Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 46)

4.3.2 Transmit-PDOs (TPDO)

The Objects 2A00

to 2A03

can be used to select TPDOs. The configuration of the PDOs is made

with the Objects 1800

to 1803

(communication parameter) und 1A00

to 1A03

(mapping parame

ter). These Objects have channel-linked operation, i.e.

TPDO Channel 1: 2A00

, 1800

, 1A00

TPDO Channel 2: 2A01

, 1801

, 1A01

TPDO Channel 3: 2A02

, 1802

, 1A02

TPDO Channel 4: 2A03

, 1803

, 1A03

The Objects 1A00

to 1A03

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

TPDO channel must be made through the Objects 1A00

to 1A03

(write access).

The following PDOs have been defined:

PDO Number Mapping Object Index

Sub-

index

Mapping Object Name

1 (01

) 6041

— status word

2..20 (02

..14

) — reserved

21 (15

) 3102

..08

ASCII Object

22 (16

) 6041

— status word

2070

actual position (20 bits/turn)

2070

speed (1 bit = 1875/262144 [revs/min])

23 (17

) 6041

— status word

1002

— manufacturer-specific status register

24..31 (18

..1F

) — — reserved

32 (20

) 2070

actual position (20 bits/turn)

2070

speed (1 bit = 1875/262144 [revs/min])

33 (21

) 2070

incremental actual position value

2070

2nd enhanced status register

34..35 (22

..23

)— ——

36 (24

) — — reserved

37..40 (25

..28

) xxxx

— freely definable TPDOs

41 (29

) 2070

internal master position setpoint

42..64 (30

..40

) — — reserved

4.3.2.1 Description of the predefined Transmit-PDOs

4.3.2.1.1 PDO Status Word (1) (DS402)

The status word PDO (default PDO) is formed by the status word (UNSIGNED16).

This PDO can only be used to disclose the state of the status machine (Þ 4.4.1). The PDO is

mode-independent.

After switch-on, this PDO is mapped to TPDO 1.

The table shows the mapping for the status word PDO.

Sub-index Value Description

number of entries

60410010

status word

46 CANopen for AX2000/2500

CANopen Drive Profile 07/2007 BECKHOFF

1 2 ... 41 42 43 44 45 46 47 48 49 50 51 ... 136 137

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