Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 24)

The definition of the PDO service and protocol can be found in DS301. Examples of the usage of

PDOs can be found in the application section of this documentation.

Basically, two types of PDOs can be distinguished, depending on the direction of transmission:

Transmit-PDOs (TPDOs) (AX2xxx Þ Master)

The TPDOs transmit data from AX2xxx to control system

(e.g actual value Objects, amplifier status).

Receive-PDOs (RPDOs) (Master Þ AX2xxx)

The RPDOs receive data from control system to AX2xxx

(e.g setpoints).

AX2000/2500 supports two independent PDO channels for each direction of transmission. The

channels are labeled by the channel numbers 1 to 4.

There are three parameters each for the configuration of each of the four possible PDOs, and they

can be set up through the corresponding SDOs:

1. Selection parameters, to select the two PDOs in each direction to be used for process

data operation from a number of possible PDOs (Objects 2600

to 2603

, 2A00

to 2A03

2. Mapping parameter, to determine which data are available (mapped) in the selected

PDO, and for entering the mapping of the PDO for the freely configured PDOs

(Nos. 37 to 40).

3. Communication parameters, that define whether the PDOs operate in synchronized mode,

or event-driven (Objects 1400

to 1403

, 1800

to 1803

Furthermore, individual bits of the TPDOs can be masked, so that an automatic generation of the

transmit-trigger can be controlled by individual bit event in TPDOs.

3.4.6.1 Transmission modes

The following PDO transmission modes are distinguished:

Synchronous transmission

Asynchronous transmission

The pre-defined SYNC Object is transmitted periodically (bus clock), to synchronize the drives. Syn-

chronous PDOs are transmitted within a pre-defined time window immediately following the SYNC

Object.

The transmission modes are set up with the aid of the PDO communication parameters.

24 CANopen for AX2000/2500

CANopen communication profile 07/2007 BECKHOFF

SYNC

SYNCSYNC

Synchronous

Asynchronous

time

Synchronous

PDOs

Length

PDOs

Object

Window

Object Object

1 2 ... 19 20 21 22 23 24 25 26 27 28 29 ... 136 137

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