BECKHOFF AX2000 CANopen communication profile - Manual (Page 118)

The mapping is defined next:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 23 01 16 00 h 00 00 00 00 delete data for 2 nd RPDO
581 60 01 16 00 h 00 00 00 00 response telegram
601 23 01 16 01 h 10 00 40 60
data for first entry of the 2 nd
RPDO
Object 6040
h Sub-index 00 h ,
data length: 16 bit
581 60 01 16 01 h 00 00 00 00 response telegram
601 23 01 16 02 h 08 00 60 60
data for second entry of the
2
nd RPDO
Object 6060 h Sub-index 00 h ,
data length: 8 bit
581 60 01 16 02 h 00 00 00 00 response telegram
This Object has to be evaluated immediately, so the communication parameters can remain at their
default values. The first TPDO is already available in the drive, it just has to be selected.
PDO 23 is selected:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2F 00 2A 00 h 17 00 00 00 select PDO 23 as 1 st TPDO
581 60 00 2A 00 h 00 00 00 00 response telegram
The corresponding mapping can be read out by Object 1A00
h
. The PDO contains 2 bytes for the
CANopen status word and 4 bytes for the manufacturer status register.
The second TPDO is assembled again:
1. Selection via Object 2A01:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2F 01 2A 00 h 25 00 00 00 select PDO 37 as 2 nd TPDO
581 60 01 2A 00 h 00 00 00 00 response telegram
2. The mapping for the three components required:
COB-ID
Control byte
Index Sub-
index
Data Comment
Low byte High byte
601 23 01 1A 00 h 00 00 00 00 delete data for 2 nd TPDO
581 60 01 1A 00 h 00 00 00 00 response telegram
601 23 01 1A 01 h 20 03 70 20
data for first entry of the 2
nd
TPDO, Object 2070 h Sub-in-
dex 03 h , data length: 32 bit
581 60 01 1A 01 h 00 00 00 00 response telegram
601 23 01 1A 02 h 18 02 70 20
data for second entry of the
2
nd TPDO, Object 2070 h
Subindex 02 h , length: 24 bit
581 60 01 1A 02 h 00 00 00 00 response telegram
601 23 01 1A 03 h 08 00 61 60
data for third entry of the 2
nd
TPDO, Object 6061 h Subindex
00 h , data length: 8 bit
581 60 01 1A 03 h 00 00 00 00 response telegram
Now the communication parameters can be defined. The drive must react to every SYNC Object,
so a value of 1 must be applied to Sub-index 2:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2F 01 18 02 h 01 00 00 00
2 nd TPDO: reaction to every
SYNC
581 60 01 18 02 h 00 00 00 00 response telegram
118 CANopen for AX2000/2500
Appendix
07/2007
BECKHOFF