BECKHOFF AX2000 CANopen communication profile - Manual (Page 116)

6.1.2 Example of operating the Status Machine
After the AX2000/2500 is switched on and the boot-up message has been detected, communication
via SDOs can be initiated. For example: all the parameters can be read out or written to, or the sta-
tus machine for the drive can be controlled.
In the other examples it is assumed that functions are available for reading and writing SDOs,
which appear as follows:
SDO-read (UINT Index, USHORT Sub-index);
SDO-write (UINT Index, USHORT Sub-index, ULONG value);
The state of the status machine can be obtained through the following query:
SDO-read (6041
h
, 00
h
)
Directly after switch-on, a value will then be returned, such as 0040
h
. This corresponds to the status
Switch on disabled (
Þ 4.4.1.1).
The following data would then be visible on the CAN bus: (der Aufbau des SDO-Telegramms ist in
Kapitel 3.4.5.1 beschrieben):
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 40 41 60 00 h 40 00 00 00
581 4B 41 60 00 h 40 00 00 00 reply telegram
2 bytes of data status
If the supply power is present and the hardware enable is at the High level (24 V to DGND) then
SDO-write (6040
h
, 00
h
, 0x7) can be used to switch the drive to the state Switched on. If this is suc-
cessful, there will be a positive acknowledgement in the SDO reply (control byte 0 in the data field =
60
h
).
Switch on
The messages then appear as follows:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 23 40 60 00 h 07 00 00 00 control word
581 60 40 60 00 h 00 00 00 00 response telegram
control word = 0x0007 Meaning: Bit 0, Bit 1, Bit 2 set Þ Switch On,
Disable Voltage off, Quick Stop off
Status query 2
The new status can then be queried again, and returns the following result:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 40 41 60 00 h — query status
581 4B 41 60 00 h 23 00 00 00 response telegram
Status = 0x0023 Meaning: Bit 0, Bit 1, Bit 5 set Þ ready to Switch On,
Switched On, Quick Stop
116 CANopen for AX2000/2500
Appendix
07/2007
BECKHOFF