Beckhoff EL72 1-0010 Serie Dokumentation Seite 147

Name
Cyclic synchronous velocity mode (CSV)
Cyclic synchronous torque mode (CST)
Cyclic synchronous torque mode with commu-
tation angel (CSTCA)
Cyclic synchronous position mode (CSP)
Abb. 173: Karteireiter Prozessdaten Predefined PDO Assignment, EL72x1-0010
EL72x1-0010
SM2, PDO-Zuordnung
0x1600 [} 161] (DS402 Controlword)
0x1601 [} 161] (DS402 Target velocity)
0x1600 [} 161] (DS402 Controlword)
0x1602 [} 161] (DS402 Target torque)
0x1600 [} 161] (DS402 Controlword)
0x1602 [} 161] (DS402 Target torque)
0x1603 [} 161] (DS402 Commutation an-
gle)
0x1600 [} 161] (DS402 Controlword)
0x1606 [} 162] (DS402 Target position)
Version: 2.0
Inbetriebnahme
SM3, PDO-Zuordnung
0x1A00 [} 162] (DS402 Statusword)
0x1A01 [} 162] (DS402 Position actual va-
lue)
0x1A00 [} 162] (DS402 Statusword)
0x1A01 [} 162] (DS402 Position actual va-
lue)
0x1A03 [} 162] (DS402 Torque actual value)
0x1A00 [} 162] (DS402 Statusword)
0x1A00 [} 162] (DS402 Statusword)
0x1A01 [} 162] (DS402 Position actual va-
lue)
147