2 Beckhoff Automation GmbH DriveAxisTerminals Antriebs- und Achsklemmen (EL7xxx) Drive and Axis Terminals (EL7xxx) 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ff808080808080808080808080808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c00000000000000000000000000000000000000000000000ffc0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080 EL7332 EL7332-0000 2Ch. DC motor output stage (24V, 1.5A) EL7332-0000 2K. DC-Motor-Endstufe (24V, 1.5A) 90 100 2000 DriveAxisTerminals 5001 733 2 BIT4 4 BOOL 1 BYTE 8 INT 16 SINT 8 UDINT 32 UINT 16 USINT 8 ARRAY [0..1] OF BYTE BYTE 16 0 2 ARRAY [0..3] OF BYTE BYTE 32 0 4 STRING(2) 16 STRING(6) 48 DT0802EN04 USINT 4 Direct velocity 0 Chopper resistor 15 DT0803EN08 USINT 8 Status word 0 Motor coil voltage 1 Motor coil current 2 Duty cycle 3 Control error 5 Current limit 6 Overload time 7 Actual velocity 8 Internal temperature 101 Control voltage 103 Motor supply voltage 104 DT0804EN08 USINT 8 Status word 0 Motor coil voltage 1 Motor coil current 2 Duty cycle 3 Control error 5 Current limit 6 Overload time 7 Actual velocity 8 Internal temperature 101 Control voltage 103 Motor supply voltage 104 DT1011ARR UDINT 32 1 1 DT1011 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1011ARR 32 16 rw o DT1018 144 0 SubIndex 000 USINT 8 0 ro o 1 Vendor ID UDINT 32 16 ro o 2 Product code UDINT 32 48 ro o 3 Revision UDINT 32 80 ro o 4 Serial number UDINT 32 112 ro o DT10F0 48 0 SubIndex 000 USINT 8 0 ro o 1 Checksum UDINT 32 16 ro o DT1600 176 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o DT1A00 432 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o 3 SubIndex 003 UDINT 32 80 ro o 4 SubIndex 004 UDINT 32 112 ro o 5 SubIndex 005 UDINT 32 144 ro o 6 SubIndex 006 UDINT 32 176 ro o 7 SubIndex 007 UDINT 32 208 ro o 8 SubIndex 008 UDINT 32 240 ro o 9 SubIndex 009 UDINT 32 272 ro o 10 SubIndex 010 UDINT 32 304 ro o 11 SubIndex 011 UDINT 32 336 ro o 12 SubIndex 012 UDINT 32 368 ro o 13 SubIndex 013 UDINT 32 400 ro o DT1A01 80 0 SubIndex 000 USINT 8 0 ro o 1 SubIndex 001 UDINT 32 16 ro o 2 SubIndex 002 UDINT 32 48 ro o DT1C00ARR USINT 32 1 4 DT1C00 48 0 SubIndex 000 USINT 8 0 ro o Elements DT1C00ARR 32 16 ro o DT1C12ARR UINT 32 1 2 DT1C12 48 0 SubIndex 000 USINT 8 0 rw o Elements DT1C12ARR 32 16 rw o DT1C13ARR UINT 64 1 4 DT1C13 80 0 SubIndex 000 USINT 8 0 rw o Elements DT1C13ARR 64 16 rw o DT1C32 344 0 SubIndex 000 USINT 8 0 ro o 1 Sync mode UINT 16 16 rw o 2 Cycle time UDINT 32 32 rw o 3 Shift time UDINT 32 64 ro o 4 Sync modes supported UINT 16 96 ro o 5 Minimum cycle time UDINT 32 112 ro o 6 Calc and copy time UDINT 32 144 ro o 8 Command UINT 16 208 rw o 9 Delay time UDINT 32 224 ro o 11 SM event missed counter UINT 16 288 ro o 12 Cycle exceeded counter UINT 16 304 ro o 13 Shift too short counter UINT 16 320 ro o 32 Sync error BOOL 1 336 ro o DT6000 64 0 SubIndex 000 USINT 8 0 ro o 1 Ready to enable BOOL 1 16 ro o T 2 Ready BOOL 1 17 ro o T 3 Warning BOOL 1 18 ro o T 4 Error BOOL 1 19 ro o T 5 Moving positive BOOL 1 20 ro o T 6 Moving negative BOOL 1 21 ro o T 7 Torque reduced BOOL 1 22 ro o T 13 Digital input BOOL 1 28 ro o T 14 Sync Error BOOL 1 29 ro o T 16 TxPDO Toggle BOOL 1 31 ro o T 17 Info data 1 UINT 16 32 ro o T 18 Info data 2 UINT 16 48 ro o T DT7000 48 0 SubIndex 000 USINT 8 0 ro o 1 Enable BOOL 1 16 ro o R 2 Reset BOOL 1 17 ro o R 3 Reduce torque BOOL 1 18 ro o R 17 Velocity INT 16 32 ro o R DT8000 216 0 SubIndex 000 USINT 8 0 ro o 1 Maximal current UINT 16 16 rw o 1 1 2 Nominal current UINT 16 32 rw o 1 1 3 Nominal voltage UINT 16 48 rw o 1 1 4 Kp factor UINT 16 64 rw o 1 1 5 Ki factor UINT 16 80 rw o 1 1 6 Inner window USINT 8 96 rw o 1 1 7 Outer window USINT 8 104 rw o 1 1 8 Reduced current UINT 16 112 rw o 1 1 10 Maximal motor velocity UINT 16 144 rw o 1 1 11 Internal resistance of motor UINT 16 160 rw o 1 1 12 Time for switch-off at overload UINT 16 176 rw o 1 1 13 Time for current lowering at overload UINT 16 192 rw o 1 1 14 Threshold for automatic torque reduction USINT 8 208 rw o 1 1 DT8001 48 0 SubIndex 000 USINT 8 0 ro o 1 Operation mode DT0802EN04 4 16 rw o 1 1 5 Torque error enable BOOL 1 20 rw o 1 1 6 Torque auto reduce BOOL 1 21 rw o 1 1 7 Inner window enable BOOL 1 22 rw o 1 1 8 Outer window enable BOOL 1 23 rw o 1 1 9 Voltage adjustment enable BOOL 1 24 rw o 1 1 10 Current adjustment enable BOOL 1 25 rw o 1 1 17 Select info data 1 DT0803EN08 8 32 rw o 1 1 25 Select info data 2 DT0804EN08 8 40 rw o 1 1 DT9000 144 0 SubIndex 000 USINT 8 0 ro o 1 Status word UINT 16 16 ro o 2 Motor coil voltage UINT 16 32 ro o 3 Motor coil current INT 16 48 ro o 4 Duty cycle SINT 8 64 ro o 6 Control error INT 16 80 ro o 7 Current limit UINT 16 96 ro o 8 Overload time UINT 16 112 ro o 9 Actual velocity INT 16 128 ro o DTA000 24 0 SubIndex 000 USINT 8 0 ro o 1 Saturated BOOL 1 16 ro o 2 Over temperature BOOL 1 17 ro o 3 Torque overload BOOL 1 18 ro o 4 Under voltage BOOL 1 19 ro o 5 Over voltage BOOL 1 20 ro o 6 Short circuit BOOL 1 21 ro o 7 No control power BOOL 1 22 ro o 8 Misc error BOOL 1 23 ro o DTF000 48 0 SubIndex 000 USINT 8 0 ro o 1 Module index distance UINT 16 16 ro o 2 Maximum number of modules UINT 16 32 ro o DTF010ARR UDINT 64 1 2 DTF010 80 0 SubIndex 000 USINT 8 0 rw o Elements DTF010ARR 64 16 rw o DTF80F 96 0 SubIndex 000 USINT 8 0 ro o 1 PWM Frequency UINT 16 16 rw o 2 Deadtime UINT 16 32 rw o 3 Deadtime space UINT 16 48 rw o 4 Warning temperature SINT 8 64 rw o 5 Switch off temperature SINT 8 72 rw o 6 Analog trigger point UINT 16 80 rw o DTF900 96 0 SubIndex 000 USINT 8 0 ro o 1 Software version (driver) STRING(2) 16 16 ro o 2 Internal temperature SINT 8 32 ro o 4 Control voltage UINT 16 48 ro o 5 Motor supply voltage UINT 16 64 ro o 6 Cycle time UINT 16 80 ro o DTFB00 72 0 SubIndex 000 USINT 8 0 ro o 1 Request ARRAY [0..1] OF BYTE 16 16 rw o 2 Status USINT 8 32 ro o 3 Response ARRAY [0..3] OF BYTE 32 40 ro o #x1000 Device type UDINT 32 8913dd02 ro o #x1008 Device name STRING(6) 48 454c37333332 ro o #x1009 Hardware version STRING(2) 16 3030 ro o #x100a Software version STRING(2) 16 3031 ro o #x1011 Restore default parameters DT1011 48 SubIndex 000 01 SubIndex 001 00000000 ro o #x1018 Identity DT1018 144 SubIndex 000 04 Vendor ID 02000000 Product code 5230a41c Revision 00001000 Serial number 00000000 ro o #x10f0 Backup parameter handling DT10F0 48 SubIndex 000 01 Checksum 00000000 ro o #x1600 DCM RxPDO-Map Control Ch.1 DT1600 176 SubIndex 000 05 SubIndex 001 01010070 SubIndex 002 01020070 SubIndex 003 01030070 SubIndex 004 0d000000 SubIndex 005 10110070 ro o #x1601 DCM RxPDO-Map Control Ch.2 DT1600 176 SubIndex 000 05 SubIndex 001 01011070 SubIndex 002 01021070 SubIndex 003 01031070 SubIndex 004 0d000000 SubIndex 005 10111070 ro o #x1a00 DCM TxPDO-Map Status Ch.1 DT1A00 432 SubIndex 000 0d SubIndex 001 01010060 SubIndex 002 01020060 SubIndex 003 01030060 SubIndex 004 01040060 SubIndex 005 01050060 SubIndex 006 01060060 SubIndex 007 01070060 SubIndex 008 01000000 SubIndex 009 04000000 SubIndex 010 010d0060 SubIndex 011 0120321c SubIndex 012 01000000 SubIndex 013 01090018 ro o #x1a01 DCM TxPDO-Map Synchron info data Ch.1 DT1A01 80 SubIndex 000 02 SubIndex 001 10110060 SubIndex 002 10120060 ro o #x1a02 DCM TxPDO-Map Status Ch.2 DT1A00 432 SubIndex 000 0d SubIndex 001 01011060 SubIndex 002 01021060 SubIndex 003 01031060 SubIndex 004 01041060 SubIndex 005 01051060 SubIndex 006 01061060 SubIndex 007 01071060 SubIndex 008 01000000 SubIndex 009 04000000 SubIndex 010 010d1060 SubIndex 011 0120321c SubIndex 012 01000000 SubIndex 013 01090218 ro o #x1a03 DCM TxPDO-Map Synchron info data Ch.2 DT1A01 80 SubIndex 000 02 SubIndex 001 10111060 SubIndex 002 10121060 ro o #x1c00 Sync manager type DT1C00 48 SubIndex 000 04 SubIndex 001 01 SubIndex 002 02 SubIndex 003 03 SubIndex 004 04 ro o #x1c12 RxPDO assign DT1C12 48 SubIndex 000 02 SubIndex 001 0016 SubIndex 002 0116 rw o #x1c13 TxPDO assign DT1C13 80 SubIndex 000 02 SubIndex 001 001a SubIndex 002 021a SubIndex 003 0000 SubIndex 004 0000 rw o #x1c32 SM output parameter DT1C32 344 SubIndex 000 20 Sync mode 0100 Cycle time 40420f00 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time 90d00300 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x1c33 SM input parameter DT1C32 344 SubIndex 000 20 Sync mode 2200 Cycle time 40420f00 Shift time 00000000 Sync modes supported 07c0 Minimum cycle time 90d00300 Calc and copy time 00000000 Command 0000 Delay time 00000000 SM event missed counter 0000 Cycle exceeded counter 0000 Shift too short counter 0000 Sync error 00 ro o #x6000 DCM Inputs Ch.1 DT6000 64 SubIndex 000 12 Ready to enable 00 Ready 00 Warning 00 Error 00 Moving positive 00 Moving negative 00 Torque reduced 00 Digital input 00 Info data 1 0000 Info data 2 0000 ro o #x6010 DCM Inputs Ch.2 DT6000 64 SubIndex 000 12 Ready to enable 00 Ready 00 Warning 00 Error 00 Moving positive 00 Moving negative 00 Torque reduced 00 Digital input 00 Info data 1 0000 Info data 2 0000 ro o #x7000 DCM Outputs Ch.1 DT7000 48 SubIndex 000 11 Enable 00 Reset 00 Reduce torque 00 Velocity 0000 ro o #x7010 DCM Outputs Ch.2 DT7000 48 SubIndex 000 11 Enable 00 Reset 00 Reduce torque 00 Velocity 0000 ro o #x8000 DCM Settings Ch.1 DT8000 216 SubIndex 000 0e Maximal current #x0 #x1f40 #x1f40 Nominal current #x0 #x1388 #x1388 Nominal voltage #x0 #xc350 #xc350 Kp factor 6400 Ki factor 0000 Inner window #x0 #x64 #x0 Outer window #x0 #x64 #x0 Reduced current #x0 #x1388 #x1388 Maximal motor velocity 0000 Internal resistance of motor 0000 Time for switch-off at overload c800 Time for current lowering at overload d007 Threshold for automatic torque reduction #x0 #x64 #x64 rw o #x8001 DCM Features Ch.1 DT8001 48 SubIndex 000 19 Operation mode 00 Torque error enable 00 Torque auto reduce 00 Inner window enable 00 Outer window enable 00 Voltage adjustment enable 01 Current adjustment enable 01 Select info data 1 01 Select info data 2 02 rw o #x8010 DCM Settings Ch.2 DT8000 216 SubIndex 000 0e Maximal current #x0 #x1f40 #x1f40 Nominal current #x0 #x1388 #x1388 Nominal voltage #x0 #xc350 #xc350 Kp factor 6400 Ki factor 0000 Inner window #x0 #x64 #x0 Outer window #x0 #x64 #x0 Reduced current #x0 #x1388 #x1388 Maximal motor velocity 0000 Internal resistance of motor 0000 Time for switch-off at overload c800 Time for current lowering at overload d007 Threshold for automatic torque reduction #x0 #x64 #x64 rw o #x8011 DCM Features Ch.2 DT8001 48 SubIndex 000 19 Operation mode 00 Torque error enable 00 Torque auto reduce 00 Inner window enable 00 Outer window enable 00 Voltage adjustment enable 01 Current adjustment enable 01 Select info data 1 01 Select info data 2 02 rw o #x9000 DCM Info data Ch.1 DT9000 144 SubIndex 000 09 Status word 0000 Motor coil voltage 0000 Motor coil current 0000 Duty cycle 00 Control error 0000 Current limit 0000 Overload time 0000 Actual velocity 0000 ro o #x9010 DCM Info data Ch.2 DT9000 144 SubIndex 000 09 Status word 0000 Motor coil voltage 0000 Motor coil current 0000 Duty cycle 00 Control error 0000 Current limit 0000 Overload time 0000 Actual velocity 0000 ro o #xa000 DCM Diag data Ch.1 DTA000 24 SubIndex 000 09 Saturated 00 Over temperature 00 Torque overload 00 Under voltage 00 Over voltage 00 Short circuit 00 No control power 00 Misc error 00 ro o #xa010 DCM Diag data Ch.2 DTA000 24 SubIndex 000 09 Saturated 00 Over temperature 00 Torque overload 00 Under voltage 00 Over voltage 00 Short circuit 00 No control power 00 Misc error 00 ro o #xf000 Modular device profile DTF000 48 SubIndex 000 02 Module index distance 1000 Maximum number of modules 0200 ro o #xf008 Code word UDINT 32 00000000 rw o #xf010 Module list DTF010 80 SubIndex 000 02 SubIndex 001 dd020000 SubIndex 002 dd020000 rw o #xf80f DCM Vendor data DTF80F 96 SubIndex 000 06 PWM Frequency 3075 Deadtime 0404 Deadtime space 1010 Warning temperature 50 Switch off temperature 64 Analog trigger point 0a00 rw o #xf900 DCM Info data DTF900 96 SubIndex 000 06 Internal temperature 00 Control voltage 0000 Motor supply voltage 0000 Cycle time 0000 ro o #xfb00 DCM Command DTFB00 72 SubIndex 000 03 ro o Outputs Inputs MBoxState MBoxOut MBoxIn Outputs Inputs #x1600 DCM Control Channel 1 #x7000 1 1 Enable BOOL #x7000 2 1 Reset BOOL #x7000 3 1 Reduce torque BOOL #x0 13 #x7000 17 16 Velocity INT #x1601 DCM Control Channel 2 #x7010 1 1 Enable BOOL #x7010 2 1 Reset BOOL #x7010 3 1 Reduce torque BOOL #x0 13 #x7010 17 16 Velocity INT #x1a00 DCM Status Channel 1 #x6000 1 1 Ready to enable BOOL #x6000 2 1 Ready BOOL #x6000 3 1 Warning BOOL #x6000 4 1 Error BOOL #x6000 5 1 Moving positive BOOL #x6000 6 1 Moving negative BOOL #x6000 7 1 Torque reduced BOOL #x0 1 #x0 4 #x6000 13 1 Digital input BOOL #x1c32 32 1 Sync Error BOOL #x0 1 #x1800 9 1 TxPDO Toggle BOOL #x1a01 DCM Synchron info data Channel 1 #x6000 17 16 Info Data 1 UINT #x6000 18 16 Info Data 2 UINT #x1a02 DCM Status Channel 2 #x6010 1 1 Ready to enable BOOL #x6010 2 1 Ready BOOL #x6010 3 1 Warning BOOL #x6010 4 1 Error BOOL #x6010 5 1 Moving positive BOOL #x6010 6 1 Moving negative BOOL #x6010 7 1 Torque reduced BOOL #x0 1 #x0 4 #x6010 13 1 Digital input BOOL #x1c32 32 1 Sync Error BOOL #x0 1 #x1802 9 1 TxPDO Toggle BOOL #x1a03 DCM Synchron info data Channel 2 #x6010 17 16 Info Data 1 UINT #x6010 18 16 Info Data 2 UINT Synchron FreeRun/SM-Synchron #x0 0 0 0 0 DC DC-Synchron #x300 0 0 0 0 2048 0500030c00000000000000000000 0010f400f410f400