Boxes ----- Term 1 (EK1200) ^^^^^^^^^^^^^^^ .. raw:: html
EtherCAT .. csv-table:: Basic Settings :header: Name, Data :align: center Name, Term 1 (EK1200) ID, 1 .. raw:: html
Term 2 (EK1122) ^^^^^^^^^^^^^^^ .. raw:: html
EtherCAT .. csv-table:: Basic Settings :header: Name, Data :align: center Name, Term 2 (EK1122) ID, 2 .. raw:: html
Term 3 SDS Injector (EK1100) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. raw:: html
EtherCAT .. csv-table:: Basic Settings :header: Name, Data :align: center Name, Term 3 SDS Injector (EK1100) ID, 3 .. raw:: html
Term 4 X (EL7041) ^^^^^^^^^^^^^^^^^ .. raw:: html
EtherCAT (17 PDOs) .. csv-table:: Basic Settings :header: Name, Data :align: center Name, Term 4 X (EL7041) ID, 4 BootStrapData, 0010f400f410f400 SyncMan, 001080002600010001000000400080008000001026010000 SyncMan, 801080002200010002000000400080008000801022010000 SyncMan, 001108002400010003000000000000000800001124010000 SyncMan, 801108002000010004000000000000000800801120010000 Fmmu, 0000000000000000001100020100000001000000000000000000000000000000 Fmmu, 0000000000000000801100010100000002000000000000000000000000000000 Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000 CoeProfile, 33493897 CoeProfile, 46076809 CoeProfile, 46142345 PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UINT" "Latch value", "", , "#x6000", "UINT" PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UDINT" "Latch value", "", , "#x6000", "UDINT" PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Timestamp", "", , "#x6000", "UDINT" PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Ready to enable", "", , "#x6010", "BIT" "Status__Ready", "", , "#x6010", "BIT" "Status__Warning", "", , "#x6010", "BIT" "Status__Error", "", , "#x6010", "BIT" "Status__Moving positive", "", , "#x6010", "BIT" "Status__Moving negative", "", , "#x6010", "BIT" "Status__Torque reduced", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..2] OF BIT" "Status__Digital input 1", "", , "#x6010", "BIT" "Status__Digital input 2", "", , "#x6010", "BIT" "Status__Sync error", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6010", "BIT" PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Info data 1", "", , "#x6010", "UINT" "Info data 2", "", , "#x6010", "UINT" PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Busy", "", , "#x6020", "BIT" "Status__In-Target", "", , "#x6020", "BIT" "Status__Warning", "", , "#x6020", "BIT" "Status__Error", "", , "#x6020", "BIT" "Status__Calibrated", "", , "#x6020", "BIT" "Status__Accelerate", "", , "#x6020", "BIT" "Status__Decelerate", "", , "#x6020", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BYTE" PDO POS Status (Index #x1a06, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Busy", "", , "#x6020", "BIT" "Status__In-Target", "", , "#x6020", "BIT" "Status__Warning", "", , "#x6020", "BIT" "Status__Error", "", , "#x6020", "BIT" "Status__Calibrated", "", , "#x6020", "BIT" "Status__Accelerate", "", , "#x6020", "BIT" "Status__Decelerate", "", , "#x6020", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BYTE" "Actual position", "", , "#x6020", "UDINT" "Actual velocity", "", , "#x6020", "INT" "Actual drive time", "", , "#x6020", "UDINT" PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Internal position", "", , "#x6010", "UDINT" PDO STM External position (Index #x1a08, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "External position", "", , "#x6010", "UDINT" PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Set counter value", "", , "#x7000", "UINT" PDO ENC Control (Index #x1601, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Set counter value", "", , "#x7000", "UDINT" PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable", "", , "#x7010", "BIT" "Control__Reset", "", , "#x7010", "BIT" "Control__Reduce torque", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" PDO STM Position (Index #x1603, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Position", "", , "#x7010", "UDINT" PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Velocity", "", , "#x7010", "INT" PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Execute", "", , "#x7020", "BIT" "Control__Emergency stop", "", , "#x7020", "BIT" "Control__", "", , "", "ARRAY [0..5] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Target position", "", , "#x7020", "UDINT" PDO POS Control (Index #x1606, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Execute", "", , "#x7020", "BIT" "Control__Emergency stop", "", , "#x7020", "BIT" "Control__", "", , "", "ARRAY [0..5] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Target position", "", , "#x7020", "UDINT" "Velocity", "", , "#x7020", "INT" "Start type", "", , "#x7020", "UINT" "Acceleration", "", , "#x7020", "UINT" "Deceleration", "", , "#x7020", "UINT" PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..1] OF BIT" "Control__Enable auto start", "", , "#x7021", "BIT" "Control__", "", , "", "ARRAY [0..12] OF BIT" "Target position", "", , "#x7021", "UDINT" "Velocity", "", , "#x7021", "INT" "Start type", "", , "#x7021", "UINT" "Acceleration", "", , "#x7021", "UINT" "Deceleration", "", , "#x7021", "UINT" .. raw:: html
Term 5 Y Enc (EL5042) ^^^^^^^^^^^^^^^^^^^^^ .. raw:: html
EtherCAT (4 PDOs) .. csv-table:: Basic Settings :header: Name, Data :align: center Name, Term 5 Y Enc (EL5042) ID, 5 BootStrapData, 0010f400f410f400 SyncMan, 001080002600010001000000400080008000001026010000 SyncMan, 801080002200010002000000400080008000801022010000 SyncMan, 001100000400000003000000000000000000001104000000 SyncMan, 801114002000010004000000000000001400801120010000 Fmmu, 0000000000000000801100010100000002000000000000000000000000000000 Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000 CoeProfile, 33624969 CoeProfile, 33624969 PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Warning", "", , "#x6000", "BIT" "Status__Error", "", , "#x6000", "BIT" "Status__Ready", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..4] OF BIT" "Status__", "", , "", "ARRAY [0..3] OF BIT" "Status__Diag", "", , "#x6000", "BIT" "Status__TxPDO State", "", , "#x6000", "BIT" "Status__Input cycle counter", "", , "#x6000", "BIT2" "Position", "", , "#x6000", "ULINT" PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Warning", "", , "#x6010", "BIT" "Status__Error", "", , "#x6010", "BIT" "Status__Ready", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..4] OF BIT" "Status__", "", , "", "ARRAY [0..3] OF BIT" "Status__Diag", "", , "#x6010", "BIT" "Status__TxPDO State", "", , "#x6010", "BIT" "Status__Input cycle counter", "", , "#x6010", "BIT2" "Position", "", , "#x6010", "ULINT" PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Warning", "", , "#x6000", "BIT" "Status__Error", "", , "#x6000", "BIT" "Status__Ready", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..4] OF BIT" "Status__", "", , "", "ARRAY [0..3] OF BIT" "Status__Diag", "", , "#x6000", "BIT" "Status__TxPDO State", "", , "#x6000", "BIT" "Status__Input cycle counter", "", , "#x6000", "BIT2" "Position", "", , "#x6000", "UDINT" PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Warning", "", , "#x6010", "BIT" "Status__Error", "", , "#x6010", "BIT" "Status__Ready", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..4] OF BIT" "Status__", "", , "", "ARRAY [0..3] OF BIT" "Status__Diag", "", , "#x6010", "BIT" "Status__TxPDO State", "", , "#x6010", "BIT" "Status__Input cycle counter", "", , "#x6010", "BIT2" "Position", "", , "#x6010", "UDINT" .. raw:: html
Term 6 Y (EL7041) ^^^^^^^^^^^^^^^^^ .. raw:: html
EtherCAT (17 PDOs) .. csv-table:: Basic Settings :header: Name, Data :align: center Name, Term 6 Y (EL7041) ID, 6 BootStrapData, 0010f400f410f400 SyncMan, 001080002600010001000000400080008000001026010000 SyncMan, 801080002200010002000000400080008000801022010000 SyncMan, 001108002400010003000000000000000800001124010000 SyncMan, 801108002000010004000000000000000800801120010000 Fmmu, 0000000000000000001100020100000001000000000000000000000000000000 Fmmu, 0000000000000000801100010100000002000000000000000000000000000000 Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000 CoeProfile, 33493897 CoeProfile, 46076809 CoeProfile, 46142345 PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UINT" "Latch value", "", , "#x6000", "UINT" PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UDINT" "Latch value", "", , "#x6000", "UDINT" PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Timestamp", "", , "#x6000", "UDINT" PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Ready to enable", "", , "#x6010", "BIT" "Status__Ready", "", , "#x6010", "BIT" "Status__Warning", "", , "#x6010", "BIT" "Status__Error", "", , "#x6010", "BIT" "Status__Moving positive", "", , "#x6010", "BIT" "Status__Moving negative", "", , "#x6010", "BIT" "Status__Torque reduced", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..2] OF BIT" "Status__Digital input 1", "", , "#x6010", "BIT" "Status__Digital input 2", "", , "#x6010", "BIT" "Status__Sync error", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6010", "BIT" PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Info data 1", "", , "#x6010", "UINT" "Info data 2", "", , "#x6010", "UINT" PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Busy", "", , "#x6020", "BIT" "Status__In-Target", "", , "#x6020", "BIT" "Status__Warning", "", , "#x6020", "BIT" "Status__Error", "", , "#x6020", "BIT" "Status__Calibrated", "", , "#x6020", "BIT" "Status__Accelerate", "", , "#x6020", "BIT" "Status__Decelerate", "", , "#x6020", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BYTE" PDO POS Status (Index #x1a06, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Busy", "", , "#x6020", "BIT" "Status__In-Target", "", , "#x6020", "BIT" "Status__Warning", "", , "#x6020", "BIT" "Status__Error", "", , "#x6020", "BIT" "Status__Calibrated", "", , "#x6020", "BIT" "Status__Accelerate", "", , "#x6020", "BIT" "Status__Decelerate", "", , "#x6020", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BYTE" "Actual position", "", , "#x6020", "UDINT" "Actual velocity", "", , "#x6020", "INT" "Actual drive time", "", , "#x6020", "UDINT" PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Internal position", "", , "#x6010", "UDINT" PDO STM External position (Index #x1a08, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "External position", "", , "#x6010", "UDINT" PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Set counter value", "", , "#x7000", "UINT" PDO ENC Control (Index #x1601, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Set counter value", "", , "#x7000", "UDINT" PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable", "", , "#x7010", "BIT" "Control__Reset", "", , "#x7010", "BIT" "Control__Reduce torque", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" PDO STM Position (Index #x1603, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Position", "", , "#x7010", "UDINT" PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Velocity", "", , "#x7010", "INT" PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Execute", "", , "#x7020", "BIT" "Control__Emergency stop", "", , "#x7020", "BIT" "Control__", "", , "", "ARRAY [0..5] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Target position", "", , "#x7020", "UDINT" PDO POS Control (Index #x1606, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Execute", "", , "#x7020", "BIT" "Control__Emergency stop", "", , "#x7020", "BIT" "Control__", "", , "", "ARRAY [0..5] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Target position", "", , "#x7020", "UDINT" "Velocity", "", , "#x7020", "INT" "Start type", "", , "#x7020", "UINT" "Acceleration", "", , "#x7020", "UINT" "Deceleration", "", , "#x7020", "UINT" PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..1] OF BIT" "Control__Enable auto start", "", , "#x7021", "BIT" "Control__", "", , "", "ARRAY [0..12] OF BIT" "Target position", "", , "#x7021", "UDINT" "Velocity", "", , "#x7021", "INT" "Start type", "", , "#x7021", "UINT" "Acceleration", "", , "#x7021", "UINT" "Deceleration", "", , "#x7021", "UINT" .. raw:: html
Term 7 Z (EL7041) ^^^^^^^^^^^^^^^^^ .. raw:: html
EtherCAT (17 PDOs) .. csv-table:: Basic Settings :header: Name, Data :align: center Name, Term 7 Z (EL7041) ID, 7 BootStrapData, 0010f400f410f400 SyncMan, 001080002600010001000000400080008000001026010000 SyncMan, 801080002200010002000000400080008000801022010000 SyncMan, 001108002400010003000000000000000800001124010000 SyncMan, 801108002000010004000000000000000800801120010000 Fmmu, 0000000000000000001100020100000001000000000000000000000000000000 Fmmu, 0000000000000000801100010100000002000000000000000000000000000000 Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000 CoeProfile, 33493897 CoeProfile, 46076809 CoeProfile, 46142345 PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UINT" "Latch value", "", , "#x6000", "UINT" PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UDINT" "Latch value", "", , "#x6000", "UDINT" PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Timestamp", "", , "#x6000", "UDINT" PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Ready to enable", "", , "#x6010", "BIT" "Status__Ready", "", , "#x6010", "BIT" "Status__Warning", "", , "#x6010", "BIT" "Status__Error", "", , "#x6010", "BIT" "Status__Moving positive", "", , "#x6010", "BIT" "Status__Moving negative", "", , "#x6010", "BIT" "Status__Torque reduced", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..2] OF BIT" "Status__Digital input 1", "", , "#x6010", "BIT" "Status__Digital input 2", "", , "#x6010", "BIT" "Status__Sync error", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6010", "BIT" PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Info data 1", "", , "#x6010", "UINT" "Info data 2", "", , "#x6010", "UINT" PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Busy", "", , "#x6020", "BIT" "Status__In-Target", "", , "#x6020", "BIT" "Status__Warning", "", , "#x6020", "BIT" "Status__Error", "", , "#x6020", "BIT" "Status__Calibrated", "", , "#x6020", "BIT" "Status__Accelerate", "", , "#x6020", "BIT" "Status__Decelerate", "", , "#x6020", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BYTE" PDO POS Status (Index #x1a06, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Busy", "", , "#x6020", "BIT" "Status__In-Target", "", , "#x6020", "BIT" "Status__Warning", "", , "#x6020", "BIT" "Status__Error", "", , "#x6020", "BIT" "Status__Calibrated", "", , "#x6020", "BIT" "Status__Accelerate", "", , "#x6020", "BIT" "Status__Decelerate", "", , "#x6020", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BYTE" "Actual position", "", , "#x6020", "UDINT" "Actual velocity", "", , "#x6020", "INT" "Actual drive time", "", , "#x6020", "UDINT" PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Internal position", "", , "#x6010", "UDINT" PDO STM External position (Index #x1a08, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "External position", "", , "#x6010", "UDINT" PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Set counter value", "", , "#x7000", "UINT" PDO ENC Control (Index #x1601, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Set counter value", "", , "#x7000", "UDINT" PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable", "", , "#x7010", "BIT" "Control__Reset", "", , "#x7010", "BIT" "Control__Reduce torque", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" PDO STM Position (Index #x1603, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Position", "", , "#x7010", "UDINT" PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Velocity", "", , "#x7010", "INT" PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Execute", "", , "#x7020", "BIT" "Control__Emergency stop", "", , "#x7020", "BIT" "Control__", "", , "", "ARRAY [0..5] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Target position", "", , "#x7020", "UDINT" PDO POS Control (Index #x1606, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Execute", "", , "#x7020", "BIT" "Control__Emergency stop", "", , "#x7020", "BIT" "Control__", "", , "", "ARRAY [0..5] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Target position", "", , "#x7020", "UDINT" "Velocity", "", , "#x7020", "INT" "Start type", "", , "#x7020", "UINT" "Acceleration", "", , "#x7020", "UINT" "Deceleration", "", , "#x7020", "UINT" PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..1] OF BIT" "Control__Enable auto start", "", , "#x7021", "BIT" "Control__", "", , "", "ARRAY [0..12] OF BIT" "Target position", "", , "#x7021", "UDINT" "Velocity", "", , "#x7021", "INT" "Start type", "", , "#x7021", "UINT" "Acceleration", "", , "#x7021", "UINT" "Deceleration", "", , "#x7021", "UINT" .. raw:: html
Term 8 Z rY Enc (EL5042) ^^^^^^^^^^^^^^^^^^^^^^^^ .. raw:: html
EtherCAT (4 PDOs) .. csv-table:: Basic Settings :header: Name, Data :align: center Name, Term 8 Z rY Enc (EL5042) ID, 8 BootStrapData, 0010f400f410f400 SyncMan, 001080002600010001000000400080008000001026010000 SyncMan, 801080002200010002000000400080008000801022010000 SyncMan, 001100000400000003000000000000000000001104000000 SyncMan, 801114002000010004000000000000001400801120010000 Fmmu, 0000000000000000801100010100000002000000000000000000000000000000 Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000 CoeProfile, 33624969 CoeProfile, 33624969 PDO FB Inputs Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Warning", "", , "#x6000", "BIT" "Status__Error", "", , "#x6000", "BIT" "Status__Ready", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..4] OF BIT" "Status__", "", , "", "ARRAY [0..3] OF BIT" "Status__Diag", "", , "#x6000", "BIT" "Status__TxPDO State", "", , "#x6000", "BIT" "Status__Input cycle counter", "", , "#x6000", "BIT2" "Position", "", , "#x6000", "ULINT" PDO FB Inputs Channel 2 (Index #x1a01, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Warning", "", , "#x6010", "BIT" "Status__Error", "", , "#x6010", "BIT" "Status__Ready", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..4] OF BIT" "Status__", "", , "", "ARRAY [0..3] OF BIT" "Status__Diag", "", , "#x6010", "BIT" "Status__TxPDO State", "", , "#x6010", "BIT" "Status__Input cycle counter", "", , "#x6010", "BIT2" "Position", "", , "#x6010", "ULINT" PDO FB Inputs Channel 1 compact (Index #x1a02, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Warning", "", , "#x6000", "BIT" "Status__Error", "", , "#x6000", "BIT" "Status__Ready", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..4] OF BIT" "Status__", "", , "", "ARRAY [0..3] OF BIT" "Status__Diag", "", , "#x6000", "BIT" "Status__TxPDO State", "", , "#x6000", "BIT" "Status__Input cycle counter", "", , "#x6000", "BIT2" "Position", "", , "#x6000", "UDINT" PDO FB Inputs Channel 2 compact (Index #x1a03, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Warning", "", , "#x6010", "BIT" "Status__Error", "", , "#x6010", "BIT" "Status__Ready", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..4] OF BIT" "Status__", "", , "", "ARRAY [0..3] OF BIT" "Status__Diag", "", , "#x6010", "BIT" "Status__TxPDO State", "", , "#x6010", "BIT" "Status__Input cycle counter", "", , "#x6010", "BIT2" "Position", "", , "#x6010", "UDINT" .. raw:: html
Term 9 rY (EL7041) ^^^^^^^^^^^^^^^^^^ .. raw:: html
EtherCAT (17 PDOs) .. csv-table:: Basic Settings :header: Name, Data :align: center Name, Term 9 rY (EL7041) ID, 9 BootStrapData, 0010f400f410f400 SyncMan, 001080002600010001000000400080008000001026010000 SyncMan, 801080002200010002000000400080008000801022010000 SyncMan, 001108002400010003000000000000000800001124010000 SyncMan, 801108002000010004000000000000000800801120010000 Fmmu, 0000000000000000001100020100000001000000000000000000000000000000 Fmmu, 0000000000000000801100010100000002000000000000000000000000000000 Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000 CoeProfile, 33493897 CoeProfile, 46076809 CoeProfile, 46142345 PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UINT" "Latch value", "", , "#x6000", "UINT" PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UDINT" "Latch value", "", , "#x6000", "UDINT" PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Timestamp", "", , "#x6000", "UDINT" PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Ready to enable", "", , "#x6010", "BIT" "Status__Ready", "", , "#x6010", "BIT" "Status__Warning", "", , "#x6010", "BIT" "Status__Error", "", , "#x6010", "BIT" "Status__Moving positive", "", , "#x6010", "BIT" "Status__Moving negative", "", , "#x6010", "BIT" "Status__Torque reduced", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..2] OF BIT" "Status__Digital input 1", "", , "#x6010", "BIT" "Status__Digital input 2", "", , "#x6010", "BIT" "Status__Sync error", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6010", "BIT" PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Info data 1", "", , "#x6010", "UINT" "Info data 2", "", , "#x6010", "UINT" PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Busy", "", , "#x6020", "BIT" "Status__In-Target", "", , "#x6020", "BIT" "Status__Warning", "", , "#x6020", "BIT" "Status__Error", "", , "#x6020", "BIT" "Status__Calibrated", "", , "#x6020", "BIT" "Status__Accelerate", "", , "#x6020", "BIT" "Status__Decelerate", "", , "#x6020", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BYTE" PDO POS Status (Index #x1a06, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Busy", "", , "#x6020", "BIT" "Status__In-Target", "", , "#x6020", "BIT" "Status__Warning", "", , "#x6020", "BIT" "Status__Error", "", , "#x6020", "BIT" "Status__Calibrated", "", , "#x6020", "BIT" "Status__Accelerate", "", , "#x6020", "BIT" "Status__Decelerate", "", , "#x6020", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BYTE" "Actual position", "", , "#x6020", "UDINT" "Actual velocity", "", , "#x6020", "INT" "Actual drive time", "", , "#x6020", "UDINT" PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Internal position", "", , "#x6010", "UDINT" PDO STM External position (Index #x1a08, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "External position", "", , "#x6010", "UDINT" PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Set counter value", "", , "#x7000", "UINT" PDO ENC Control (Index #x1601, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Set counter value", "", , "#x7000", "UDINT" PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable", "", , "#x7010", "BIT" "Control__Reset", "", , "#x7010", "BIT" "Control__Reduce torque", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" PDO STM Position (Index #x1603, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Position", "", , "#x7010", "UDINT" PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Velocity", "", , "#x7010", "INT" PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Execute", "", , "#x7020", "BIT" "Control__Emergency stop", "", , "#x7020", "BIT" "Control__", "", , "", "ARRAY [0..5] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Target position", "", , "#x7020", "UDINT" PDO POS Control (Index #x1606, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Execute", "", , "#x7020", "BIT" "Control__Emergency stop", "", , "#x7020", "BIT" "Control__", "", , "", "ARRAY [0..5] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Target position", "", , "#x7020", "UDINT" "Velocity", "", , "#x7020", "INT" "Start type", "", , "#x7020", "UINT" "Acceleration", "", , "#x7020", "UINT" "Deceleration", "", , "#x7020", "UINT" PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..1] OF BIT" "Control__Enable auto start", "", , "#x7021", "BIT" "Control__", "", , "", "ARRAY [0..12] OF BIT" "Target position", "", , "#x7021", "UDINT" "Velocity", "", , "#x7021", "INT" "Start type", "", , "#x7021", "UINT" "Acceleration", "", , "#x7021", "UINT" "Deceleration", "", , "#x7021", "UINT" .. raw:: html
Term 10 Shroud (EL7041) ^^^^^^^^^^^^^^^^^^^^^^^ .. raw:: html
EtherCAT (17 PDOs) .. csv-table:: Basic Settings :header: Name, Data :align: center Name, Term 10 Shroud (EL7041) ID, 10 BootStrapData, 0010f400f410f400 SyncMan, 001080002600010001000000400080008000001026010000 SyncMan, 801080002200010002000000400080008000801022010000 SyncMan, 001108002400010003000000000000000800001124010000 SyncMan, 801108002000010004000000000000000800801120010000 Fmmu, 0000000000000000001100020100000001000000000000000000000000000000 Fmmu, 0000000000000000801100010100000002000000000000000000000000000000 Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000 CoeProfile, 33493897 CoeProfile, 46076809 CoeProfile, 46142345 PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UINT" "Latch value", "", , "#x6000", "UINT" PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UDINT" "Latch value", "", , "#x6000", "UDINT" PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Timestamp", "", , "#x6000", "UDINT" PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Ready to enable", "", , "#x6010", "BIT" "Status__Ready", "", , "#x6010", "BIT" "Status__Warning", "", , "#x6010", "BIT" "Status__Error", "", , "#x6010", "BIT" "Status__Moving positive", "", , "#x6010", "BIT" "Status__Moving negative", "", , "#x6010", "BIT" "Status__Torque reduced", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..2] OF BIT" "Status__Digital input 1", "", , "#x6010", "BIT" "Status__Digital input 2", "", , "#x6010", "BIT" "Status__Sync error", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6010", "BIT" PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Info data 1", "", , "#x6010", "UINT" "Info data 2", "", , "#x6010", "UINT" PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Busy", "", , "#x6020", "BIT" "Status__In-Target", "", , "#x6020", "BIT" "Status__Warning", "", , "#x6020", "BIT" "Status__Error", "", , "#x6020", "BIT" "Status__Calibrated", "", , "#x6020", "BIT" "Status__Accelerate", "", , "#x6020", "BIT" "Status__Decelerate", "", , "#x6020", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BYTE" PDO POS Status (Index #x1a06, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Busy", "", , "#x6020", "BIT" "Status__In-Target", "", , "#x6020", "BIT" "Status__Warning", "", , "#x6020", "BIT" "Status__Error", "", , "#x6020", "BIT" "Status__Calibrated", "", , "#x6020", "BIT" "Status__Accelerate", "", , "#x6020", "BIT" "Status__Decelerate", "", , "#x6020", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BYTE" "Actual position", "", , "#x6020", "UDINT" "Actual velocity", "", , "#x6020", "INT" "Actual drive time", "", , "#x6020", "UDINT" PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Internal position", "", , "#x6010", "UDINT" PDO STM External position (Index #x1a08, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "External position", "", , "#x6010", "UDINT" PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Set counter value", "", , "#x7000", "UINT" PDO ENC Control (Index #x1601, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Set counter value", "", , "#x7000", "UDINT" PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable", "", , "#x7010", "BIT" "Control__Reset", "", , "#x7010", "BIT" "Control__Reduce torque", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" PDO STM Position (Index #x1603, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Position", "", , "#x7010", "UDINT" PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Velocity", "", , "#x7010", "INT" PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Execute", "", , "#x7020", "BIT" "Control__Emergency stop", "", , "#x7020", "BIT" "Control__", "", , "", "ARRAY [0..5] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Target position", "", , "#x7020", "UDINT" PDO POS Control (Index #x1606, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Execute", "", , "#x7020", "BIT" "Control__Emergency stop", "", , "#x7020", "BIT" "Control__", "", , "", "ARRAY [0..5] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Target position", "", , "#x7020", "UDINT" "Velocity", "", , "#x7020", "INT" "Start type", "", , "#x7020", "UINT" "Acceleration", "", , "#x7020", "UINT" "Deceleration", "", , "#x7020", "UINT" PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..1] OF BIT" "Control__Enable auto start", "", , "#x7021", "BIT" "Control__", "", , "", "ARRAY [0..12] OF BIT" "Target position", "", , "#x7021", "UDINT" "Velocity", "", , "#x7021", "INT" "Start type", "", , "#x7021", "UINT" "Acceleration", "", , "#x7021", "UINT" "Deceleration", "", , "#x7021", "UINT" .. raw:: html
Term 11 X Enc (EL5112) ^^^^^^^^^^^^^^^^^^^^^^ .. raw:: html
EtherCAT (35 PDOs) .. csv-table:: Basic Settings :header: Name, Data :align: center Name, Term 11 X Enc (EL5112) ID, 11 BootStrapData, 0010f400f410f400 SyncMan, 001080002600010001000000800000018000001026010000 SyncMan, 001180002200010002000000800000018000001122010000 SyncMan, 001206002400010003000000000000000600001224010000 SyncMan, 001310002000010004000000000000001000001320010000 Fmmu, 0000000000000000001200020100000001000000000000000000000000000000 Fmmu, 0000000000000000001300010100000002000000000000000000000000000000 Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000 CoeProfile, 33493897 CoeProfile, 33493897 PDO ENC Status Channel 1 (Index #x1a00, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__Status of input status", "", , "#x6000", "BIT" "Status__Open circuit", "", , "#x6000", "BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__Status of input gate", "", , "#x6000", "BIT" "Status__Diag", "", , "#x6002", "BIT" "Status__TxPDO State", "", , "#x6002", "BIT" "Status__Input cycle counter", "", , "#x6002", "BIT2" "Status__Software gate valid", "", , "#x6002", "BIT" "Status__Latch extern 2 valid", "", , "#x6002", "BIT" "Status__Direction inversion detected", "", , "#x6002", "BIT" "Status__Status of extern latch", "", , "#x6002", "BIT" "Status__Counter value out of range", "", , "#x6002", "BIT" "Status__", "", , "", "ARRAY [0..10] OF BIT" "Counter value", "", , "#x6000", "UDINT" "Latch value", "", , "#x6000", "UDINT" "Latch value 2", "", , "#x6000", "UDINT" PDO ENC Status Compact Channel 1 (Index #x1a01, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__Status of input status", "", , "#x6000", "BIT" "Status__Open circuit", "", , "#x6000", "BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__Status of input gate", "", , "#x6000", "BIT" "Status__Diag", "", , "#x6002", "BIT" "Status__TxPDO State", "", , "#x6002", "BIT" "Status__Input cycle counter", "", , "#x6002", "BIT2" "Status__Software gate valid", "", , "#x6002", "BIT" "Status__Latch extern 2 valid", "", , "#x6002", "BIT" "Status__Direction inversion detected", "", , "#x6002", "BIT" "Status__Status of extern latch", "", , "#x6002", "BIT" "Status__Counter value out of range", "", , "#x6002", "BIT" "Status__", "", , "", "ARRAY [0..10] OF BIT" "Counter value", "", , "#x6000", "UINT" "Latch value", "", , "#x6000", "UINT" "Latch value 2", "", , "#x6000", "UINT" PDO ENC Status Channel 1 (Index #x1a02, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Open circuit", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of input gate", "", , "#x6000", "BIT" "Status__Diag", "", , "#x6002", "BIT" "Status__TxPDO State", "", , "#x6002", "BIT" "Status__Input cycle counter", "", , "#x6002", "BIT2" "Status__Software gate valid", "", , "#x6002", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Counter value out of range", "", , "#x6002", "BIT" "Status__", "", , "", "ARRAY [0..10] OF BIT" "Counter value", "", , "#x6000", "UDINT" "Latch value", "", , "#x6000", "UDINT" PDO ENC Status Compact Channel 1 (Index #x1a03, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Open circuit", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of input gate", "", , "#x6000", "BIT" "Status__Diag", "", , "#x6002", "BIT" "Status__TxPDO State", "", , "#x6002", "BIT" "Status__Input cycle counter", "", , "#x6002", "BIT2" "Status__Software gate valid", "", , "#x6002", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Counter value out of range", "", , "#x6002", "BIT" "Status__", "", , "", "ARRAY [0..10] OF BIT" "Counter value", "", , "#x6000", "UINT" "Latch value", "", , "#x6000", "UINT" PDO ENC Status Counter Channel 1 (Index #x1a04, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..8] OF BIT" "Status__Diag", "", , "#x6002", "BIT" "Status__TxPDO State", "", , "#x6002", "BIT" "Status__Input cycle counter", "", , "#x6002", "BIT2" "Status__Software gate valid", "", , "#x6002", "BIT" "Status__", "", , "", "ARRAY [0..14] OF BIT" "Counter value", "", , "#x6000", "UDINT" PDO ENC Status Compact Counter Channel 1 (Index #x1a05, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..8] OF BIT" "Status__Diag", "", , "#x6002", "BIT" "Status__TxPDO State", "", , "#x6002", "BIT" "Status__Input cycle counter", "", , "#x6002", "BIT2" "Status__Software gate valid", "", , "#x6002", "BIT" "Status__", "", , "", "ARRAY [0..14] OF BIT" "Counter value", "", , "#x6000", "UINT" PDO ENC Status Legacy Channel 1 (Index #x1a06, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__Status of input status", "", , "#x6000", "BIT" "Status__Open circuit", "", , "#x6000", "BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__Status of input gate", "", , "#x6000", "BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__TxPDO State", "", , "#x6000", "BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UDINT" "Latch value", "", , "#x6000", "UDINT" PDO ENC Status Compact Legacy Channel 1 (Index #x1a07, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Latch C valid", "", , "#x6000", "BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__Status of input status", "", , "#x6000", "BIT" "Status__Open circuit", "", , "#x6000", "BIT" "Status__Extrapolation stall", "", , "#x6000", "BIT" "Status__Status of input A", "", , "#x6000", "BIT" "Status__Status of input B", "", , "#x6000", "BIT" "Status__Status of input C", "", , "#x6000", "BIT" "Status__Status of input gate", "", , "#x6000", "BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__TxPDO State", "", , "#x6000", "BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UINT" "Latch value", "", , "#x6000", "UINT" PDO ENC Frequency Channel 1 (Index #x1a08, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Frequency value", "", , "#x6000", "UDINT" PDO ENC Frequency Compact Channel 1 (Index #x1a09, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Frequency value", "", , "#x6000", "UINT" PDO ENC Period Channel 1 (Index #x1a0a, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Period value", "", , "#x6000", "UDINT" PDO ENC Period Compact Channel 1 (Index #x1a0b, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Period value", "", , "#x6000", "UINT" PDO ENC Duty Cycle Channel 1 (Index #x1a0c, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Duty cycle", "", , "#x6000", "UINT" "Duty cycle min", "", , "#x6000", "UINT" "Duty cycle max", "", , "#x6000", "UINT" PDO ENC Timestamp Channel 1 (Index #x1a0d, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Timestamp", "", , "#x6000", "ULINT" "Timestamp C", "", , "#x6000", "ULINT" "Timestamp latch", "", , "#x6000", "ULINT" "Timestamp latch 2", "", , "#x6000", "ULINT" PDO ENC Timestamp Compact Channel 1 (Index #x1a0e, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Timestamp", "", , "#x6000", "UDINT" "Timestamp C", "", , "#x6000", "UDINT" "Timestamp latch", "", , "#x6000", "UDINT" "Timestamp latch 2", "", , "#x6000", "UDINT" PDO ENC Status Channel 2 (Index #x1a11, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Latch extern valid", "", , "#x6010", "BIT" "Status__Set counter done", "", , "#x6010", "BIT" "Status__Counter underflow", "", , "#x6010", "BIT" "Status__Counter overflow", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Open circuit", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of input A", "", , "#x6010", "BIT" "Status__Status of input B", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of input gate", "", , "#x6010", "BIT" "Status__Diag", "", , "#x6012", "BIT" "Status__TxPDO State", "", , "#x6012", "BIT" "Status__Input cycle counter", "", , "#x6012", "BIT2" "Status__Software gate valid", "", , "#x6012", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Counter value out of range", "", , "#x6012", "BIT" "Status__", "", , "", "ARRAY [0..10] OF BIT" "Counter value", "", , "#x6010", "UDINT" "Latch value", "", , "#x6010", "UDINT" PDO ENC Status Compact Channel 2 (Index #x1a12, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Latch extern valid", "", , "#x6010", "BIT" "Status__Set counter done", "", , "#x6010", "BIT" "Status__Counter underflow", "", , "#x6010", "BIT" "Status__Counter overflow", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Open circuit", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of input A", "", , "#x6010", "BIT" "Status__Status of input B", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Status of input gate", "", , "#x6010", "BIT" "Status__Diag", "", , "#x6012", "BIT" "Status__TxPDO State", "", , "#x6012", "BIT" "Status__Input cycle counter", "", , "#x6012", "BIT2" "Status__Software gate valid", "", , "#x6012", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Counter value out of range", "", , "#x6012", "BIT" "Status__", "", , "", "ARRAY [0..10] OF BIT" "Counter value", "", , "#x6010", "UINT" "Latch value", "", , "#x6010", "UINT" PDO ENC Status Counter Channel 2 (Index #x1a13, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Set counter done", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..8] OF BIT" "Status__Diag", "", , "#x6012", "BIT" "Status__TxPDO State", "", , "#x6012", "BIT" "Status__Input cycle counter", "", , "#x6012", "BIT2" "Status__Software gate valid", "", , "#x6012", "BIT" "Status__", "", , "", "ARRAY [0..14] OF BIT" "Counter value", "", , "#x6010", "UDINT" PDO ENC Status Compact Counter Channel 2 (Index #x1a14, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__", "", , "", "ARRAY [0..1] OF BIT" "Status__Set counter done", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..8] OF BIT" "Status__Diag", "", , "#x6012", "BIT" "Status__TxPDO State", "", , "#x6012", "BIT" "Status__Input cycle counter", "", , "#x6012", "BIT2" "Status__Software gate valid", "", , "#x6012", "BIT" "Status__", "", , "", "ARRAY [0..14] OF BIT" "Counter value", "", , "#x6010", "UINT" PDO ENC Frequency Channel 2 (Index #x1a17, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Frequency value", "", , "#x6010", "UDINT" PDO ENC Frequency Compact Channel 2 (Index #x1a18, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Frequency value", "", , "#x6010", "UINT" PDO ENC Period Channel 2 (Index #x1a19, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Period value", "", , "#x6010", "UDINT" PDO ENC Period Compact Channel 2 (Index #x1a1a, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Period value", "", , "#x6010", "UINT" PDO ENC Control Channel 1 (Index #x1600, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..2] OF BIT" "Control__Set counter on latch C", "", , "#x7000", "BIT" "Control__Set software gate", "", , "#x7000", "BIT" "Control__Set counter on latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter on latch extern on negative edge", "", , "#x7000", "BIT" "Control__Enable latch extern 2 on positive edge", "", , "#x7000", "BIT" "Control__Enable latch extern 2 on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..2] OF BIT" "Set counter value", "", , "#x7000", "UDINT" PDO ENC Control Compact Channel 1 (Index #x1601, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..2] OF BIT" "Control__Set counter on latch C", "", , "#x7000", "BIT" "Control__Set software gate", "", , "#x7000", "BIT" "Control__Set counter on latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter on latch extern on negative edge", "", , "#x7000", "BIT" "Control__Enable latch extern 2 on positive edge", "", , "#x7000", "BIT" "Control__Enable latch extern 2 on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..2] OF BIT" "Set counter value", "", , "#x7000", "UINT" PDO ENC Control Channel 1 (Index #x1602, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..0] OF BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__Set software gate", "", , "#x7000", "BIT" "Control__Set counter on latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter on latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Set counter value", "", , "#x7000", "UDINT" PDO ENC Control Compact Channel 1 (Index #x1603, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..0] OF BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__Set software gate", "", , "#x7000", "BIT" "Control__Set counter on latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter on latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Set counter value", "", , "#x7000", "UINT" PDO ENC Control Counter Channel 1 (Index #x1604, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..1] OF BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Control__Set software gate", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..6] OF BIT" "Set counter value", "", , "#x7000", "UDINT" PDO ENC Control Compact Counter Channel 1 (Index #x1605, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..1] OF BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Control__Set software gate", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..6] OF BIT" "Set counter value", "", , "#x7000", "UINT" PDO ENC Control Legacy Channel 1 (Index #x1606, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..11] OF BIT" "Set counter value", "", , "#x7000", "UDINT" PDO ENC Control Compact Legacy Channel 1 (Index #x1607, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable latch C", "", , "#x7000", "BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..11] OF BIT" "Set counter value", "", , "#x7000", "UINT" PDO ENC Control Channel 2 (Index #x160a, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..0] OF BIT" "Control__Enable latch extern on positive edge", "", , "#x7010", "BIT" "Control__Set counter", "", , "#x7010", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__Set software gate", "", , "#x7010", "BIT" "Control__Set counter on latch extern on positive edge", "", , "#x7010", "BIT" "Control__Set counter on latch extern on negative edge", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Set counter value", "", , "#x7010", "UDINT" PDO ENC Control Compact Channel 2 (Index #x160b, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..0] OF BIT" "Control__Enable latch extern on positive edge", "", , "#x7010", "BIT" "Control__Set counter", "", , "#x7010", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__Set software gate", "", , "#x7010", "BIT" "Control__Set counter on latch extern on positive edge", "", , "#x7010", "BIT" "Control__Set counter on latch extern on negative edge", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Set counter value", "", , "#x7010", "UINT" PDO ENC Control Counter Channel 2 (Index #x160c, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..1] OF BIT" "Control__Set counter", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Control__Set software gate", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..6] OF BIT" "Set counter value", "", , "#x7010", "UDINT" PDO ENC Control Compact Counter Channel 2 (Index #x160d, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..1] OF BIT" "Control__Set counter", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Control__Set software gate", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..6] OF BIT" "Set counter value", "", , "#x7010", "UINT" .. raw:: html
Term 12 (EL9011) ^^^^^^^^^^^^^^^^ .. raw:: html
EtherCAT .. csv-table:: Basic Settings :header: Name, Data :align: center Name, Term 12 (EL9011) ID, 12 .. raw:: html
Term 24 (EL7031) ^^^^^^^^^^^^^^^^ .. raw:: html
EtherCAT (18 PDOs) .. csv-table:: Basic Settings :header: Name, Data :align: center Name, Term 24 (EL7031) ID, 24 BootStrapData, 0010f400f410f400 SyncMan, 001080002600010001000000400080008000001026010000 SyncMan, 801080002200010002000000400080008000801022010000 SyncMan, 001108002400010003000000000000000800001124010000 SyncMan, 801108002000010004000000000000000800801120010000 Fmmu, 0000000000000000001100020100000001000000000000000000000000000000 Fmmu, 0000000000000000801100010100000002000000000000000000000000000000 Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000 CoeProfile, 33493897 CoeProfile, 46076809 CoeProfile, 46142345 PDO ENC Status compact (Index #x1a00, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..2] OF BIT" "Status__", "", , "", "ARRAY [0..3] OF BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UINT" "Latch value", "", , "#x6000", "UINT" PDO ENC Status (Index #x1a01, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__Latch extern valid", "", , "#x6000", "BIT" "Status__Set counter done", "", , "#x6000", "BIT" "Status__Counter underflow", "", , "#x6000", "BIT" "Status__Counter overflow", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..2] OF BIT" "Status__", "", , "", "ARRAY [0..3] OF BIT" "Status__Status of extern latch", "", , "#x6000", "BIT" "Status__Sync error", "", , "#x6000", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6000", "BIT" "Counter value", "", , "#x6000", "UDINT" "Latch value", "", , "#x6000", "UDINT" PDO ENC Timest. compact (Index #x1a02, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Timestamp", "", , "#x6000", "UDINT" PDO STM Status (Index #x1a03, Flags #x0010, SyncMan 3) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Ready to enable", "", , "#x6010", "BIT" "Status__Ready", "", , "#x6010", "BIT" "Status__Warning", "", , "#x6010", "BIT" "Status__Error", "", , "#x6010", "BIT" "Status__Moving positive", "", , "#x6010", "BIT" "Status__Moving negative", "", , "#x6010", "BIT" "Status__Torque reduced", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__", "", , "", "ARRAY [0..2] OF BIT" "Status__Digital input 1", "", , "#x6010", "BIT" "Status__Digital input 2", "", , "#x6010", "BIT" "Status__Sync error", "", , "#x6010", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BIT" "Status__TxPDO Toggle", "", , "#x6010", "BIT" PDO STM Synchron info data (Index #x1a04, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Info data 1", "", , "#x6010", "UINT" "Info data 2", "", , "#x6010", "UINT" PDO POS Status compact (Index #x1a05, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Busy", "", , "#x6020", "BIT" "Status__In-Target", "", , "#x6020", "BIT" "Status__Warning", "", , "#x6020", "BIT" "Status__Error", "", , "#x6020", "BIT" "Status__Calibrated", "", , "#x6020", "BIT" "Status__Accelerate", "", , "#x6020", "BIT" "Status__Decelerate", "", , "#x6020", "BIT" "Status__Ready to execute", "", , "#x6020", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BYTE" PDO POS Status (Index #x1a06, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Status__Busy", "", , "#x6020", "BIT" "Status__In-Target", "", , "#x6020", "BIT" "Status__Warning", "", , "#x6020", "BIT" "Status__Error", "", , "#x6020", "BIT" "Status__Calibrated", "", , "#x6020", "BIT" "Status__Accelerate", "", , "#x6020", "BIT" "Status__Decelerate", "", , "#x6020", "BIT" "Status__Ready to execute", "", , "#x6020", "BIT" "Status__", "", , "", "ARRAY [0..0] OF BYTE" "Actual position", "", , "#x6020", "UDINT" "Actual velocity", "", , "#x6020", "INT" "Actual drive time", "", , "#x6020", "UDINT" PDO STM Internal position (Index #x1a07, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Internal position", "", , "#x6010", "UDINT" PDO STM External position (Index #x1a08, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "External position", "", , "#x6010", "UDINT" PDO POS Actual position lag (Index #x1a09, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Actual position lag", "", , "#x6020", "DINT" PDO ENC Control compact (Index #x1600, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..0] OF BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Set counter value", "", , "#x7000", "UINT" PDO ENC Control (Index #x1601, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..0] OF BIT" "Control__Enable latch extern on positive edge", "", , "#x7000", "BIT" "Control__Set counter", "", , "#x7000", "BIT" "Control__Enable latch extern on negative edge", "", , "#x7000", "BIT" "Control__", "", , "", "ARRAY [0..3] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Set counter value", "", , "#x7000", "UDINT" PDO STM Control (Index #x1602, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Enable", "", , "#x7010", "BIT" "Control__Reset", "", , "#x7010", "BIT" "Control__Reduce torque", "", , "#x7010", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" PDO STM Position (Index #x1603, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Position", "", , "#x7010", "UDINT" PDO STM Velocity (Index #x1604, Flags #x0010, SyncMan 2) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Velocity", "", , "#x7010", "INT" PDO POS Control compact (Index #x1605, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Execute", "", , "#x7020", "BIT" "Control__Emergency stop", "", , "#x7020", "BIT" "Control__", "", , "", "ARRAY [0..5] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Target position", "", , "#x7020", "UDINT" PDO POS Control (Index #x1606, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__Execute", "", , "#x7020", "BIT" "Control__Emergency stop", "", , "#x7020", "BIT" "Control__", "", , "", "ARRAY [0..5] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Target position", "", , "#x7020", "UDINT" "Velocity", "", , "#x7020", "INT" "Start type", "", , "#x7020", "UINT" "Acceleration", "", , "#x7020", "UINT" "Deceleration", "", , "#x7020", "UINT" PDO POS Control 2 (Index #x1607, Flags #x0010, SyncMan ) .. csv-table:: :header: Name, Comment, BitLen, Index, Type :align: center "Control__", "", , "", "ARRAY [0..1] OF BIT" "Control__Enable auto start", "", , "#x7021", "BIT" "Control__", "", , "", "ARRAY [0..4] OF BIT" "Control__", "", , "", "ARRAY [0..0] OF BYTE" "Target position", "", , "#x7021", "UDINT" "Velocity", "", , "#x7021", "INT" "Start type", "", , "#x7021", "UINT" "Acceleration", "", , "#x7021", "UINT" "Deceleration", "", , "#x7021", "UINT" .. raw:: html