Process data MDP 742

Table of contents

• Sync Manger
• PDO Assignment
• Predefined PDO Assignment

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.).

Process data MDP 742 1:
Process Data tab SM2, EP7211 (default)
Process data MDP 742 2:
Process Data tab SM3, EP7211 (default)

PDO Assignment

In order to configure the process data, select the desired Sync Manager (SM 2 & 3 can be edited here) in the upper left-hand "Sync Manager" box (see fig. Process data SM3 tab). 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 Config mode (F4), causes the EtherCAT communication to restart, and the process data is transferred from the box.

SM2, PDO Assignment 0x1C12

Index

Size (byte.bit)

Name

PDO Content

0x1600 (default)

2.0

DRV Controlword

Index 0x7010:01

0x1601 (default)

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

0x1605

2.0

DRV Torque offset

Index 0x7010:0A

0x1606

4.0

DRV Target position

Index 0x7010:05

0x1607

2.0

FB Touch probe control

Index 0x7001:0

 

Index 0x7001:01
Index 0x7001:02
Index 0x7001:03
Index 0x7001:05
Index 0x7001:06
Index 0x7001:09
Index 0x7001:0A
Index 0x7001:0B
Index 0x7001:0D
Index 0x7001:0E

TP1 Enable
TP1 Continous
TP1 Trigger mode
TP1 Enable pos. edge
TP1 Enable neg. edge
TP2 Enable
TP2 Continous
TP2 Trigger mode
TP2 Enable pos. edge
TP2 Enable neg. edge

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

4.0

DRV Following error actual value

Index 0x6010:09

0x1A07

2.0

FB Touch probe status

Index 0x6001:0

 

Index 0x6001:01
Index 0x6001:02
Index 0x6001:03
Index 0x6001:08
Index 0x6001:09
Index 0x6001:0A
Index 0x6001:0B
Index 0x6001:10

TP1 Enable
TP1 Pos. value stored
TP1 Neg. value stored
TP1 Input
TP2 Enable
TP2 Pos. value stored
TP2 Neg. value stored
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

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

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)

Process data MDP 742 3:
Process data tab - Predefined PDO Assignment