MDP742 process data

Table of contents

Sync Manager (SM)

Sync Manager (SM) The extent of the process data that is made available can be changed through the "Process data" tab (see following Fig.).

MDP742 process data 1:
Process Data tab SM2, EL72x1-0010 (default)
MDP742 process data 2:
Process Data tab SM3, EL72x1-0010 (default)

PDO Assignment

SM2, PDO assignment 0x1C12

Index

Size (byte.bit)

Name

PDO content
Index - name, size (byte.bit)

0x1600 (default)

2.0

DRV Controlword

0x7010:01 - Controlword (2.0)

0x1601 (default)

4.0

DRV Target velocity

0x7010:06 - Target velocity (4.0)

0x1602

2.0

DRV Target torque

0x7010:09 - Target torque (2.0)

0x1603

2.0

DRV Commutation angle

0x7010:0E - Commutation angle (2.0)

0x1604

2.0

DRV Torque limitation

0x7010:0B - Torque limitation (2.0)

0x1605

2.0

DRV Torque offset

0x7010:0A - Torque offset (2.0)

0x1606

4.0

DRV Target position

0x7010:05 - Target position (4.0)

0x1607

2.0

FB Touch probe control

0x7001:01 - Touch probe function_TP1 Enable (0.1)
0x7001:02 - Touch probe function_TP1 Continous (0.1)
0x7001:03 - Touch probe function_TP1 Trigger mode (0.2)
0x7001:05 - Touch probe function_TP1 Enable pos. edge (0.1)
0x7001:06 - Touch probe function_TP1 Enable neg. edge (0.1)

0x7001:09 - Touch probe function_TP2 Enable (0.1)
0x7001:0A - Touch probe function_TP2 Continous (0.1)
0x7001:0B - Touch probe function_TP2 Trigger mode (0.2)
0x7001:0D - Touch probe function_TP2 Enable pos. edge (0.1)
0x7001:0E - Touch probe function_TP2 Enable neg. edge (0.1)

0x1608

1.0

DRV Modes of operation

0x7010:03 - Modes of operation (1.0)

0x1630*

40.0

DMC Outputs

0x7030:02 - DMC_FeedbackControl_Enable latch extern on positive edge (0.1)
0x7030:03 - DMC_FeedbackControl_Set counter (0.1)
0x7030:04 - DMC_FeedbackControl_Enable latch extern on negative edge (0.1)

0x7030:11 - DMC_DriveControl_Enable (0.1)
0x7030:12 - DMC_DriveControl_Reset (0.1)

0x7030:21 - DMC_PositioningControl_Execute (0.1)
0x7030:22 - DMC_PositioningControl_Emergency stop (0.1)

0x7030:31 - DMC_Set counter value (8.0)
0x7030:32 - DMC_Target position (8.0)
0x7030:33 - DMC_Target velocity (2.0)
0x7030:34 - DMC_Start typev (2.0)
0x7030:35 - DMC_Target acceleration (2.0)
0x7030:36 - DMC_Target deceleration (2.0)

0x1630*

40.0

DMC Outputs 32 Bit

0x7030:02 - DMC_FeedbackControl_Enable latch extern on positive edge (0.1)
0x7030:03 - DMC_FeedbackControl_Set counter (0.1)
0x7030:04 - DMC_FeedbackControl_Enable latch extern on negative edge (0.1)

0x7030:11 - DMC_DriveControl_Enable (0.1)
0x7030:12 - DMC_DriveControl_Reset (0.1)

0x7030:21 - DMC_PositioningControl_Execute (0.1)
0x7030:22 - DMC_PositioningControl_Emergency stop (0.1)

0x7030:31 - DMC_Set counter value (4.0)
0x7030:32 - DMC_Target position (4.0)
0x7030:33 - DMC_Target velocity (2.0)
0x7030:34 - DMC_Start type (2.0)
0x7030:35 - DMC_Target acceleration (2.0)
0x7030:36 - DMC_Target deceleration (2.0)

*) from firmware 19

SM3, PDO assignment 0x1C13

Index

Size (byte.bit)

Name

PDO content
Index - name, size (byte.bit)

0x1A00 (default)

4.0

FB Position

0x6000:11 - Position (4.0)

0x1A01 (default)

2.0

DRV Statusword

0x6010:01 - Statusword (2.0)

0x1A02

4.0

DRV Velocity actual value

0x6010:07 - Velocity actual value (4.0)

0x1A03

2.0

DRV Torque actual value

0x6010:08 - Torque actual value (2.0)

0x1A04

2.0

DRV Info data 1

0x6010:12 - Info data 1 (2.0)

0x1A05

2.0

DRV Info data 2

0x6010:13 - Info data 2 (2.0)

0x1A06

4.0

DRV Following error actual value

0x6010:09 - Following error actual value (4.0)

0x1A07

2.0

FB Touch probe status

0x6001:01 - Touch probe status_ TP1 Enable (0.1)
0x6001:02 - Touch probe status_ TP1 Pos. value stored (0.1)
0x6001:03 - Touch probe status_ TP1 Neg. value stored (0.1)
0x6001:08 - Touch probe status_ TP1 Input (0.1)

0x6001:09 - Touch probe status_ TP2 Enable (0.1)
0x6001:0A - Touch probe status_ TP2 Pos. value stored (0.1)
0x6001:0B - Touch probe status_ TP2 Neg. value stored (0.1)
0x6001:10 - Touch probe status_ TP2 Input (0.1)

0x1A08

4.0

FB Touch probe 1 pos. position

0x6001:11 - TP1 Pos position (4.0)

0x1A09

4.0

FB Touch probe 1 neg. position

0x6001:12 - TP1 Neg position (4.0)

0x1A0A

4.0

FB Touch probe 2 pos. position

0x6001:13 - TP2 Pos position (4.0)

0x1A0B

4.0

FB Touch probe 2 neg. position

0x6001:14 - TP2 Neg position (4.0)

0x1A0C

2.0

FB Status

0x6000:0E - Status_TxPDO State (0.1)
0x6000:0F - Status_Input Cycle Counter (0.2)

0x1A0E

1.0

DRV Modes of operation display

0x6010:03 - Modes of operation display (1.0)

0x1A30*

64.0

DMC Inputs

0x6030:02 - DMC_FeedbackStatus_Latch extern valid (0.1)
0x6030:03 - DMC_FeedbackStatus_Set counter done (0.1)
0x6030:0D - DMC_FeedbackStatus_Status of extern Latch (0.1)

0x6030:11 - DMC_DriveStatus_Ready to enable (0.1)
0x6030:12 - DMC_DriveStatus_Ready (0.1)
0x6030:13 - DMC_DriveStatus_Warning (0.1)
0x6030:14 - DMC_DriveStatus_Error (0.1)
0x6030:15 - DMC_DriveStatus_Movin positive (0.1)
0x6030:16 - DMC_DriveStatus_Moving negative (0.1)
0x6030:1C - DMC_DriveStatus_Digital input 1 (0.1)
0x6030:1D - DMC_DriveStatus_Digital input 2 (0.1)

0x6030:21 - DMC_PositioningStatus_Busy (0.1)
0x6030:22 - DMC_PositioningStatus_In-Target (0.1)
0x6030:23 - DMC_PositioningStatus_Warning (0.1)
0x6030:24 - DMC_PositioningStatus_Error (0.1)
0x6030:25 - DMC_PositioningStatus_Calibrated (0.1)
0x6030:26 - DMC_PositioningStatus_Accelerate (0.1)
0x6030:27 - DMC_PositioningStatus_Decelerate (0.1)
0x6030:28 - DMC_PositioningStatus_Ready to execute (0.1)

0x6030:31 - DMC_Set position (8.0)
0x6030:32 - DMC_Set velocity (2.0)
0x6030:33 - DMC_Actual drive time (4.0)
0x6030:34 - DMC_Actual position lag (8.0)
0x6030:35 - DMC_Actual velocity (2.0)
0x6030:36 - DMC_Actual position (8.0)
0x6030:37 - DMC_Error id (4.0)
0x6030:38 - DMC_Input cycle counter (1.0)
0x6030:3A - DMC_Latch value (8.0)
0x6030:3B - DMC_Cyclic info data 1 (2.0)
0x6030:3C - DMC_Cyclic info data 2 (2.0)

Index

Size (byte.bit)

Name

PDO content
Index - name, size (byte.bit)

0x1A31*

64.0

DMC Inputs 32 Bit

0x6030:02 - DMC_FeedbackStatus_Latch extern valid (0.1)
0x6030:03 - DMC_FeedbackStatus_Set counter done (0.1)
0x6030:0D - DMC_FeedbackStatus_Status of extern Latch (0.1)

0x6030:11 - DMC_DriveStatus_Ready to enable (0.1)
0x6030:12 - DMC_DriveStatus_Ready (0.1)
0x6030:13 - DMC_DriveStatus_Warning (0.1)
0x6030:14 - DMC_DriveStatus_Error (0.1)
0x6030:15 - DMC_DriveStatus_Movin positive (0.1)
0x6030:16 - DMC_DriveStatus_Moving negative (0.1)
0x6030:1C - DMC_DriveStatus_Digital input 1 (0.1)
0x6030:1D - DMC_DriveStatus_Digital input 2 (0.1)

0x6030:21 - DMC_PositioningStatus_Busy (0.1)
0x6030:22 - DMC_PositioningStatus_In-Target (0.1)
0x6030:23 - DMC_PositioningStatus_Warning (0.1)
0x6030:24 - DMC_PositioningStatus_Error (0.1)
0x6030:25 - DMC_PositioningStatus_Calibrated (0.1)
0x6030:26 - DMC_PositioningStatus_Accelerate (0.1)
0x6030:27 - DMC_PositioningStatus_Decelerate (0.1)
0x6030:28 - DMC_PositioningStatus_Ready to execute (0.1)

0x6030:31 - DMC_Set position (4.0)
0x6030:32 - DMC_Set velocity (2.0)
0x6030:33 - DMC_Actual drive time (4.0)
0x6030:34 - DMC_Actual position lag (4.0)
0x6030:35 - DMC_Actual velocity (2.0)
0x6030:36 - DMC_Actual position (4.0)
0x6030:37 - DMC_Error id (4.0)
0x6030:38 - DMC_Input cycle counter (1.0)
0x6030:3A - DMC_Latch value (4.0)
0x6030:3B - DMC_Cyclic info data 1 (2.0)
0x6030:3C - DMC_Cyclic info data 2 (2.0)

*) from firmware 19

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.

Six PDO assignments are available:

Name

SM2, PDO assignment

SM3, PDO assignment

Cyclic synchronous velocity mode
(CSV)

0x1600 (DRV Controlword)

0x1601 (DRV Target velocity)

0x1A00 (FB Position)

0x1A01 (DRV Statusword)

Cyclic synchronous torque mode
(CST)

0x1600 (DRV Controlword)

0x1602 (DRV Target torque)

0x1A00 (FB Position)

0x1A01 (DRV Statusword)

0x1A03 (DRV Torque actual value)

Cyclic synchronous torque mode with commutation angle
(CSTCA)

0x1600 (DRV Controlword)

0x1602 (DRV Target torque)

0x1603 (DRV Commutation angle)

0x1A01 (DRV Statusword)

Cyclic synchronous position mode
(CSP)

0x1600 (DRV Controlword)

0x1606 (DRV Target position)

0x1A00 (FB Position)

0x1A01 (DRV Statusword)

0x1A06 (DRV Following error actual value)

Drive motion control (For TC3 DriveMotionControl Lib)*

0x1630 (DMC Outputs)

0x1A30 (DMC Inputs)

Drive motion control (32 Bit)*

0x1631 (DMC Outputs 32 Bit)

0x1A31 (DMC Inputs 32 Bit)

*) from firmware 19

MDP742 process data 3:
Process data tab - Predefined PDO Assignment, EL72x1-0010