DS402 process data

Table of contents

Sync Manager
PDO Assignment
Predefined PDO Assignment

Sync Manager (SM)

Sync Manager (SM). The extent of the process data that is made available can be changed via the "Process data" tab (see Fig. Process data tab SM2 (default)).

DS402 process data 1:
Process Data tab SM2 (default)
DS402 process data 2:
Process Data tab SM3 (default)

PDO Assignment

In order to configure the process data, select the desired Sync Manager (SM 2 & 3 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 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

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

0x1607

2.0

DS402 FB Touch probe function

Index 0x60B8

Bit 0
Bit 1
Bit 2
Bit 4
Bit 5
Bit 8
Bit 9
Bit 10
Bit 12
Bit 13

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)

2.0

DS402 Statusword

Index 0x6041

0x1A01 (default)

4.0

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

0x1A05

2.0

DS402 Touch probe status

Index 0x60B9

 

Bit 0
Bit 1
Bit 2
Bit 7
Bit 8
Bit 9
Bit 10
Index 6001:10

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

0x1A06

4.0

DS402 Touch probe 1 pos. position

Index 0x60BA

0x1A07

4.0

DS402 Touch probe 1 neg. position

Index 0x60BB

0x1A08

4.0

DS402 Touch probe 2 pos. position

Index 0x60BC

0x1A09

4.0

DS402 Touch probe 2 neg. position

Index 0x60BD

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 (DS402 Controlword)
0x1601 (DS402 Target velocity)

0x1A00 (DS402 Statusword)
0x1A01 (DS402 Position actual value)

Cyclic synchronous torque mode (CST)

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 (CSTCA)

0x1600 (DS402 Controlword)
0x1602 (DS402 Target torque)
0x1603 (DS402 Commutation angle)

0x1A00 (DS402 Statusword)

Cyclic synchronous position mode (CSP)

0x1600 (DS402 Controlword)
0x1606 (DS402 Target position)

0x1A00 (DS402 Statusword)
0x1A01 (DS402 Position actual value)

DS402 process data 3:
Process data tab - Predefined PDO Assignment