BECKHOFF AX2000 CANopen communication profile - Manual (Page 121)

6.1.6 Example of Profile Positioning Mode usage
This section shows the operation of the Profile position mode. For this, the PDOs are set as follows:
First RPDO: PDO control word (No. 1)
Second RPDO: freely mappable PDO 2 (No. 38)
First TPDO: freely mappable PDO 1 (No. 37)
Second TPDO: freely mappable PDO 2 (No. 38)
The telegrams have an analogous appearance to the example for PDO operation ( Þ 6.1.3).
Data are placed in the freely mappable PDOs as shown in the following telegram examples:
1) second RPDO:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 23 01 16 00 h 00 00 00 00
2
nd
RPDO: delete mapping
581 60 01 16 00 h 00 00 00 00
601 23 01 16 01 h 20 00 7A 60 2 nd
RPDO, entry 1: tar-
get_position 581 60 01 16 01 h 00 00 00 00
601 23 01 16 02 h 20 00 81 60 2
nd
RPDO, entry 2: profi-
le_velocity 581 60 01 16 02 h 00 00 00 00
2) first TPDO:
COB-ID Control byte
Index Sub-
index
Data Comment
Low byte High byte
601 23 00 1A 00 h 00 00 00 00
1
st
TPDO: delete mapping
581 60 00 1A 00 h 00 00 00 00
601 23 00 1A 01 h 10 00 41 60 1 st TPDO, entry 1: profile
status word 581 60 00 1A 01 h 00 00 00 00
601 23 00 1A 02 h 08 09 80 20 1 st TPDO. entry 2:
TRJSTAT 3 rd byte = manuf.
status 3
rd
byte
581 60 00 1A 02 h 00 00 00 00
3) second TPDO:
COB-ID Control byte
Index Sub-
index
Data Comment
Low byte High byte
601 23 01 1A 00 h 00 00 00 00
2 nd TPDO: delete mapping
581 60 01 1A 00 h 00 00 00 00
601 23 01 1A 01 h 20 00 64 60 2
nd
TPDO, entry 1: positi-
on_actual_value 581 60 01 1A 01 h 00 00 00 00
601 23 01 1A 02 h 20 00 6C 60 1 st TPDO, entry 2: veloci-
ty_actual_value 581 60 01 1A 02 h 00 00 00 00
The first TPDO is to be transmitted under event-control. Since this corresponds to the default value
for the communication parameters, nothing has to be changed in this case. The second TPDO is to
be transmitted with every SYNC from the drive:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 23 01 18 02 h 01 00 00 00 transmit 2 nd TPDO with
every SYNC 581 60 01 18 02 h 00 00 00 00
After the PDOs have been defined, they can be enabled through the NMT:
COB-ID Command specifier (CS) Node-ID
0 1 1
CANopen for AX2000/2500 121
BECKHOFF
07/2007
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