Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 41
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4.3.1 Receive-PDOs (RPDO)
The Objects 2600
h
to 2603
h
can be used to select RPDOs. The configuration of the RPDOs is
made through the Objects 1400
h
to 1403
h
(communication parameter) and 1600
h
to 1603
h
(map
-
ping parameter). These Objects have channel-linked operation, i.e.
l
RPDO Channel 1: 2600
h
, 1400
h
, 1600
h
l
RPDO Channel 2: 2601
h
, 1401
h
, 1601
h
l
RPDO Channel 3: 2602
h
, 1402
h
, 1602
h
l
RPDO Channel 4: 2603
h
, 1403
h
, 1603
h
The Objects 1600
h
to 1603
h
can only be read, in order to disclose the Object configuration within
the PDOs.
Exception:
If one or more PDOs 37 to 40 are selected, then the Object configuration for the relevant
RPDO channel must be made through the Objects 1600
h
to 1603
h
(write access).
The following PDOs have been defined:
PDO Number Mapping Object Index Sub-index Mapping Object Name
1 (01h) 6040
h
— control word
2..20 (02h..14h) — — reserved
21 (15h) 3100
h
01
h
..08
h
ASCII-Object
22 (16h) 6040
h
— control word
2060
h
00
h
current or speed setpoint
23..31 (17
h
..1F
h
) — — reserved
32 (20
h
) 2060
h
00
h
current or speed setpoint
33 (21
h
) 2022
h
04
h
incremental position setpoint
2022
h
04
h
incremental position setpoint
34 (22
h
) 2022
h
01
h
position
2022
h
02
h
velocity
2022
h
03
h
type of motion task
35 (23
h
) 2022
h
05
h
motion block number
(Caution: in the device status Operation Enable
it will start immediately)
36 (24
h
) — — reserved
37..40 (25
h
..28
h
) xxxx
h
xx
h
freely definable PDO
41 (29
h
) 2022h 04h master position for CAN slaves
42..64 (30
h
..40
h
) — — reserved
4.3.1.1 Description of predefined Receive-PDOs
4.3.1.1.1 PDO controlword (1) (DS402)
The PDO control word (Default-PDO) consists of the control word (UNSIGNED16). This PDO can
only be used to operate the status machine (Þ 4.4.1), and is available for use in all modes.
After switch-on, this PDO is mapped to RPDO 1.
The table shows the mapping of the PDO control word:
Sub-index Value Description
00
h
1
h
number of entries
01
h
60400010
h
control word
CANopen for AX2000/2500 41
BECKHOFF 07/2007 CANopen Drive Profile
- CANopen communication profile 1
- AX2000/2500 series 1
- CANopen for AX2000/2500 3 3
- BECKHOFF 07/2007 Contents 3
- 4 CANopen for AX2000/2500 4
- Contents 07/2007 BECKHOFF 4
- CANopen for AX2000/2500 5 5
- 6 CANopen for AX2000/2500 6
- 1 General 7
- 1.3 Symbols used 8
- 1.4 Abbreviations used 8
- 8 CANopen for AX2000/2500 8
- General 07/2007 BECKHOFF 8
- 2 Installation / Setup 10
- 2.2 CANopen interface 11
- 2.3 CAN-bus cable 11
- CANopen for AX2000/2500 11 11
- 2.4 Guide to Setup 12
- 12 CANopen for AX2000/2500 12
- CANopen for AX2000/2500 13 13
- 14 CANopen for AX2000/2500 14
- CANopen for AX2000/2500 15 15
- 16 CANopen for AX2000/2500 16
- CANopen for AX2000/2500 17 17
- 3.4 Communication Objects 18
- 18 CANopen for AX2000/2500 18
- NMT Master 19
- NMT Slave(s) 19
- 20 CANopen for AX2000/2500 20
- CANopen for AX2000/2500 21 21
- 22 CANopen for AX2000/2500 22
- CANopen for AX2000/2500 23 23
- 24 CANopen for AX2000/2500 24
- CANopen for AX2000/2500 25 25
- 26 CANopen for AX2000/2500 26
- 4 CANopen Drive Profile 27
- 28 CANopen for AX2000/2500 28
- 4.2 General definitions 29
- CANopen for AX2000/2500 29 29
- 30 CANopen for AX2000/2500 30
- CANopen for AX2000/2500 31 31
- 32 CANopen for AX2000/2500 32
- CANopen for AX2000/2500 33 33
- 34 CANopen for AX2000/2500 34
- CANopen for AX2000/2500 35 35
- 36 CANopen for AX2000/2500 36
- CANopen for AX2000/2500 37 37
- 38 CANopen for AX2000/2500 38
- CANopen for AX2000/2500 39 39
- Handling CANopen 40
- Process data objects (PDO) 40
- CANopen for AX2000/2500 41 41
- 42 CANopen for AX2000/2500 42
- CANopen for AX2000/2500 43 43
- 44 CANopen for AX2000/2500 44
- CANopen for AX2000/2500 45 45
- 46 CANopen for AX2000/2500 46
- CANopen for AX2000/2500 47 47
- 48 CANopen for AX2000/2500 48
- CANopen for AX2000/2500 49 49
- 4.4 Device Control (dc) 50
- 50 CANopen for AX2000/2500 50
- 4.4.1 Status Machine (DS402) 51
- 52 CANopen for AX2000/2500 52
- CANopen for AX2000/2500 53 53
- 54 CANopen for AX2000/2500 54
- CANopen for AX2000/2500 55 55
- 56 CANopen for AX2000/2500 56
- CANopen for AX2000/2500 57 57
- 58 CANopen for AX2000/2500 58
- CANopen for AX2000/2500 59 59
- 60 CANopen for AX2000/2500 60
- 62 CANopen for AX2000/2500 62
- CANopen for AX2000/2500 63 63
- 64 CANopen for AX2000/2500 64
- CANopen for AX2000/2500 65 65
- 66 CANopen for AX2000/2500 66
- CANopen for AX2000/2500 67 67
- 68 CANopen for AX2000/2500 68
- CANopen for AX2000/2500 69 69
- 70 CANopen for AX2000/2500 70
- CANopen for AX2000/2500 71 71
- 72 CANopen for AX2000/2500 72
- 74 CANopen for AX2000/2500 74
- CANopen for AX2000/2500 75 75
- 4.10 Latch function 76
- 76 CANopen for AX2000/2500 76
- CANopen for AX2000/2500 77 77
- 78 CANopen for AX2000/2500 78
- CANopen for AX2000/2500 79 79
- 80 CANopen for AX2000/2500 80
- CANopen for AX2000/2500 81 81
- 82 CANopen for AX2000/2500 82
- CANopen for AX2000/2500 83 83
- 84 CANopen for AX2000/2500 84
- CANopen for AX2000/2500 85 85
- 86 CANopen for AX2000/2500 86
- CANopen for AX2000/2500 87 87
- 88 CANopen for AX2000/2500 88
- CANopen for AX2000/2500 89 89
- 90 CANopen for AX2000/2500 90
- CANopen for AX2000/2500 91 91
- 92 CANopen for AX2000/2500 92
- CANopen for AX2000/2500 93 93
- 4.16 Homing Mode (hm) (DS402) 94
- 94 CANopen for AX2000/2500 94
- CANopen for AX2000/2500 95 95
- 96 CANopen for AX2000/2500 96
- 4.16.5 Homing Mode SequenceS 97
- 4.17.1 General Information 97
- 98 CANopen for AX2000/2500 98
- CANopen for AX2000/2500 99 99
- 100 CANopen for AX2000/2500 100
- CANopen for AX2000/2500 101 101
- 102 CANopen for AX2000/2500 102
- CANopen for AX2000/2500 103 103
- 104 CANopen for AX2000/2500 104
- 5 The Object Channel 105
- 106 CANopen for AX2000/2500 106
- CANopen for AX2000/2500 107 107
- 108 CANopen for AX2000/2500 108
- CANopen for AX2000/2500 109 109
- 110 CANopen for AX2000/2500 110
- CANopen for AX2000/2500 111 111
- 112 CANopen for AX2000/2500 112
- CANopen for AX2000/2500 113 113
- 114 CANopen for AX2000/2500 114
- 6 Appendix 115
- 116 CANopen for AX2000/2500 116
- Appendix 07/2007 BECKHOFF 116
- CANopen for AX2000/2500 117 117
- BECKHOFF 07/2007 Appendix 117
- 118 CANopen for AX2000/2500 118
- CANopen for AX2000/2500 119 119
- 120 CANopen for AX2000/2500 120
- CANopen for AX2000/2500 121 121
- 122 CANopen for AX2000/2500 122
- CANopen for AX2000/2500 123 123
- 124 CANopen for AX2000/2500 124
- 6.2 Special Applications 125
- CANopen for AX2000/2500 125 125
- 126 CANopen for AX2000/2500 126
- CANopen for AX2000/2500 127 127
- 128 CANopen for AX2000/2500 128
- CANopen for AX2000/2500 129 129
- 130 CANopen for AX2000/2500 130
- CANopen for AX2000/2500 131 131
- 132 CANopen for AX2000/2500 132
- CANopen for AX2000/2500 133 133
- 134 CANopen for AX2000/2500 134
- CANopen for AX2000/2500 135 135
- 6.5 Index 136
- 136 CANopen for AX2000/2500 136
- CANopen for AX2000/2500 137 137
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