Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 124)

6.1.8 Test for SYNC-telegrams

Aims:

1. Assign/set Start motion block to the PDO (1

receive-PDO)

2. Assign Actual position (PDO21) to PDO (1

transmit-PDO), generated with every 2

SYNC.

3. Assign Status word (PDO1) to PDO (2

transmit-PDO), generated with every 3

SYNC.

Telegrams with the corresponding responses:

COB-ID Control byte

Index Sub-

index

Data

Comment

Low byte High byte

601 2F 00 26 00

23 00 00 00

set PDO Start motion block

to 1

RPDO

581 60 00 26 00

00 00 00 00

601 2F 00 2A 00

16 00 00 00

set PDO Actual position to

TPDO

581 60 00 2A 00

00 00 00 00

601 2F 01 2A 00

17 00 00 00 set PDO Enhanced status

word to

TPDO

581 60 01 2A

00 00 00 00

601 2F 00 18 02

02 00 00 00

TPDO triggered for

every 2

SYNC

581 60 00 18 02

00 00 00 00

601 2F 01 18 02

03 00 00 00

TPDO triggered for

every 3

SYNC

581 60 01 18 02

00 00 00 00

6.1.9 SYNC-Object

COB-ID

080

Meaning: Object 181 (TPDO 1) appears at every 2

SYNC,

Object 281 (TPDO 2) appears at every 3

SYNC.

6.1.10 Emergency-Object

If, for instance, the resolver connector is disconnected, a serious error will be caused in the control-

ler. This results in an Emergency telegram.

COB-ID

Emergency error

Error register Data Comment

Low High

081 10 43 08 00 00 00 00

motor temperature, temperature, ma-

nufacturer specific

081 00 00 88 00 00 00 00

124 CANopen for AX2000/2500

Appendix 07/2007 BECKHOFF

1 2 ... 119 120 121 122 123 124 125 126 127 128 129 ... 136 137

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