Index 1602 stm rxpdo-map control, Index 1603 stm rxpdo-map position, Index 1604 stm rxpdo-map velocity – BECKHOFF EL7037 User Manual
Page 169: Index 1605 pos rxpdo-map control compact, Index 1606 pos rxpdo-map control
Configuration by means of the TwinCAT System Manager
Index 1602 STM RxPDO-Map Control
Index
Name
Meaning
Data type
Flags
Default value
1602:0
STM RxPDO-Map
Control
PDO Mapping RxPDO 3
UINT8
RO
0x06 (6
dec
)
1602:01
SubIndex 001
1. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x01 (Enable))
UINT32
RO
0x7010:01, 1
1602:02
SubIndex 002
2. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x02 (Reset))
UINT32
RO
0x7010:02, 1
1602:03
SubIndex 003
3. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x03 (Reduce torque))
UINT32
RO
0x7010:03, 1
1602:04
SubIndex 004
4. PDO Mapping entry (13 bits align)
UINT32
RO
0x0000:00, 8
1602:05
SubIndex 005
5. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x0C (Digital output 1))
UINT32
RO
0x7010:0C, 1
1602:06
SubIndex 006
6. PDO Mapping entry (4 bits align)
UINT32
RO
0x0000:00, 4
Index 1603 STM RxPDO-Map Position
Index
Name
Meaning
Data type
Flags
Default value
1603:0
STM RxPDO-Map
Position
PDO Mapping RxPDO 4
UINT8
RO
0x01 (1
dec
)
1603:01
SubIndex 001
1. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x11 (Position))
UINT32
RO
0x7010:11, 32
Index 1604 STM RxPDO-Map Velocity
Index
Name
Meaning
Data type
Flags
Default value
1604:0
STM RxPDO-Map
Velocity
PDO Mapping RxPDO 5
UINT8
RO
0x01 (1
dec
)
1604:01
SubIndex 001
1. PDO Mapping entry (object 0x7010 (STM Outputs
Ch.1), entry 0x21 (Velocity))
UINT32
RO
0x7010:21, 16
Index 1605 POS RxPDO-Map Control compact
Index
Name
Meaning
Data type
Flags
Default value
1605:0
POS RxPDO-Map
Control compact
PDO Mapping RxPDO 6
UINT8
RO
0x04 (4
dec
)
1605:01
SubIndex 001
1. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x01 (Execute))
UINT32
RO
0x7020:01, 1
1605:02
SubIndex 002
2. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x02 (Emergency stop))
UINT32
RO
0x7020:02, 1
1605:03
SubIndex 003
3. PDO Mapping entry (14 bits align)
UINT32
RO
0x0000:00, 14
1605:04
SubIndex 004
4. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x11 (Target position))
UINT32
RO
0x7020:11, 32
Index 1606 POS RxPDO-Map Control
Index
Name
Meaning
Data type
Flags
Default value
1606:0
POS RxPDO-Map
Control
PDO Mapping RxPDO 7
UINT8
RO
0x08 (8
dec
)
1606:01
SubIndex 001
1. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x01 (Execute))
UINT32
RO
0x7020:01, 1
1606:02
SubIndex 002
2. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x02 (Emergency stop))
UINT32
RO
0x7020:02, 1
1606:03
SubIndex 003
3. PDO Mapping entry (14 bits align)
UINT32
RO
0x0000:00, 14
1606:04
SubIndex 004
4. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x11 (Target position))
UINT32
RO
0x7020:11, 32
1606:05
SubIndex 005
5. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x21 (Velocity))
UINT32
RO
0x7020:21, 16
1606:06
SubIndex 006
6. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x22 (Start type))
UINT32
RO
0x7020:22, 16
1606:07
SubIndex 007
7. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x23 (Acceleration))
UINT32
RO
0x7020:23, 16
1606:08
SubIndex 008
8. PDO Mapping entry (object 0x7020 (POS Outputs
Ch.1), entry 0x24 (Deceleration))
UINT32
RO
0x7020:24, 16
EL70x7
169
Version 1.0