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 (EL6070)
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 2 (EL6070)
ID, 2
SyncMan, 001000012600010001000000300000010001001026010000
SyncMan, 001100012200010002000000300000010001001122010000
Fmmu, 00000000000000000d0800010100000003000000000000000000000000000000
CoeProfile, 43914121
.. raw:: html
Term 3 (EL7031)
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (18 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 3 (EL7031)
ID, 3
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
Term 4 (EL7031)
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (18 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 4 (EL7031)
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__", "", , "", "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
Term 5 (EL7031)
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (18 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 5 (EL7031)
ID, 5
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
Term 6 (EL7031)
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 6 (EL7031)
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__", "", , "", "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__", "", , "", "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__", "", , "", "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
Term 7 (EL7031)
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 7 (EL7031)
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__", "", , "", "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__", "", , "", "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__", "", , "", "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
Term 8 (EL7031)
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 8 (EL7031)
ID, 8
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__", "", , "", "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__", "", , "", "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
Term 9 (EL7031)
^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 9 (EL7031)
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__", "", , "", "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__", "", , "", "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__", "", , "", "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
Term 10 (EL7031)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (17 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 10 (EL7031)
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__", "", , "", "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__", "", , "", "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__", "", , "", "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
Term 11 (EL7031)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (18 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 11 (EL7031)
ID, 11
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
Term 12 (EL7031)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (18 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 12 (EL7031)
ID, 12
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
Term 13 (EL7031)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (18 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 13 (EL7031)
ID, 13
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
Term 14 (EL7031)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (18 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 14 (EL7031)
ID, 14
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
Term 15 (EL7031)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT (18 PDOs)
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 15 (EL7031)
ID, 15
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
Term 16 (EL9011)
^^^^^^^^^^^^^^^^
.. raw:: html
EtherCAT
.. csv-table:: Basic Settings
:header: Name, Data
:align: center
Name, Term 16 (EL9011)
ID, 16
.. raw:: html