BECKHOFF EL7037 - Manual (Page 162)

Configuration by means of the TwinCAT System Manager
Index 6020 POS Inputs Ch.1
Index Name Meaning Data type Flags Default value
6020:0 POS Inputs Ch.1 Maximum subindex UINT8 RO 0x22 (34
dec
)
6020:01 Busy A current travel command is active BOOLEAN RO 0x00 (0
dec
)
6020:02 In-Target Motor has arrived at target BOOLEAN RO 0x00 (0
dec
)
6020:03 Warning A warning has occurred BOOLEAN RO 0x00 (0
dec
)
6020:04 Error an error has occurred BOOLEAN RO 0x00 (0
dec
)
6020:05 Calibrated Motor is calibrated BOOLEAN RO 0x00 (0
dec
)
6020:06 Accelerate Motor is in the acceleration phase BOOLEAN RO 0x00 (0
dec
)
6020:07 Decelerate Motor is in the deceleration phase BOOLEAN RO 0x00 (0
dec
)
6020:11 Actual position Current target position of the travel command generator UINT32 RO 0x00000000 (0
dec
)
6020:21 Actual velocity Current set velocity of the travel command generator INT16 RO 0x0000 (0
dec
)
6020:22 Actual drive time Travel command time information (see subindex 8021:11
[
} 160])
UINT32 RO 0x00000000 (0
dec
)
Output data
Index 7000 ENC Outputs Ch.1
Index Name Meaning Data type Flags Default value
7000:0 ENC Outputs
Ch.1 Maximum subindex UINT8 RO 0x11 (17
dec
)
7000:01 Enable latch C Activate latching via the C-track. BOOLEAN RO 0x00 (0
dec
)
7000:02 Enable latch ex-
tern on positive
edge Activate external latch with positive edge. BOOLEAN RO 0x00 (0
dec
)
7000:03 Set counter Set the counter value. BOOLEAN RO 0x00 (0
dec
)
7000:04 Enable latch ex-
tern on negative
edge Activate external latch with negative edge. BOOLEAN RO 0x00 (0
dec
)
7000:11 Set counter value This is the counter value to be set via "Set counter". UINT32 RO 0x00000000 (0
dec
)
Index 7010 STM Outputs Ch.1
Index Name Meaning Data type Flags Default value
7010:0 STM Outputs
Ch.1 Maximum subindex UINT8 RO 0x21 (33
dec
)
7010:01 Enable activates the output stage BOOLEAN RO 0x00 (0
dec
)
7010:02 Reset all errors that may have occurred are reset by setting this
bit (rising edge) BOOLEAN RO 0x00 (0
dec
)
7010:03 Reduce torque Reduced torque (coil current) is active (see subindex
8010:02 [
} 156])
BOOLEAN RO 0x00 (0
dec
)
7010:0C Digital output 1 Digital output 1 BOOLEAN RO 0x00 (0
dec
)
7010:11 Position Set position specification
Unit: Increments [
} 128]
UINT32 RO 0x00000000 (0
dec
)
7010:21 Velocity Set velocity specification
Unit: +/- 32767 corresponds to +/- 100% [
} 126]
INT16 RO 0x0000 (0
dec
)
Index 7020 POS Outputs Ch.1 (part 1)
Index Name Meaning Data type Flags Default value
7020:0 POS Outputs
Ch.1 Maximum subindex UINT8 RO 0x24 (33
dec
)
7020:01 Execute Start travel command (rising edge), or prematurely abort
travel command (falling edge) BOOLEAN RO 0x00 (0
dec
)
7020:02 Emergency Stop Prematurely abort travel command with an emergency
ramp (rising edge) BOOLEAN RO 0x00 (0
dec
)
7020:11 Target position Specification of the target position UINT32 RO 0x00000000 (0
dec
)
7020:21 Velocity Specification of the maximum set velocity INT16 RO 0x0000 (0
dec
)
EL70x7 162 Version 1.0