Process data
Sync Manager (SM)
The extent of the process data that is made available can be changed through the "Process Data" tab.:
- Sync Manager SM2 "Outputs"
- Sync Manager SM3 "Inputs"
PDO Assignment
For the configuration of the process data mark in the upper left field "Sync Manager" the desired Sync Manager SM 2 or SM 3. In the field below "PDO Assignment" you can switch on or off the process data assigned to the selected Sync Manager. Restarting the EtherCAT system, or reloading the configuration in Config mode, 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 | DRV Controlword | Index 0x7010:01 | |
0x1601 | 4.0 | DRV Target velocity | Index 0x7010:06 | |
0x1602 | 2.0 | DRV Target torque | Index 0x7010:09 | |
0x1603 | 2.0 | DRV Commutation angle | Index 0x7010:0E | |
0x1604 | 2.0 | DRV Torque limitation | Index 0x7010:0B | |
0x1606 (default) | 4.0 | DRV Target position | Index 0x7010:05 | |
0x1607 | 2.0 | FB Touch probe control | Index 0x7001:0 | |
Index 0x7001:01 | TP1 Enable | |||
Index 0x7001:02 | TP1 Continous | |||
Index 0x7001:03 | TP1 Trigger mode | |||
Index 0x7001:05 | TP1 Enable pos edge | |||
Index 0x7001:06 | TP1 Enable neg edge | |||
Index 0x7001:09 | TP2 Enable | |||
Index 0x7001:0A | TP2 Continous | |||
Index 0x7001:0B | TP2 Trigger mode | |||
Index 0x7001:0D | TP2 Enable pos edge | |||
Index 0x7001:0E | TP2 Enable neg edge | |||
0x1608 | 2.0 | FAN Outputs Device | Index 0xF700:01 | |
0x1640 1) | 40.0 | DMC Outputs | Index 0x7040 | |
Index 0x7040:02 | DMC__FeedbackControl__Enable latch extern on positive edge | |||
Index 0x7040:03 | DMC__FeedbackControl__Set counter | |||
Index 0x7040:04 | DMC__FeedbackControl__Enable latch extern on negative edge | |||
Index 0x7040:11 | DMC__DriveControl__Enable | |||
Index 0x7040:12 | DMC__DriveControl__Reset | |||
Index 0x7040:21 | DMC__PositioningControl__Execute | |||
Index 0x7040:22 | DMC__PositioningControl__Emergency stop | |||
Index 0x7040:31 | DMC__Set counter value | |||
Index 0x7040:32 | DMC__Target position | |||
Index 0x7040:33 | DMC__Target velocity | |||
Index 0x7040:34 | DMC__Start type | |||
Index 0x7040:35 | DMC__Target acceleration | |||
Index 0x7040:36 | DMC__Target deceleration | |||
SM2, PDO Assignment 0x1C12 | ||||
|---|---|---|---|---|
Index | Size (byte.bit) | Name | PDO Content | |
0x1641 1) | 40.0 | DMC Outputs 32 Bit | Index 0x7040 | |
Index 0x7040:02 | DMC__FeedbackControl__Enable latch extern on positive edge | |||
Index 0x7040:03 | DMC__FeedbackControl__Set counter | |||
Index 0x7040:04 | DMC__FeedbackControl__Enable latch extern on negative edge | |||
Index 0x7040:11 | DMC__DriveControl__Enable | |||
Index 0x7040:12 | DMC__DriveControl__Reset | |||
Index 0x7040:21 | DMC__PositioningControl__Execute | |||
Index 0x7040:22 | DMC__PositioningControl__Emergency stop | |||
Index 0x7040:31 | DMC__Set counter value | |||
Index 0x7040:32 | DMC__Target position | |||
Index 0x7040:33 | DMC__Target velocity | |||
Index 0x7040:34 | DMC__Start type | |||
Index 0x7040:35 | DMC__Target acceleration | |||
Index 0x7040:36 | DMC__Target deceleration | |||
1) These process data objects are only available from firmware 06 and ESI 0019.
SM3, PDO Assignment 0x1C13 | ||||
|---|---|---|---|---|
Index | Size (byte.bit) | Name | PDO Content | |
0x1A00 (default) | 4.0 | FB Position | Index 0x6000:11 | |
0x1A01 (default) | 2.0 | DRV Statusword | Index 0x6010:01 | |
0x1A02 | 4.0 | DRV Velocity actual value | Index 0x6010:07 | |
0x1A03 | 2.0 | DRV Torque actual value | Index 0x6010:08 | |
0x1A04 | 2.0 | DRV Info data 1 | Index 0x6010:12 | |
0x1A05 | 2.0 | DRV Info data 2 | Index 0x6010:13 | |
0x1A06 (default) | 4.0 | DRV Following error actual value | Index 0x6010:06 | |
0x1A07 | 2.0 | FB Touch probe status | Index 0x6001:0 | |
Index 0x6001:01 | TP1 Enable | |||
Index 0x6001:02 | TP1 Pos value stored | |||
Index 0x6001:03 | TP1 Neg value stored | |||
Index 0x6001:08 | TP1 Input | |||
Index 0x6001:09 | TP2 Enable | |||
Index 0x6001:0A | TP2 Pos value stored | |||
Index 0x6001:0B | TP2 Neg value stored | |||
Index 0x6001:10 | TP2 Input | |||
0x1A08 | 4.0 | FB Touch probe 1 pos position | Index 0x6001:11 | |
0x1A09 | 4.0 | FB Touch probe 1 neg position | Index 0x6001:12 | |
0x1A0A | 4.0 | FB Touch probe 2 pos position | Index 0x6001:13 | |
0x1A0B | 4.0 | FB Touch probe 2 neg position | Index 0x6001:14 | |
0x1A0D | 2.0 | DRV Info data 3 | Index 0x6010:14 | |
0x1A0E | 4.0 | FB Enc Position | Index 0x6000:12 | |
0x1A0F | 2.0 | FAN Inputs Device | Index 0xF600:01 | |
0x1A10 | 2.0 | DI Inputs | Index 0x6020:0 | |
Index 0x6020:01 | Input 1 | |||
Index 0x6020:02 | Input 2 | |||
Index 0x6020:03 | Fan Diag | |||
Index 0x6020:05 | Encoder A | |||
Index 0x6020:06 | Encoder B | |||
Index 0x6020:07 | Encoder C | |||
Index 0x6020:09 | Hall A | |||
Index 0x6020:0A | Hall B | |||
Index 0x6020:0B | Hall C | |||
Index 0x6020:0D | Level of ENA input | |||
0x1A40 1) | 64.0 | DMC Inputs | Index 0x6040:0 | |
Index 0x6040:02 | DMC__FeedbackStatus__Latch extern valid | |||
Index 0x6040:03 | DMC__FeedbackStatus__Set counter done | |||
Index 0x6040:0D | DMC__FeedbackStatus__Status of extern latch | |||
Index 0x6040:11 | DMC__DriveStatus__Ready to enable | |||
Index 0x6040:12 | DMC__DriveStatus__Ready | |||
Index 0x6040:13 | DMC__DriveStatus__Warning | |||
Index 0x6040:14 | DMC__DriveStatus__Error | |||
Index 0x6040:15 | DMC__DriveStatus__Moving positive | |||
Index 0x6040:16 | DMC__DriveStatus__Moving negative | |||
Index 0x6040:1C | DMC__DriveStatus__Digital input 1 | |||
Index 0x6040:1D | DMC__DriveStatus__Digital input 2 | |||
Index 0x6040:21 | DMC__PositioningStatus__Busy | |||
Index 0x6040:22 | DMC__PositioningStatus__In-Target | |||
Index 0x6040:23 | DMC__PositioningStatus__Warning | |||
Index 0x6040:24 | DMC__PositioningStatus__Error | |||
Index 0x6040:25 | DMC__PositioningStatus__Calibrated | |||
Index 0x6040:26 | DMC__PositioningStatus__Accelerate | |||
Index 0x6040:27 | DMC__PositioningStatus__Decelerate | |||
Index 0x6040:28 | DMC__PositioningStatus__Ready to execute | |||
Index 0x6040:31 | DMC__Set position | |||
Index 0x6040:32 | DMC__Set velocity | |||
Index 0x6040:33 | DMC__Actual drive time | |||
Index 0x6040:34 | DMC__Actual position lag | |||
Index 0x6040:35 | DMC__Actual velocity | |||
Index 0x6040:36 | DMC__Actual position | |||
Index 0x6040:37 | DMC__Error id | |||
Index 0x6040:38 | DMC__Input cycle counter | |||
Index 0x6040:39 | DMC__Channel id | |||
Index 0x6040:3A | DMC__Latch value | |||
Index 0x6040:3B | DMC__Cyclic info data 1 | |||
Index 0x6040:3C | DMC__Cyclic info data 2 | |||
0x1A41 1) | 64.0 | DMC Inputs 32 Bit | Index 0x6040:0 | |
Index 0x6040:02 | DMC__FeedbackStatus__Latch extern valid | |||
Index 0x6040:03 | DMC__FeedbackStatus__Set counter done | |||
Index 0x6040:0D | DMC__FeedbackStatus__Status of extern latch | |||
Index 0x6040:11 | DMC__DriveStatus__Ready to enable | |||
Index 0x6040:12 | DMC__DriveStatus__Ready | |||
Index 0x6040:13 | DMC__DriveStatus__Warning | |||
Index 0x6040:14 | DMC__DriveStatus__Error | |||
Index 0x6040:15 | DMC__DriveStatus__Moving positive | |||
Index 0x6040:16 | DMC__DriveStatus__Moving negative | |||
Index 0x6040:1C | DMC__DriveStatus__Digital input 1 | |||
Index 0x6040:1D | DMC__DriveStatus__Digital input 2 | |||
Index 0x6040:21 | DMC__PositioningStatus__Busy | |||
Index 0x6040:22 | DMC__PositioningStatus__In-Target | |||
Index 0x6040:23 | DMC__PositioningStatus__Warning | |||
Index 0x6040:24 | DMC__PositioningStatus__Error | |||
Index 0x6040:25 | DMC__PositioningStatus__Calibrated | |||
Index 0x6040:26 | DMC__PositioningStatus__Accelerate | |||
Index 0x6040:27 | DMC__PositioningStatus__Decelerate | |||
Index 0x6040:28 | DMC__PositioningStatus__Ready to execute | |||
Index 0x6040:31 | DMC__Set position | |||
Index 0x6040:32 | DMC__Set velocity | |||
Index 0x6040:33 | DMC__Actual drive time | |||
Index 0x6040:34 | DMC__Actual position lag | |||
Index 0x6040:35 | DMC__Actual velocity | |||
Index 0x6040:36 | DMC__Actual position | |||
Index 0x6040:37 | DMC__Error id | |||
Index 0x6040:38 | DMC__Input cycle counter | |||
Index 0x6040:39 | DMC__Channel id | |||
Index 0x6040:3A | DMC__Latch value | |||
Index 0x6040:3B | DMC__Cyclic info data 1 | |||
Index 0x6040:3C | DMC__Cyclic info data 2 | |||
1) These process data objects are only available from firmware 06 and ESI 0019.
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 enabled and the unnecessary PDOs are disabled.
The following PDO assignments are available:
Name | SM2, PDO assignment | SM3, PDO assignment |
|---|---|---|
Velocity | 0x1600 (DRV Controlword) 0x1601 (DRV Target velocity) | 0x1A00 (FB Position) 0x1A01 (DRV Statusword) |
Position | 0x1600 (DRV Controlword) 0x1606 (DRV Target position) | 0x1A00 (FB Position) 0x1A01 (DRV Statusword) 0x1A06 (DRV Following error actual value) |
Torque | 0x1600 (DRV Controlword) 0x1602 (DRV Target torque) | 0x1A00 (FB Position) 0x1A01 (DRV Statusword) |
Drive motion control (For TC3 DriveMotionControl Lib) | 0x1640 (DMC Outputs) | 0x1A40 (DMC Inputs) |
Drive motion control (32 bit) | 0x1641 (DMC Outputs 32 Bit) | 0x1A41 (DMC Inputs 32 Bit) |