Beckhoff AX2000 CANopen communication profile Manual do Utilizador descarregar pdf (Página 47)

4.3.2.1.2 PDO Transmit ASCII Channel (21)

As soon as ASCII characters have been transferred to the ASCII transmission buffer, they are

transmitted to the master (control system) with the help of this PDO (default PDO). This always

takes place when commands or parameters have been transmitted with the aid of the PDO Receive

ASCII channel (Þ 4.3.1.1.2). After switch-on, this PDO is mapped to TPDO 2.

The table shows the mapping for the PDO Transmit ASCII channel.

Sub-index Value Description

number of entries

..08

31020208

ASCII chars. 1 ... 8

This Object only supports transmission type 255 (asynchronous).

4.3.2.1.3 PDO Actual Position (22)

The Actual Position PDO is formed from the status word (UNSIGNED16), actual position (UNSIG-

NED24) and speed in revs/minute (UNSIGNED24). This PDO can be used to disclose the position

in the Digital speed or Digital current mode.

The table shows the mapping for the PDO Actual Position:

Sub-index Value Description

number of entries

60410010

status word

20700118

actual position (20 bits/turn)

20700218

speed *

* Resolution: 1 bit = 1875 / 262144 revs/min

4.3.2.1.4 PDO Enhanced Status (23)

The Enhanced Status PDO is formed by the status word (UNSIGNED16) and the manufacturer

specific status register (UNSIGNED32). This PDO can additionally be triggered by an event in the

status register area. The PDO is mode-independent.

The table shows the mapping for the PDO Enhanced Status:

Sub-index Value Description

number of entries

60410010

status word

10020020

manufacturer specific status register

4.3.2.1.5 PDO Actual Position 2 (32)

The PDO Actual Position 2 is a time- and data-optimized PDO (see PDO 21). It contains the actual

position (UNSIGNED24) and the revs/minute (UNSIGNED 24). This PDO can be used to disclose

the position in the Digital speed or Digital current mode.

This PDO can only be requested with the SYNC Object.

The table shows the mapping for the PDO Actual Position 2:

Sub-index Value Description

number of entries

20700118

actual position (20 bits/turn)

20700218

speed *

* Resolution: 1 bit = 1875 / 262144 revs/min

This Object only supports transmission types 1 to 240 (cyclically synchronous).

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