PDO Assignment

In order to configure the process data, select the desired Sync Manager (SM2 and SM3 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.

PDO assignment of Sync Managers, EL7041

SM2, PDO assignment 0x1C12

Index

Index of excluded PDOs

Size (byte.bit)

Name

PDO content

0x1600 (default)

0x1601

4.0

ENC Control compact

Index 0x7000:01 - Enable Latch C
Index 0x7000:02 - Enable Latch extern on positive edge
Index 0x7000:03 - Set counter
Index 0x7000:04 - Enable Latch extern on negative edge
Index 0x7000:11 - Set counter value (16-bit)

0x1601

0x1600

6.0

ENC Control

Index 0x7000:01 - Enable Latch C
Index 0x7000:02 - Enable Latch extern on positive edge
Index 0x7000:03 - Set counter
Index 0x7000:04 - Enable Latch extern on negative edge
Index 0x7000:11 - Set counter value (32-bit)

0x1602 (default)

-

2.0

STM Control

Index 0x7010:01 - Enable
Index 0x7010:02 - Reset
Index 0x7010:03 - Reduce torque

0x1603

0x1604
0x1605
0x1606

4.0

STM Position

Index 0x7010:11 - Position

0x1604 (default)

0x1603
0x1605
0x1606

2.0

STM Velocity

Index 0x7010:21 - Velocity

0x1605

0x1603
0x1604
0x1606

6.0

POS Control compact

Index 0x7020:01 - Execute
Index 0x7020:02 - Emergency stop
Index 0x7020:11 - Target position

0x1606

0x1603
0x1604
0x1605

14.0

POS Control

Index 0x7020:01 - Execute
Index 0x7020:02 - Emergency stop
Index 0x7020:11 - Target position
Index 0x7020:21 - Velocity
Index 0x7020:22 - Start type
Index 0x7020:23 - Acceleration
Index 0x7020:24 - Deceleration

0x1607

0x1603
0x1604
0x1605

14.0

POS Control 2

Index 0x7021:03 - Enable auto start
Index 0x7021:11 - Target position
Index 0x7021:21 - Velocity
Index 0x7021:22 - Start type
Index 0x7021:23 - Acceleration
Index 0x7021:24 - Deceleration

SM3, PDO Assignment 0x1C13

Index

Index of excluded PDOs

Size (byte.bit)

Name

PDO content

0x1A00 (default)

0x1A01

6.0

ENC Status compact

Index 0x6000:01 - Latch C valid
Index 0x6000:02 - Latch extern valid
Index 0x6000:03 - Set counter done
Index 0x6000:04 - Counter underflow
Index 0x6000:05 - Counter overflow
Index 0x6000:08 - Extrapolation stall
Index 0x6000:09 - Status of input A
Index 0x6000:0A - Status of input B
Index 0x6000:0B - Status of input C
Index 0x6000:0D - Status of extern latch
Index 0x6000:0E - Sync error
Index 0x6000:10 - TxPDO Toggle
Index 0x6000:11 - Counter value (16-Bit)
Index 0x6000:12 - Latch value (16-Bit)

0x1A01

0x1A00

10.0

ENC Status

Index 0x6000:01 - Latch C valid
Index 0x6000:02 - Latch extern valid
Index 0x6000:03 - Set counter done
Index 0x6000:04 - Counter underflow
Index 0x6000:05 - Counter overflow
Index 0x6000:08 - Extrapolation stall
Index 0x6000:09 - Status of input A
Index 0x6000:0A - Status of input B
Index 0x6000:0B - Status of input C
Index 0x6000:0D - Status of extern latch
Index 0x6000:0E - Sync error
Index 0x6000:10 - TxPDO Toggle
Index 0x6000:11 - Counter value (32-Bit)
Index 0x6000:12 - Latch value (32-Bit)

0x1A02

-

4.0

ENC Timest. compact

Index 0x6000:16 - Timestamp

0x1A03 (default)

-

2.0

STM Status

Index 0x6010:01 - Ready to enable
Index 0x6010:02 - Ready
Index 0x6010:03 - Warning
Index 0x6010:04 - Error
Index 0x6010:05 - Moving positive
Index 0x6010:06 - Moving negative
Index 0x6010:07 - Torque reduced
Index 0x6010:0C - Digital input 1
Index 0x6010:0D - Digital input 2
Index 0x6010:0E - Sync error
Index 0x6010:10 - TxPDO Toggle

0x1A04

-

4.0

STM Synchron info data

Index 0x6010:11 - Info data 1
Index 0x6010:12 - Info data 2

0x1A05

0x1A06

2.0

POS Status compact

Index 0x6020:01 - Busy
Index 0x6020:02 - in-Target
Index 0x6020:03 - Warning
Index 0x6020:04 - Error
Index 0x6020:05 - Calibrated
Index 0x6020:06 - Accelerate
Index 0x6020:07 - Decelerate

0x1A06

0x1A05

12.0

POS Status

Index 0x6020:01 - Busy
Index 0x6020:02 - in-Target
Index 0x6020:03 - Warning
Index 0x6020:04 - Error
Index 0x6020:05 - Calibrated
Index 0x6020:06 - Accelerate
Index 0x6020:07 - Decelerate
Index 0x6020:11 - Actual position
Index 0x6020:21 - Actual velocity
Index 0x6020:22 - Actual drive time

0x1A07

-

4.0

STM Internal position

Index 0x6010:14 - Internal position

0x1A08

-

4.0

STM External position

Index 0x6010:15 - External position