Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 126)

After the Trajectory PDO has been mapped to the two axes, the communication parameters for

both must be set so that they respond to the same Communication Object Identifier (COB-ID). The

COB-ID for the first station can keep its default value of 301, the one for the second station can

then be re-mapped to this setting:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

602 23 01 14 01

01 03 00 00

map 2

RPDO for 2

axis to 301

582 60 01 14 01

00 00 00 00

Both stations will now respond to the same COB-ID 301.

Object 2721

Sub-index 00

can then be used to define which portion of the 8 byte data field is

used by each axis for its trajectory information. The value 0 selects Bytes 0 ... 3 of the data, and the

value 1 selects bytes 4 ... 7.

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 21 27 00

00 00 00 00

axis takes data from

Bytes 0 ... 3

581 60 21 27 00

00 00 00 00

602 2F 21 27 00

04 00 00 00

axis takes data from

Bytes 4 ... 7

582 60 21 27 00

00 00 00 00

The actual positions of the axes are to be returned as incremental actual positions to the controls.

The second transmit-PDO in each case is therefore mapped to TPDO 33 Incremental actual posi-

tion (33

=21

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 01 2A 00

21 00 00 00

set the Trajectory PDO for

axis

581 60 01 2A 00

00 00 00 00

602 2F 01 2A 00

21 00 00 00

set the Trajectory PDO for

axis

582 60 01 2A 00

00 00 00 00

Here it is assumed that both amplifiers accept new trajectory values with every SYNC command,

and have to return their incremental position values. The communication parameters must be set

accordingly:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 01 14 02

01 00 00 00

RPDO 2, axis 1, reaction for

every SYNC

581 60 01 14 02

00 00 00 00

602 2F 01 14 02

01 00 00 00

RPDO 2, axis 2, reaction for

every SYNC

582 60 01 14 02

00 00 00 00

601 2F 01 18 02

01 00 00 00

TPDO 2, axis 1, reaction for

every SYNC

581 60 01 18 02

00 00 00 00

602 2F 01 18 02

01 00 00 00

TPDO 2, axis 2, reaction for

every SYNC

582 60 01 18 02

00 00 00 00

In order to be able to make trajectory movements, both servo amplifiers must be operating in the

appropriate mode. This is set through Index 6060

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 60 60 00

FA 00 00 00

set trajectory mode for axis 1

581 60 60 60 00

00 00 00 00

602 2F 60 60 00

FA 00 00 00

set trajectory mode for axis 2

582 60 60 60 00

00 00 00 00

126 CANopen for AX2000/2500

Appendix 07/2007 BECKHOFF

1 2 ... 121 122 123 124 125 126 127 128 129 130 131 ... 136 137

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