DS402 process data
Table of contents |
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Sync Manager (SM)
Sync Manager (SM) The scope of the offered process data can be changed via the "Process Data" tab (see Fig. "Process Data tab SM2, EL72x1 (default), Process data tab SM3, EL72x1 (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.
PDO assignment of sync managers, EL72x1
SM2, PDO assignment 0x1C12 | |||
|---|---|---|---|
Index | Size (byte.bit) | Name | PDO content |
0x1600 (default) | 2.0 | DS402 Controlword | Index 0x6040 |
0x1601 (default) | 4.0 | DS402 Target velocity | Index 0x60FF |
0x1602 | 2.0 | DS402 Target torque | Index 0x6071 |
0x1603 | 2.0 | DS402 Commutation angle | Index 0x60EA |
0x1604 | 2.0 | DS402 Torque limitation | Index 0x6072 |
0x1605 | 2.0 | DS402 Torque offset | Index 0x2001:11 |
0x1606 | 4.0 | DS402 Target position | Index 0x607A |
SM3, PDO Assignment 0x1C13 | |||
|---|---|---|---|
Index | Size (byte.bit) | Name | PDO content |
0x1A00 (default) | 4.0 | DS402 Statusword | Index 0x6041 |
0x1A01 (default) | 2.0 | DS402 Position actual value | Index 0x6064 |
0x1A02 | 4.0 | DS402 Velocity actual value | Index 0x606C |
0x1A03 | 2.0 | DS402 Torque actual value | Index 0x6077 |
0x1A04 | 4.0 | DS402 Following error actual value | Index 0x60F4 |
0x1A0A | 2.0 | DS402 TxPDO Data Invalid | Index 0x603E:02 |
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 angel | 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) |
