Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 118)

The mapping is defined next:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 23 01 16 00

00 00 00 00 delete data for 2

RPDO

581 60 01 16 00

00 00 00 00 response telegram

601 23 01 16

10 00 40 60

data for first entry of the 2

RPDO

Object 6040

Sub-index 00

data length: 16 bit

581 60 01 16 01

00 00 00 00 response telegram

601 23 01 16

08 00 60 60

data for second entry of the

RPDO

Object 6060

Sub-index 00

data length: 8 bit

581 60 01 16 02

00 00 00 00 response telegram

This Object has to be evaluated immediately, so the communication parameters can remain at their

default values. The first TPDO is already available in the drive, it just has to be selected.

PDO 23 is selected:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 00 2A 00

17 00 00 00 select PDO 23 as 1

TPDO

581 60 00 2A 00

00 00 00 00 response telegram

The corresponding mapping can be read out by Object 1A00

. The PDO contains 2 bytes for the

CANopen status word and 4 bytes for the manufacturer status register.

The second TPDO is assembled again:

1. Selection via Object 2A01:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 01 2A 00

25 00 00 00 select PDO 37 as 2

TPDO

581 60 01 2A 00

00 00 00 00 response telegram

2. The mapping for the three components required:

COB-ID

Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 23 01 1A 00

00 00 00 00 delete data for 2

TPDO

581 60 01 1A 00

00 00 00 00 response telegram

601 23 01 1A

20 03 70 20

data for first entry of the 2

TPDO, Object 2070

Sub-in-

dex 03

, data length: 32 bit

581 60 01 1A 01

00 00 00 00 response telegram

601 23 01 1A

18 02 70 20

data for second entry of the

TPDO, Object 2070

Subindex 02

, length: 24 bit

581 60 01 1A 02

00 00 00 00 response telegram

601 23 01 1A

08 00 61 60

data for third entry of the 2

TPDO, Object 6061

Subindex

, data length: 8 bit

581 60 01 1A 03

00 00 00 00 response telegram

Now the communication parameters can be defined. 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 01 18

01 00 00 00

TPDO: reaction to every

SYNC

581 60 01 18 02

00 00 00 00 response telegram

118 CANopen for AX2000/2500

Appendix 07/2007 BECKHOFF

1 2 ... 113 114 115 116 117 118 119 120 121 122 123 ... 136 137

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