Beckhoff EL7037 User Manual Page 174
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Configuration by means of the TwinCAT System Manager
Index 1A06 POS TxPDO-Map Status compact
Index Name Meaning Data type Flags Default value
1A06:0 POS TxPDO-Map
Status compact
PDO Mapping TxPDO 7 UINT8 RO 0x08 (8
dec
)
1A06:01 SubIndex 001 1. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x01 (Busy))
UINT32 RO 0x6020:01, 1
1A06:02 SubIndex 002 2. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x02 (In-Target))
UINT32 RO 0x6020:02, 1
1A06:03 SubIndex 003 3. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x03 (Warning))
UINT32 RO 0x6020:03, 1
1A06:04 SubIndex 004 4. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x04 (Error))
UINT32 RO 0x6020:04, 1
1A06:05 SubIndex 005 5. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x05 (Calibrated))
UINT32 RO 0x6020:05, 1
1A06:06 SubIndex 006 6. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x06 (Accelerate))
UINT32 RO 0x6020:06, 1
1A06:07 SubIndex 007 7. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x07 (Decelerate))
UINT32 RO 0x6020:07, 1
1A06:08 SubIndex 008 8. PDO Mapping entry (9 bits align) UINT32 RO 0x0000:00, 9
Index 1A07 POS TxPDO-Map Status
Index Name Meaning Data type Flags Default value
1A07:0 POS TxPDO-Map
Status
PDO Mapping TxPDO 8 UINT8 RO 0x0B (11
dec
)
1A07:01 SubIndex 001 1. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x01 (Busy))
UINT32 RO 0x6020:01, 1
1A07:02 SubIndex 002 2. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x02 (In-Target))
UINT32 RO 0x6020:02, 1
1A07:03 SubIndex 003 3. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x03 (Warning))
UINT32 RO 0x6020:03, 1
1A07:04 SubIndex 004 4. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x04 (Error))
UINT32 RO 0x6020:04, 1
1A07:05 SubIndex 005 5. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x05 (Calibrated))
UINT32 RO 0x6020:05, 1
1A07:06 SubIndex 006 6. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x06 (Accelerate))
UINT32 RO 0x6020:06, 1
1A07:07 SubIndex 007 7. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x07 (Decelerate))
UINT32 RO 0x6020:07, 1
1A07:08 SubIndex 008 8. PDO Mapping entry (9 bits align) UINT32 RO 0x0000:00, 9
1A07:09 SubIndex 009 9. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x11 (Actual position))
UINT32 RO 0x6020:11, 32
1A07:0A SubIndex 010 10. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x21 (Actual velocity))
UINT32 RO 0x6020:21, 16
1A07:0B SubIndex 011 11. PDO Mapping entry (object 0x6020 (POS Inputs
Ch.1), entry 0x22 (Actual drive time))
UINT32 RO 0x6020:22, 32
Index 1A08 STM TxPDO-Map Internal position
Index Name Meaning Data type Flags Default
1A08:0 STM TxPDO-Map
Internal position
PDO Mapping TxPDO 9 UINT8 RO 0x01 (1
dec
)
1A08:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x14 (Internal position))
UINT32 RO 0x6010:14, 32
Index 1A09 STM TxPDO-Map External position
Index Name Meaning Data type Flags Default
1A09:0 STM TxPDO-Map
External position
PDO Mapping TxPDO 10 UINT8 RO 0x01 (1
dec
)
1A09:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (STM Inputs
Ch.1), entry 0x15 (External position))
UINT32 RO 0x6010:15, 32
EL70x7174 Version 1.0
- Table of contents 3
- 1 Foreword 5
- 1.2 Safety instructions 6
- 1.3 Documentation issue staus 7
- Designation 8
- Identification number 8
- Unique serial number/ID 9
- Examples of markings: 9
- Foreword 11
- EL70x7 11Version 1.0 11
- 2 Product overview 12
- Configuration instructions 13
- Application example 13
- 2.1.2 EL7037 - Technical data 14
- 2.2 EL7047 15
- 2.2.2 EL7047 - Technical data 17
- 2.3 Technology 18
- Stepper motor parameters 19
- • Mechanical system 19
- • Number of phases 19
- • Torque 19
- • Cogging torque 20
- • Mass moment of inertia 20
- • Resonance 20
- 2.3.2 Standard mode 22
- 2.3.3 Field-oriented control 23
- Control structure 24
- Motor dependency 24
- 2.3.4 Sensorless operation 25
- 2.4 Start-up 26
- 3 Basics communication 27
- Multiplier 29
- 3.4 EtherCAT State Machine 30
- Pre-Operational (Pre-Op) 31
- Safe-Operational (Safe-Op) 31
- Operational (Op) 31
- 3.5 CoE Interface 32
- Data management 33
- Online/offline list 34
- Channel-based order 35
- 3.6 Distributed Clock 37
- 4 Installation 38
- Disassembly 39
- PE power contact 39
- Possible damage of the device 40
- Risk of electric shock! 40
- 4.2 Connection system 41
- Wiring HD Terminals 42
- ESxxxx / KSxxxx 43
- Shielding 44
- 4.3 Installation position 45
- 4.5 Shielding concept 47
- 4.6 EL7037 48
- EL7037-0000 49
- Terminal points 50
- Connection types 51
- Bipolar motors 51
- Installation 52
- EL70x752 Version 1.0 52
- 4.7 EL7047 53
- LEDs (left prism) 54
- LEDs (right prism) 54
- Unipolar motors 57
- Connecting an encoder (24 V) 57
- 5 Commissioning 58
- EL70x760 Version 1.0 60
- IP address of the port used 61
- Device differentiation 62
- Online description 62
- Faulty ESI file 64
- EL70x7 65Version 1.0 65
- Creating the EtherCAT device 66
- Defining EtherCAT slaves 68
- EL70x7 71Version 1.0 71
- Selecting the Ethernet port 74
- Online scan functionality 74
- Troubleshooting 77
- Change to compatible device 80
- Change to Alternative Type 80
- „General“ tab 83
- „EtherCAT“ tab 83
- “Process Data” tab 84
- Sync Manager 85
- PDO list 85
- PDO Content 85
- Download 86
- PDO Configuration 86
- „Startup“ tab 86
- “CoE – Online” tab 87
- „Online“ tab 89
- DLL Status 89
- EL70x792 Version 1.0 92
- CoE Parameter Directory 94
- EtherCAT System Documentation 95
- Standard setting 96
- Manual Control 97
- Note regarding E-Bus current 98
- 5.3.1 Process data 99
- PDO Assignment 100
- Predefined PDO Assignment 103
- Adding an axis automatically 105
- Adding an axis manually 105
- Commissioning 108
- EL70x7108 Version 1.0 108
- The motor may overheat! 109
- Base frequency selection 110
- CoE "Feedback type" 111
- Dead time compensation 113
- Scaling factor 113
- Position lag monitoring 114
- factors 115
- Dead band for position errors 116
- Setting the acceleration time 116
- 5.3.5 Application example 117
- 5.4 Operating modes 123
- 5.4.2 Velocity direct 125
- Step by Step 126
- 5.4.3 Position controller 128
- 5.4.4 Extended Velocity mode 131
- 5.4.5 Extended Position mode 134
- 5.4.6 Velocity sensorless 137
- Parameter set 140
- POS Settings 141
- Velocity min.: 141
- Velocity max.: 141
- Acceleration pos.: 141
- Acceleration neg.: 141
- Target overrun: 144
- StartUp: 145
- Start positioning: 145
- Evaluate status: 145
- Error handling: 145
- Start types 145
- ABSOLUTE: 146
- RELATIVE: 147
- ENDLESS_PLUS / ENDLESS_MINUS: 147
- ADDITIVE: 147
- Example: 150
- 6.1 EL7037 155
- Configuration data 156
- Index 8000 ENC Settings Ch.1 156
- EL70x7 157Version 1.0 157
- EL70x7158 Version 1.0 158
- Index 8020 POS Settings Ch.1 159
- Index 8021 POS Features Ch.1 160
- Command object 160
- Index FB00 STM Command 160
- Input data 161
- Index 6000 ENC Inputs Ch.1 161
- Index 6010 STM Inputs Ch.1 161
- Index 6020 POS Inputs Ch.1 162
- Output data 162
- Index 7000 ENC Outputs Ch.1 162
- Index 7010 STM Outputs Ch.1 162
- Index 9010 STM Info data Ch.1 163
- Index 9020 POS Info data Ch.1 164
- Index A010 STM Diag data Ch.1 164
- EL70x7 165Version 1.0 165
- EL70x7 167Version 1.0 167
- EL70x7168 Version 1.0 168
- EL70x7 169Version 1.0 169
- EL70x7170 Version 1.0 170
- EL70x7 171Version 1.0 171
- EL70x7172 Version 1.0 172
- EL70x7 173Version 1.0 173
- EL70x7174 Version 1.0 174
- Index 1C00Sync manager type 175
- Index 1C12 RxPDO assign 175
- Index 1C13 TxPDO assign 175
- EL70x7176 Version 1.0 176
- EL70x7 177Version 1.0 177
- Index F008 Code word 178
- 6.2 EL7047 179
- EL70x7 181Version 1.0 181
- EL70x7182 Version 1.0 182
- EL70x7 189Version 1.0 189
- EL70x7 191Version 1.0 191
- EL70x7192 Version 1.0 192
- EL70x7 193Version 1.0 193
- EL70x7194 Version 1.0 194
- EL70x7 195Version 1.0 195
- EL70x7196 Version 1.0 196
- EL70x7 197Version 1.0 197
- Index 1C00 Sync manager type 199
- EL70x7200 Version 1.0 200
- EL70x7 201Version 1.0 201
- 7 Error correction 203
- Support for commissioning 204
- Interpretation 205
- Structure of the Text ID 205
- General Text IDs 205
- 8 Appendix 208
- 8.2 EtherCAT AL Status Codes 210
- 8.3 Firmware EL/ES/EM/EPxxxx 210
- Update of XML/ESI description 211
- CoE Online and Offline CoE 214
- CoE directory 214
- FPGA firmware *.rbf 215
- Updating an EtherCAT device 217
- Appendix 218
- Fig.190: Select dialog FPGA 218
- EL70x7218 Version 1.0 218
- Risk of damage to the device! 219
- 8.4 Firmware compatibility 220
- Alternative restore value 221
- 8.6 Support and Service 222
- Table of figures 223
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