Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 116)

6.1.2 Example of operating the Status Machine

After the AX2000/2500 is switched on and the boot-up message has been detected, communication

via SDOs can be initiated. For example: all the parameters can be read out or written to, or the sta-

tus machine for the drive can be controlled.

In the other examples it is assumed that functions are available for reading and writing SDOs,

which appear as follows:

SDO-read (UINT Index, USHORT Sub-index);

SDO-write (UINT Index, USHORT Sub-index, ULONG value);

The state of the status machine can be obtained through the following query:

SDO-read (6041

,00

)

Directly after switch-on, a value will then be returned, such as 0040

. This corresponds to the status

Switch on disabled (Þ 4.4.1.1).

The following data would then be visible on the CAN bus: (der Aufbau des SDO-Telegramms ist in

Kapitel 3.4.5.1 beschrieben):

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 40 41 60 00

40 00 00 00

581 4B 41 60 00

40 00 00 00 reply telegram

2 bytes of data status

If the supply power is present and the hardware enable is at the High level (24 V to DGND) then

SDO-write (6040

,00

, 0x7) can be used to switch the drive to the state Switched on. If this is suc-

cessful, there will be a positive acknowledgement in the SDO reply (control byte 0 in the data field =

Switch on

The messages then appear as follows:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 23 40 60 00

07 00 00 00 control word

581 60 40 60 00

00 00 00 00 response telegram

control word = 0x0007 Meaning: Bit 0, Bit 1, Bit 2 set Þ Switch On,

Disable Voltage off, Quick Stop off

Status query 2

The new status can then be queried again, and returns the following result:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 40 41 60 00

— query status

581 4B 41 60 00

23 00 00 00 response telegram

Status = 0x0023 Meaning: Bit 0, Bit 1, Bit 5 set Þ ready to Switch On,

Switched On, Quick Stop

116 CANopen for AX2000/2500

Appendix 07/2007 BECKHOFF

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