting: 1 Ch. Standard 32 Bit (MDP 253/511), continues position

32-bit-wide variables
allows linking to NC axes according to MDP 253, subprofile 511
continuous positioning / output cycles cycle-synchronous
Additional output of C-track with incremental encoder output mode (single mode only)

Process Data 3: — Process data and PDO assignment: “1 Ch. Standard 32 Bit (MDP 253/511), continues position”

PDO setting: 2 Ch. Standard 32 Bit (MDP 253/511), continues position

32-bit-wide variables
allows linking to NC axes according to MDP 253, subprofile 511
continuous positioning / output pulses cycle-synchronously
double operation mode

Process Data 4: — Process data and PDO-assignment: “2 Ch. Standard 32 Bit (MDP 253/511), continues position”

PDO setting: 2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time

32-bit-wide variables
allows linking to NC axes according to MDP 253, subprofile 511
continuous positioning / output pulses cycle-synchronously
specification of arrival time
double operation mode

Process Data 5: — Process data and PDO-assignment: “2 Ch. Standard 32 Bit (MDP 253/511), continues position w. arrival time”