Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 123)

A positioning movement can only be initiated by providing the setpoints through the 1

RPDO, follo

wed by a start through the 2

RPDO. This uses handshaking with New setpoint (control word) and

Setpoint acknowledge (status word).

a) Setpoint:

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

301 F4 01 00 00 E8 03 00 00

b) Control word with new setpoint bit (Bit 4) set:

COB-ID Byte 0 Byte 1

201 1F 00

c) Wait until the CANopen status word signals Setpoint acknowledge (Bit 12): e.g.

COB-ID Byte 0 Byte 1 Byte 2

181 27 15 03

d) Control word is reset by the New setpoint bit (Bit 4) immediately:

COB-ID Byte 0 Byte 1

201 0F 00

e) Drive removes Setpoint acknowledge:

COB-ID Byte 0 Byte 1 Byte 2

181 27 01 03

Wait for the positioning to be completed:

COB-ID Byte 0 Byte 1 Byte 2

181 27 05 0A

6.1.7 ASCII Communication

It makes sense to use ASCII communication through PDOs, since they can be used more efficiently

in this way. This requires that the NMT status machine is in the operational status.

Example: Read the parameter T-tacho (see Setup Software Online Help).

(All data are hexadecimal, with the ASCII characters below, in square brackets.)

Direction COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Master Þ AX2xxx

301

[G]

[V]

[F]

[B]

[T]

[CR]

[LF]

[NUL]

AX2xxx Þ Master

281

[0]

[.]

[6]

[NUL]

AX2xxx Þ Master

281

[CR]

[LF]

[NUL]

AX2xxx Þ Master

281

[-]

[>]

[NUL]

Explanation: In telegram 1, the master queries the GVFBT parameter, terminated by the

ASCII code CR LF. The last free byte is filled by NUL.

The response of the AX2xxx is made in telegram 2, with the value 0.6,

the terminating code CR LF, and the prompt “—>” for the next parameter or

command. The segmentation of the response into three telegrams is not mandatory,

but depends on the transmission rate that has been set and the internal

synchronization mechanism.

CANopen for AX2000/2500 123

BECKHOFF 07/2007 Appendix

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