Beckhoff AX2000 CANopen communication profile Manual do Utilizador descarregar pdf (Página 134)

Index

Sub-

index

DEF Data format Access

PDO

mapp.

Description ASCII Object

2083

h

00

h

S INTEGER8 ro — 32/24-bit negative latch —

01

h

S INTEGER32 ro ý 32-bit latch LATCH32N

02

h

S INTEGER24 ro ý 24-bit latch —

2084

h

00

h

S INTEGER8 ro — 16-bit positive latch —

01

h

S INTEGER16 ro ý 16-bit latch LATCH16

2085

h

00

h

S INTEGER8 ro — 16-bit negative latch —

01

h

S INTEGER16 ro ý 16-bit latch LATCH16N

2086

h

00

h

S UNSIGNED16 ro ý Position trigger word POSRSTAT

2087h

00h S RECORD ro — Latch positions Input 1 —

01h S INTEGER32 ro

ý

Latch position input 1, positive edge LATCHX32

02h S INTEGER32 ro

ý

Latch position input 1, negative edge LATCHX32N

03h S UNSIGNED8 rw

ý

Latch enable for inputs 1 and 2 —

2090

h

00

h

S ARRAY ro

ý

DP-Ram variables, write only (PDO) -

01

h

S INTEGER32 ro

ý

DP-Ram Variable 1 DPRVAR1

02

h

S INTEGER32 ro

ý

DP-Ram Variable 2 DPRVAR2

03

h

S INTEGER32 ro ý DP-Ram Variable 3 DPRVAR3

04

h

S INTEGER32 ro

ý

DP-Ram Variable 4 DPRVAR4

05

h

S INTEGER32 ro

ý

DP-Ram Variable 5 DPRVAR5

06

h

S INTEGER32 ro

ý

DP-Ram Variable 6 DPRVAR6

07

h

S INTEGER32 ro

ý

DP-Ram Variable 7 DPRVAR7

08

h

S INTEGER32 ro

ý

DP-Ram Variable 8 DPRVAR8

2600

h

00

h

S INTEGER8 rw — 1

st

receive-PDO select —

2601

h

00

h

S INTEGER8 rw — 2

nd

receive-PDO select —

2602

h

00

h

S INTEGER8 rw — 3

rd

receive-PDO select —

2603

h

00

h

S INTEGER8 rw — 4

th

receive-PDO select —

2721

h

00

h

S INTEGER8 rw — Configuration receive-PDO 33 —

2A00

h

00

h

S INTEGER8 rw — 1

st

transmit-PDO select —

2A01

h

00

h

S INTEGER8 rw — 2

nd

transmit-PDO select —

2A02

h

00

h

S INTEGER8 rw — 3

rd

transmit-PDO select —

2A03

h

00

h

S INTEGER8 rw — 4

th

transmit-PDO select —

3100

h

00

h

S Visible String rw — ASCII character direction —

3500

h

00

h

S RECORD ro — Start of Object Channel —

01

h

S UNSIGNED16 ro — Total number of Objects in Object Channel MAXSDO

02

h

S UNSIGNED16 ro — Lower limit value —

03

h

S UNSIGNED16 ro — Upper limit value —

04

h

S UNSIGNED16 ro — Default value —

05

h

S UNSIGNED8 ro — Data format of Object —

06

h

S UNSIGNED32 ro — Check data —

07

h

S — — — reserved —

08

h

S — — — reserved —

3501

h

00

h

S RECORD ro — Acceleration ramp: speed control —

01

h

S UNSIGNED16 ro — Value ACC

02

h

S UNSIGNED16 ro — Lower limit value —

03

h

S UNSIGNED16 ro — Upper limit value —

04

h

S UNSIGNED16 ro — Default value —

05

h

S UNSIGNED8 ro — Data format of Object —

06

h

S UNSIGNED32 ro — Check data —

07

h

S — — — reserved —

08

h

S — — — reserved —

6040

h

00

h

4 INTEGER16 wo ý DS402 control word —

6041

h

00

h

4 INTEGER16 ro ý DS402 Status —

605A

h

4 INTEGER16 rw — Quick Stop option code —

6060

h

00

h

4 INTEGER8 wo ý Mode of Operation —

6061

h

00

h

4 INTEGER8 ro ý Display Mode of Operation —

6063

h

00

h

4 INTEGER32 ro ý Incr. actual position —

6064

h

00

h

4 INTEGER32 ro ý

Actual position

(taking account of gearing factors)

—

606C

h

00

h

4 INTEGER32 ro ý Actual speed (mode: pv) —

6077

h

00

h

4 INTEGER16 ro

ý

Torque actual value IQ

607A

h

00

h

4 INTEGER32 rww ý Target position (mode: pp) —

607B

h

00

h

4 ARRAY ro — position_range_limit —

01

h

4 INTEGER32 rw — min_position_range_limit —

02

h

4 INTEGER32 rw — max_position_range_limit —

134 CANopen for AX2000/2500

Appendix 07/2007 BECKHOFF

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