PDO Assignment
- In order to configure the process data, select the desired Sync Manager (SM 2 and 3 can be edited here) in the upper left-hand "Sync Manager" field (see fig. Process data tab SM2, EL70xx (default) and SM3, EL70xx (default)).
- 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 configuration mode (F4), causes the EtherCAT communication to restart, and the process data is transferred from the terminal.
SM2, PDO assignment 0x1C12 | ||||
---|---|---|---|---|
Index | Index of excluded PDOs | Size (byte.bit) | Name | PDO content |
0x1600 (default) | 0x1601 | 4.0 | ENC Control compact | 0x7000:02 - Enable Latch extern on positive edge |
0x1601 | 0x1600 | 6.0 | ENC Control | 0x7000:02 - Enable Latch extern on positive edge |
0x1602 (default) | - | 2.0 | STM Control | 0x7010:01 - Enable |
0x1603 | 0x1604 | 4.0 | STM Position | 0x7010:11 - Position |
0x1604 (default) | 0x1603 | 2.0 | STM Velocity | 0x7010:21 - Velocity |
0x1605 | 0x1603 | 6.0 | POS Control compact | 0x7020:01 - Execute |
0x1606 | 0x1603 | 14.0 | POS Control | 0x7020:01 - Execute |
0x1607 | 0x1603 | 14.0 | POS Control 2 | 0x7021:03 – Enable auto start |
SM3, PDO Assignment 0x1C13 | ||||
---|---|---|---|---|
Index | Index of excluded PDOs | Size (byte.bit) | Name | PDO content |
0x1A00 (default) | 0x1A01 | 6.0 | ENC Status compact | 0x6000:02 - Latch extern valid |
0x1A01 | 0x1A00 | 10.0 | ENC Status | 0x6000:02 - Latch extern valid |
0x1A02 | - | 4.0 | ENC Timest. compact | 0x6000:16 - Timestamp |
0x1A03 (default) | - | 2.0 | STM Status | 0x6010:01 - Ready to enable |
0x1A04 | - | 4.0 | STM Synchron info data | |
0x1A05 | 0x1A06 | 2.0 | POS Status compact | 0x6020:01 - Busy |
0x1A06 | 0x1A05 | 12.0 | POS Status | 0x6020:01 - Busy |
0x1A07 | - | 4.0 | STM Internal position | 0x6010:14 - Internal position |
0x1A08 | - | 4.0 | STM External position | 0x6010:15 - External position |
0x1A09 | - | 4.0 | POS actual position lag | 0x6020:23 - Actual position lag |
0x1A0A | 0x1A0B | 4.0 | AI Standard Channel 1 | 0x6030:01 - Underrange |
0x1A0B | 0x1A0A | 2.0 | AI Compact Channel 1 | 0x6030:11 - Value |
0x1A0C | 0x1A0D | 4.0 | AI Standard Channel 2 | 0x6040:01 - Underrange |
0x1A0D | 0x1A0C | 2.0 | AI Standard Channel 2 | 0x6040:11 - Value |