Process data

Sync Manager (SM)

Sync Manager (SM) The scope of the offered process data can be changed via the "Process data" tab (see Fig. "Tab Process data SM2, EL70xx (default), Process data tab SM3, EL70xx (default)").

Process data 1: — Process Data tab SM2, EL70xx (default)

Process data 2: — Process Data tab SM3, EL70xx (default)

PDO Assignment

In order to configure the process data, select the desired Sync Manager (SM 2 and SM 3 can be edited) in the upper left-hand "Sync Manager" box (see fig.).
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 index - name
0x1600 (default)	0x1601	4.0	ENC Control compact	0x7000:01 - Enable Latch C 0x7000:02 - Enable Latch extern on positive edge 0x7000:03 - Set counter 0x7000:04 - Enable Latch extern on negative edge 0x7000:11 - Set counter value (16-bit)
0x1601	0x1600	6.0	ENC Control	0x7000:01 - Enable Latch C 0x7000:02 - Enable Latch extern on positive edge 0x7000:03 - Set counter 0x7000:04 - Enable Latch extern on negative edge 0x7000:11 - Set counter value (32-bit)
0x1602 (default)	-	2.0	STM Control	0x7010:01 - Enable 0x7010:02 - Reset 0x7010:03 - Reduce torque 0x7010:0C - Digital Output 1
0x1603	0x1604 0x1605 0x1606	4.0	STM Position	0x7010:11 - Position
0x1604 (default)	0x1603 0x1605 0x1606	2.0	STM Velocity	0x7010:21 - Velocity
0x1605	0x1603 0x1604 0x1606	6.0	POS Control compact	0x7020:01 - Execute 0x7020:02 - Emergency stop 0x7020:11 - Target position
0x1606	0x1603 0x1604 0x1605	14.0	POS Control	0x7020:01 - Execute 0x7020:02 - Emergency stop 0x7020:11 - Target position 0x7020:21 - Velocity 0x7020:22 - Start type 0x7020:23 - Acceleration 0x7020:24 - Deceleration
0x1607	0x1603 0x1604 0x1605	14.0	POS Control 2	0x7021:03 – Enable auto start 0x7021:03 – Target position 0x7021:21 – Velocity 0x7021:22 – Start type 0x7021:23 – Acceleration 0x7021:24 – Deceleration

SM3, PDO Assignment 0x1C13
Index	Index of excluded PDOs	Size (byte.bit)	Name	PDO content index - name
0x1A00 (default)	0x1A01	6.0	ENC Status compact	0x6000:01 - Latch C valid 0x6000:02 - Latch extern valid 0x6000:03 - Set counter done 0x6000:04 - Counter underflow 0x6000:05 - Counter overflow 0x6000:08 - Extrapolation stall 0x6000:09 - Status of input A 0x6000:0A - Status of input B 0x6000:0B - Status of input C 0x6000:0D - Status of extern latch 0x6000:0E - Sync error 0x6000:10 - TxPDO Toggle 0x6000:11 - Counter value (16-Bit) 0x6000:12 - Latch value (16-Bit)
0x1A01	0x1A00	10.0	ENC Status	0x6000:01 - Latch C valid 0x6000:02 - Latch extern valid 0x6000:03 - Set counter done 0x6000:04 - Counter underflow 0x6000:05 - Counter overflow 0x6000:08 - Extrapolation stall 0x6000:09 - Status of input A 0x6000:0A - Status of input B 0x6000:0B - Status of input C 0x6000:0D - Status of extern latch 0x6000:0E - Sync error 0x6000:10 - TxPDO Toggle 0x6000:11 - Counter value (32-Bit) 0x6000:12 - Latch value (32-Bit)
0x1A02	-	4.0	ENC Timest. compact	0x6000:16 - Timestamp
0x1A03 (default)	-	2.0	STM Status	0x6010:01 - Ready to enable 0x6010:02 - Ready 0x6010:03 - Warning 0x6010:04 - Error 0x6010:05 - Moving positive 0x6010:06 - Moving negative 0x6010:07 - Torque reduced 0x6010:08 - Motor stall 0x6010:0C - Digital input 1 0x6010:0D - Digital input 2 0x6000:0E - Sync error 0x6000:10 - TxPDO Toggle
0x1A04	-	4.0	STM Synchron info data	0x6010:11 - Info data 1 0x6010:12 - Info data 2
0x1A05	-	2.0	STM Motor load	0x6010:13 - Motor load

SM3, PDO Assignment 0x1C13
Index	Index of excluded PDOs	Size (byte.bit)	Name	PDO content index - name
0x1A06	0x1A07	2.0	POS Status compact	0x6020:01 - Busy 0x6020:02 - in-Target 0x6020:03 - Warning 0x6020:04 - Error 0x6020:05 - Calibrated 0x6020:06 - Accelerate 0x6020:07 - Decelerate
0x1A07	0x1A06	12.0	POS Status	0x6020:01 - Busy 0x6020:02 - in-Target 0x6020:03 - Warning 0x6020:04 - Error 0x6020:05 - Calibrated 0x6020:06 - Accelerate 0x6020:07 - Decelerate 0x6020:11 - Actual position 0x6020:21 - Actual velocity 0x6020:22 - Actual drive time
0x1A08	-	4.0	STM Internal position	0x6010:14 - Internal position
0x1A09	-	4.0	STM External position	0x6010:15 – External position
0x1A0A	-	4.0	POS Actual position lag	0x6020:23 – Actual position lag

Predefined PDO Assignment

The "Predefined PDO Assignment" enables a simplified selection of the process data. The desired function is selected on the lower part of the "Process Data" tab. As a result, all necessary PDOs are automatically activated and the unnecessary PDOs are deactivated.

The following PDO assignments are available:

Name	SM2, PDO assignment	SM3, PDO assignment
Velocity control compact	0x1600 0x1602 0x1604	0x1A00 0x1A03
Velocity control compact with info data	0x1600 0x1602 0x1604	0x1A00 0x1A03 0x1A04
Velocity control	0x1601 0x1602 0x1604	0x1A01 0x1A03
Position control	0x1601 0x1602 0x1603	0x1A01 0x1A03
Positioning interface compact	0x1601 0x1602 0x1605	0x1A01 0x1A03 0x1A06
Positioning interface	0x1601 0x1602 0x1606	0x1A01 0x1A03 0x1A07
Positioning interface with info data	0x1601 0x1602 0x1606	0x1A01 0x1A03 0x1A04 0x1A07
Positioning interface (Auto start)	0x1601 0x1602 0x1606 0x1607	0x1A01 0x1A03 0x1A06
Positioning interface (Auto start) with info data	0x1601 0x1602 0x1606 0x1607	0x1A01 0x1A03 0x1A04 0x1A06

Process data 3: — Process data tab - Predefined PDO Assignment, EL70x7