BECKHOFF AX2000 CANopen communication profile User Manual
BECKHOFF Equipment
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Table of contents
Document Outline
- Cover page
- Contents
- 1 General
- 2 Installation / Setup
- 3 CANopen communication profile
- 3.1 General description of CAN
- 3.2 Construction of the COB Identifier
- 3.3 Definition of the used data types
- 3.4 Communication Objects
- 4 CANopen Drive Profile
- 4.1 Emergency Messages
- 4.2 General definitions
- 4.2.1 General Objects
- 4.2.1.1 Object 1000h: Device Type (DS301)
- 4.2.1.2 Object 1001h: Error register (DS301)
- 4.2.1.3 Object 1002h: Manufacturer Status Register (DS301)
- 4.2.1.4 Object 1003h: Pre-Defined Error Field (DS301)
- 4.2.1.5 Object 1004h: Number of supported PDOs (DS301)
- 4.2.1.6 Object 1005h: COB-ID of the SYNC Message (DS301)
- 4.2.1.7 Object 1006h: Communication Cycle Period (DS301)
- 4.2.1.8 Object 1007h: Synchronous window length (DS301)
- 4.2.1.9 Object 1008h: Manufacturer Device Name (DS301)
- 4.2.1.10 Object 100Ah: Manufacturer Software Version (DS301)
- 4.2.1.11 Object 100Bh: Node-ID (DS301)
- 4.2.1.12 Object 100Ch: Guard Time (DS301)
- 4.2.1.13 Object 100Dh: Lifetime Factor (DS301)
- 4.2.1.14 Object 100Eh: COB-ID Nodeguarding (DS301)
- 4.2.1.15 Object 100Fh: Number of the supported Objects (DS301)
- 4.2.1.16 Object 1010h: Store Parameters (DS301)
- 4.2.1.17 Object 1012h: COB-ID for Time-Stamp Message (DS301)
- 4.2.1.18 Object 1013h: High Resolution Time-Stamp (in preparation) (DS301)
- 4.2.1.19 Object 1014h: COB-ID for Emergency Message (DS301)
- 4.2.1.20 Object 1018h: Identity Object (DS301)
- 4.2.1 General Objects
- 4.3 PDO Mapping
- 4.3.1 Receive-PDOs (RPDO)
- 4.3.1.1 Description of predefined Receive-PDOs
- 4.3.1.1.1 PDO controlword (1) (DS402)
- 4.3.1.1.2 PDO Receive ASCII Channel (21)
- 4.3.1.1.3 PDO Current/Speed Setpoint (22)
- 4.3.1.1.4 PDO Setpoint 2 (32)
- 4.3.1.1.5 PDO Trajectory (33)
- 4.3.1.1.6 PDO Motion Block (34)
- 4.3.1.1.7 PDO Start Motion Block (35)
- 4.3.1.1.8 PDO Free Definition (37 to 40)
- 4.3.1.1.9 PDO master position for CAN slaves (41)
- 4.3.1.2 Object Decription
- 4.3.1.1 Description of predefined Receive-PDOs
- 4.3.2 Transmit-PDOs (TPDO)
- 4.3.2.1 Description of the predefined Transmit-PDOs
- 4.3.2.1.1 PDO Status Word (1) (DS402)
- 4.3.2.1.2 PDO Transmit ASCII Channel (21)
- 4.3.2.1.3 PDO Actual Position (22)
- 4.3.2.1.4 PDO Enhanced Status (23)
- 4.3.2.1.5 PDO Actual Position 2 (32)
- 4.3.2.1.6 PDO Incremental Actual Position (33)
- 4.3.2.1.7 PDO Position Treshold (34)
- 4.3.2.1.8 PDO Free Definition (37 to 40)
- 4.3.2.1.9 PDO Internal Master Position Setpoint (41)
- 4.3.2.2 Object Description
- 4.3.2.1 Description of the predefined Transmit-PDOs
- 4.3.1 Receive-PDOs (RPDO)
- 4.4 Device Control (dc)
- 4.5 Factor Groups (fg) (DS402)
- 4.6 Manufacturer-specific Current and Speed-Mode
- 4.7 Setup data for manufacturer-specific Jogging/Homing mode
- 4.8 Positioning data for position mode (AX2xxx)
- 4.9 Object 2050h: Auxiliary variable for digital inputs
- 4.10 Latch function
- 4.11 Manufacturer specific values
- 4.12 Freely available, mappable PLC variables, Objects 2030h / 2090h
- 4.13 Dummy Variables, Objects 2031h / 2071h
- 4.14 Profile Velocity Mode (pv) (DS402)
- 4.15 Position Control Function (pc) (DS402)
- 4.16 Homing Mode (hm) (DS402)
- 4.17 Profile Position Mode (pp)
- 4.17.1 General Information
- 4.17.2 Objects that are defined in this section
- 4.17.3 Objects that are defined in other sections
- 4.17.4 Object Description
- 4.17.4.1 Object 607Ah: target_position (DS402)
- 4.17.4.2 Object 607Bh: position_range_limit (DS402)
- 4.17.4.3 Object 6081h: profile_velocity (DS402)
- 4.17.4.4 Object 6083h: profile_acceleration (DS402)
- 4.17.4.5 Object 6084h: profile_adeceleration (DS402)
- 4.17.4.6 Object 6086h: motion_profile_type (DS402)
- 4.17.5 Functional Description
- 5 The Object Channel
- 6 Appendix
- 6.1 Setup examples
- 6.1.1 Basic testing of the connection control<->AX2xxx
- 6.1.2 Example of operating the Status Machine
- 6.1.3 Example of PDO usage
- 6.1.4 Example of Homing
- 6.1.5 Example of Motion Block Processing
- 6.1.6 Example of Profile Positioning Mode usage
- 6.1.7 ASCII Communication
- 6.1.8 Test for SYNC-telegrams
- 6.1.9 SYNC-Object
- 6.1.10 Emergency-Object
- 6.2 Special Applications
- 6.3 Description of the Object Dictionary
- 6.4 New configuration of AX2000/2500
- 6.5 Index
- 6.1 Setup examples
- Index
- !
- 1000h
- 1001h
- 1002h
- 1003h
- 1004h
- 1005h
- 1006h
- 1007h
- 1008h
- 100Ah
- 100Bh
- 100Ch
- 100Dh
- 100Eh
- 100Fh
- 1010h
- 1012h
- 1013h
- 1014h
- 1018h
- 1400-1403h
- 1600-1603h
- 1800-1803h
- 1A00-1A03h
- 2014-2017h
- 2020h
- 2022h
- 2024h
- 2026h
- 2030h
- 2031h
- 2050h
- 2060h
- 2061h
- 2070h
- 2071h
- 2082h
- 2083h
- 2084h
- 2085h
- 2087h
- 2090h
- 2600-2603h
- 2721h
- 2A00-2A03h
- 3500h...
- 6040h
- 6041h
- 6060h
- 6061h
- 6063h
- 6064h
- 606Ch
- 6077h
- 607Ah
- 607Bh
- 607Ch
- 6081h
- 6083h
- 6084h
- 6086h
- 608Bh
- 608Ch
- 6093h
- 6094h
- 6097h
- 6098h
- 6099h
- 609Ah
- 60C2h
- 60FFh
- A
- B
- C
- D
- E
- F
- H
- I
- L
- M
- N
- O
- P
- R
- S
- T
- U
- !