DS402 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 Fig. Process Data tab SM2, EL72x1-0010 (default)).
PDO Assignment
- In order to configure the process data, select the desired Sync Manager (SM2 and SM3 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 | Size (byte.bit) | Name | PDO Content | |
|---|---|---|---|---|
0x1600 (default) | 2.0 | DS402 Controlword | 0x6040 - Controlword (2.0) | |
0x1601 (default) | 4.0 | DS402 Target velocity | 0x60FF -Target velocity (4.0) | |
0x1602 | 2.0 | DS402 Target torque | 0x6071 - Target torque (2.0) | |
0x1603 | 2.0 | DS402 Commutation angle | 0x60EA - Commutation angle (2.0) | |
0x1604 | 2.0 | DS402 Torque limitation | 0x6072 - Max. torque (2.0) | |
0x1605 | 2.0 | DS402 Torque offset | 0x2001:11 - Torque offset (2.0) | |
0x1606 | 4.0 | DS402 Target position | 0x607A - Target position (4.0) | |
0x1607 | 2.0 | DS402 FB Touch probe function | 0x60B8 - Touch probe function (2.0) | |
Bit 0 Bit 8 | TP1 Enable TP2 Enable | |||
0x1608 | 1.0 | DS402 Modes of operation | 0x6060 - Modes of operation (1.0) | |
SM3, PDO Assignment 0x1C13
Index | Size (byte.bit) | Name | PDO Content | |
|---|---|---|---|---|
0x1A00 (default) | 2.0 | DS402 Statusword | 0x6041 - Statusword (2.0) | |
0x1A01 (default) | 4.0 | DS402 Position actual value | 0x6064 - Position actual value (4.0) | |
0x1A02 | 4.0 | DS402 Velocity actual value | 0x606C - Velocity actual value (4.0) | |
0x1A03 | 2.0 | DS402 Torque actual value | 0x6077 - Torque actual value (2.0) | |
0x1A04 | 4.0 | DS402 Following error actual value | 0x60F4 - Following error actual value (4.0) | |
0x1A05 | 2.0 | DS402 Touch probe status
| 0x60B9 - Touch probe status (2.0) | |
Bit 0 Bit 8
| TP1 Enable TP2 Enable | |||
0x1A06 | 4.0 | DS402 Touch probe 1 positive edge | 0x60BA - Touch probe 1 positive edge (4.0) | |
0x1A07 | 4.0 | DS402 Touch probe 1 negative edge | 0x60BB - Touch probe 1 negative edge (4.0) | |
0x1A08 | 4.0 | DS402 Touch probe 2 positive edge | 0x60BC - Touch probe 2 positive edge (4.0) | |
0x1A09 | 4.0 | DS402 Touch probe 2 negative edge | 0x60BD - Touch probe 2 negative edge (4.0) | |
0x1A0A | 2.0 | DS402 TxPDO Data Invalid | 0x603E:02 - TxPDO Data invalid_Position actual value (0.1) | |
0x1A0B | 2.0 | DS402 Info data 1 | 0x2008:01 - Info data 1 (2.0) | |
0x1A0C | 2.0 | DS402 Info data 2 | 0x2008:02 - Info data 2 (2.0) | |
0x1A0E | 1.0 | DS402 Modes of operation display | 0x6061:00 - Modes of operation display (1.0) | |
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.
Four PDO assignments are available:
Name | SM2, PDO assignment | SM3, PDO assignment |
|---|---|---|
Cyclic synchronous velocity mode | 0x1600 (DS402 Controlword) 0x1601 (DS402 Target velocity) | 0x1A00 (DS402 Statusword) 0x1A01 (DS402 Position actual value) |
Cyclic synchronous torque mode | 0x1600 (DS402 Controlword) 0x1602 (DS402 Target torque) | 0x1A00 (DS402 Statusword) 0x1A01 (DS402 Position actual value) 0x1A03 (DS402 Torque actual value) |
Cyclic synchronous torque mode with commutation angle | 0x1600 (DS402 Controlword) 0x1602 (DS402 Target torque) 0x1603 (DS402 Commutation angle) | 0x1A00 (DS402 Statusword) |
Cyclic synchronous position mode | 0x1600 (DS402 Controlword) 0x1606 (DS402 Target position) | 0x1A00 (DS402 Statusword) 0x1A01 (DS402 Position actual value) 0x1A04 (DS402 Following error actual value) |
