BECKHOFF EL7037 - Manual (Page 101)

Commissioning
SM2, PDO assignment 0x1C12
Index Index of excluded
PDOs Size
(byte.bit) Name PDO content
0x1600
(default) 0x1601 4.0 ENC
Control
compact Index 0x7000:01 [ } 186] - Enable Latch C
Index 0x7000:02 [ } 186] - Enable Latch extern on
positive edge
Index 0x7000:03 [
} 186] - Set counter
Index 0x7000:04 [ } 186] - Enable Latch extern on
negative edge
Index 0x7000:11 [
} 186] - Set counter value (16-
bit)
0x1601 0x1600 6.0 ENC
Control Index 0x7000:01 [ } 186] - Enable Latch C
Index 0x7000:02 [ } 186] - Enable Latch extern on
positive edge
Index 0x7000:03 [
} 186] - Set counter
Index 0x7000:04 [ } 186] - Enable Latch extern on
negative edge
Index 0x7000:11 [
} 186] - Set counter value (321-
bit)
0x1602
(default) - 2.0 STM
Control Index 0x7010:01 [ } 186] - Enable
Index 0x7010:02 [ } 186] - Reset
Index 0x7010:03 [ } 186] - Reduce torque
Index 0x7010:0C [ } 186] - Digital Output 1
0x1603 0x1604
0x1605
0x1606 4.0 STM
Position Index 0x7010:11 [ } 186] - Position
0x1604
(default) 0x1603
0x1605
0x1606 2.0 STM
Velocity Index 0x7010:21 [ } 186] - Velocity
0x1605 0x1603
0x1604
0x1606 6.0 POS
Control
compact Index 0x7020:01 [ } 186] - Execute
Index 0x7020:02 [ } 186] - Emergency stop
Index 0x7020:11 [ } 186] - Target position
0x1606 0x1603
0x1604
0x1605 14.0 POS
Control Index 0x7020:01 [ } 186] - Execute
Index 0x7020:02 [ } 186] - Emergency stop
Index 0x7020:11 [ } 186] - Target position
Index 0x7020:21 [ } 186] - Velocity
Index 0x7020:22 [ } 186] - Start type
Index 0x7020:23 [ } 186] - Acceleration
Index 0x7020:24 [ } 186] - Deceleration
EL70x7 101 Version 1.0