Explanation of the process data

Standard digital output (default)

The outputs can be written directly with this standard PDO assignment, i.e. the connected actuators can be switched frame-triggered directly.

Explanation of the process data 1: — Standard EL2596 process image

The EL2596 (A) has input and output variables. These can be seen by expanding the tree (A). They are also displayed in the detail view (B) if the appropriate display function (C) is activated.

The bit meaning i.e. offset position can then also be taken from the memory assignment display (E), taking into account the variable size (D).

Both the collective name e.g. Status and the individual bit variable e.g. Output active can be linked, but not both at the same time.

Input data
Collective name	Name	Description / function	Bit position [0..15]
Status	Ready to activate	The terminal signals its operational readiness here. This bit is 0 if there is an error. For diagnostics, see EL2596-xxxx specific diagnostics)	0
	Output active	The output is actively switched.	1
	Switching operation counter		3
	Warning	A warning has occurred - > evaluate “Diag data” (index 0xA000).	6
	Error	An error has occurred and the output driver is deactivated - > evaluate "Diag data" (index 0xA000).	7
	Digital input	The status of the digital input is returned here.	11
	TxPDO Toggle	Changes its state each time process data are exchanged.	15
WcState		Setpoint during operation: 0 Each datagram of the EL2596 indicates its processing state here. This allows the EL2596 to be monitored for correct process data communication.
InputToggle
State		Setpoint during operation: 8 Status display of the “EtherCAT State Machine”
AdsAddr		AMS address of the responsible EtherCAT Master in the format "0.0.0.0.0.0". In addition, the port number valid for this Slave. Required for acyclic accesses to the CoE at runtime.

Output data
Collective name	Name	Description / function	Bit position [0..15]
Control	Enable	Activate control	0
	Output	Switches the output active	1
	Input trigger enable	Activates the digital input as a trigger input	3
	Output trigger enable	Activates the digital output as a trigger output
	Reset	Resets an error	7

Standard digital output with InfoData

Explanation of the process data 2: — Additional information data

Two further cyclic data words can be displayed per channel for more exact information about the states of the actuators or the driver stage. The respective selection is to be configured via the corresponding Index 0x8002:11 or 0x8002:19 in the CoE. Among other things, the interior temperature of the terminal or the momentary current through the connected actuator can be selected, for example.

Input data
Name	Description / function
Info data 1	Additional channel information, definition in 0x8002:11
Info data 2	Additional channel information, definition in 0x8002:19

External trigger input

Explanation of the process data 3: — Additional process data in the “External trigger input” mode

In addition to the variables of the “Standard digital output” mode, there are also the following variables:

Output data
Name	Description / function
Output current	Specification of the set current for the current control in the unit mA
Impulse length	Specifies the length of the output pulses. The unit is 1 µs. The resolution of the time can be reduced from 1 µs to 100 ns using the CoE index 0x8002:31 Pulse resolution 100 ns.
Trigger delay	Specifies the length of the delay from the time of the digital input to the switching of the output. The unit is 1 µs. The resolution of the time can be reduced from 1 µs to 100 ns using the CoE index 0x8002:31 Pulse resolution 100 ns.

External trigger input with InfoData

Like both standard data types, additional information data can also be displayed in “External trigger input” mode. See above.

DC Digital output

Explanation of the process data 4: — Additional process data for Distributed Clocks mode

In Distributed Clocks mode the EL2596 works according to timestamp order. The process image is structured correspondingly, as in the fig. Additional process data for Distributed Clocks mode.

Output data
Name	Description / function
Output current	Specification of the set current for the current control in the unit mA
Impulse length	Specifies the length of the output pulses. The unit is 1 µs. The resolution of the time specification can be reduced via the CoE object 0x8002:31 Pulse resolution 100 ns from 1 µs to 100 ns.
DC Start time	64-bit value of the next desired switching event. The data of the DC time: Start time 1.1.2000 Resolution 1 bit = 1 ns

DC Digital output with InfoData

As with the standard data, additional information data can also be shown in the “DC digital output” mode. See above.

Current control

Explanation of the process data 5: — Additional process data in “Current control” mode

In addition to the variables of the “Standard digital output” mode, there are also the following variables:

Output data
Name	Description / function
Output current	Specification of the set current for the current control in the unit mA

Current control with InfoData

As with the standard data, additional information data can also be shown in the “Current control” mode. See above.

PWM

Explanation of the process data 6: — Additional process data in “PWM” mode

In addition to the variables of the “Standard digital output” mode, there are also the following variables:

Output data
Name	Description / function
PWM duty	Duty cycle of the pulse width modulation

PWM with InfoData

As with the standard data, additional information data can also be shown in the “PWM” mode. See above.

PWM with current

Explanation of the process data 7: — Additional process data in “PWM with current” mode

In addition to the variables of the “Standard digital output” mode, there are also the following variables:

Output data
Name	Description / function
Output current	Specification of the set current for the current control in the unit mA
PWM duty	Duty cycle of the pulse width modulation

PWM with current and InfoData

As with the standard data, additional information data can also be shown in the “PWM with current” mode. See above.

Voltage control

Explanation of the process data 8: — Additional process data in “Voltage control” mode

In addition to the variables of the “Standard digital output” mode, there are also the following variables:

Output data
Name	Description / function
Output voltage	Specification of the set voltage for the voltage control in the unit 0.01 mV

Voltage control with current and InfoData

As with the standard data, additional information data can also be shown in the “Voltage control” mode. See above.