BECKHOFF AX2000 CANopen communication profile - Manual (Page 126)

After the Trajectory PDO has been mapped to the two axes, the communication parameters for
both must be set so that they respond to the same Communication Object Identifier (COB-ID). The
COB-ID for the first station can keep its default value of 301, the one for the second station can
then be re-mapped to this setting:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
602 23 01 14 01 h 01 03 00 00 map 2
nd
RPDO for 2
nd
axis to 301 582 60 01 14 01 h 00 00 00 00
Both stations will now respond to the same COB-ID 301.
Object 2721
h
Sub-index 00
h
can then be used to define which portion of the 8 byte data field is
used by each axis for its trajectory information. The value 0 selects Bytes 0 ... 3 of the data, and the
value 1 selects bytes 4 ... 7.
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2F 21 27 00 h 00 00 00 00 1 st axis takes data from
Bytes 0 ... 3 581 60 21 27 00 h 00 00 00 00
602 2F 21 27 00 h 04 00 00 00 2 nd axis takes data from
Bytes 4 ... 7 582 60 21 27 00 h 00 00 00 00
The actual positions of the axes are to be returned as incremental actual positions to the controls.
The second transmit-PDO in each case is therefore mapped to TPDO 33 Incremental actual posi-
tion (33
d
= 21
h
):
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2F 01 2A 00 h 21 00 00 00 set the Trajectory PDO for
1
st axis 581 60 01 2A 00 h 00 00 00 00
602 2F 01 2A 00 h 21 00 00 00 set the Trajectory PDO for
2
nd
axis 582 60 01 2A 00 h 00 00 00 00
Here it is assumed that both amplifiers accept new trajectory values with every SYNC command,
and have to return their incremental position values. The communication parameters must be set
accordingly:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2F 01 14 02 h 01 00 00 00 RPDO 2, axis 1, reaction for
every SYNC
581 60 01 14 02 h 00 00 00 00
602 2F 01 14 02 h 01 00 00 00 RPDO 2, axis 2, reaction for
every SYNC
582 60 01 14 02 h 00 00 00 00
601 2F 01 18 02 h 01 00 00 00 TPDO 2, axis 1, reaction for
every SYNC
581 60 01 18 02 h 00 00 00 00
602 2F 01 18 02 h 01 00 00 00 TPDO 2, axis 2, reaction for
every SYNC
582 60 01 18 02 h 00 00 00 00
In order to be able to make trajectory movements, both servo amplifiers must be operating in the
appropriate mode. This is set through Index 6060
h
:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2F 60 60 00 h FA 00 00 00 set trajectory mode for axis 1
581 60 60 60 00 h 00 00 00 00
602 2F 60 60 00 h FA 00 00 00
set trajectory mode for axis 2
582 60 60 60 00 h 00 00 00 00
126 CANopen for AX2000/2500
Appendix
07/2007
BECKHOFF