Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 117)

6.1.3 Example of PDO usage

Using all four possible PDOs in operation:

1. RPDO: PDO trajectory for one axis

2. RPDO: PDO control word and mode changeover

1. TPDO: PDO enhanced status

2. TPDO: PDO with incremental actual position, speed and operating mode display

Procedure:

Since the first RPDO is not available from the drive in the pre-defined form as required (Þ 4.3.1) it

must be assembled. First, it is necessary to check whether the entries for the incremental setpoint

provision are available in mappable form.

This is the case with Object 2022

Sub-index 04

. So the 1st RPDO is selected:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 00 26 00

25 00 00 00 select PDO 37 as 1

RPDO

581 60 00 26 00

00 00 00 00 response telegram

The freely mappable RPDO 37 has thus been selected. In the next step, data must be attached to

this PDO. This is done through the mapping parameter for the first RPDO:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 23 00 16 00

00 00 00 00 delete data for 1

RPDO

581 60 00 16 00

00 00 00 00 response telegram

601 23 00 16

20 04 22 20

data for first entry of the

RPDO

Object 2022

Sub-index 04

data length: 32 bit

581 60 00 16 01

00 00 00 00 response telegram

The data content of the first PDO has now been defined, and it includes 4 bytes of user data.

Next, the communication parameters can be defined:

The system must react to COB-ID 201

as standard. So Sub-index 01

must remain set to the

default value. But the drive must react to every SYNC Object, so a value of 1 must be applied to

Sub-index 2:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 00 14 02

01 00 00 00 reaction to every SYNC

581 60 00 14 02

00 00 00 00 response telegram

The 2

RPDO is to have two components: the CANopen control word (Object 6040

Sub-index

) and the Object for changing the operating mode (Object 6060

Sub-index 00

The selection of the 2

RPDO is made as follows:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 01 26 00

26 00 00 00 select PDO 38 as 2

RPDO

581 60 01 26 00

00 00 00 00 response telegram

CANopen for AX2000/2500 117

BECKHOFF 07/2007 Appendix

1 2 ... 112 113 114 115 116 117 118 119 120 121 122 ... 136 137

Comentarios a estos manuales

Sin comentarios

Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 117

Comentarios a estos manuales

Relacionado con productos y manuales para Equipo Beckhoff AX2000 CANopen communication profile