BECKHOFF AX2000 CANopen communication profile - Manual (Page 130)

Index
Sub-
index
DEF Data format Access
PDO
mapp.
Description ASCII Object
1601 h
00 h 3 RECORD rw — 2 nd receive- PDO mapping parameter —
01 h -08 h 3 UNSIGNED32 rw — PDO mapping parameter for the n-th Object —
1602 h
00 h 3 RECORD rw — 3 rd receive- PDO mapping parameter —
01 h -08 h 3 UNSIGNED32 rw — PDO mapping parameter for the n-th Object —
1603 h
00 h 3 RECORD rw — 4 th receive- PDO mapping parameter —
01 h -08 h 3 UNSIGNED32 rw — PDO mapping parameter for the n-th Object —
1800 h
00 h 3 RECORD ro — 1
st
transmit-PDO communication parameter —
01 h 3 UNSIGNED32 rw — PDO COB-ID —
02 h 3 UNSIGNED8 rw — Transmission type —
03 h 3 UNSIGNED16 rw — Inhibit time —
04 h 3 UNSIGNED8 rw — Compatibility entry (CMS priority group) —
1801 h
00 h 3 RECORD ro — 2 nd transmit-PDO communication parameter —
01 h 3 UNSIGNED32 rw — PDO COB - ID —
02 h 3 UNSIGNED8 rw — Transmission type —
03 h 3 UNSIGNED16 rw — Inhibit time —
04 h 3 UNSIGNED8 rw — Compatibility entry (CMS priority group) —
1802 h
00 h 3 RECORD rw — 3 rd transmit-PDO communication parameter —
01 h 3 UNSIGNED32 rw — PDO COB - ID —
02 h 3 UNSIGNED8 rw — Transmission type —
03 h 3 UNSIGNED16 rw — Inhibit time —
04 h 3 UNSIGNED8 rw — Compatibility entry (CMS priority group) —
1803 h
00 h 3 RECORD ro — 4
th
transmit-PDO communication parameter —
01 h 3 UNSIGNED32 rw — PDO COB - ID —
02 h 3 UNSIGNED8 rw — Transmission type —
03 h 3 UNSIGNED16 rw — Inhibit time —
04 h 3 UNSIGNED8 rw — Compatibility entry (CMS priority group) —
1A00 h
00 h 3 RECORD rw — 1 st transmit-PDO mapping parameter —
01 h -08 h 3 UNSIGNED32 rw — PDO mapping parameter for the n-th object —
1A01 h
00 h 3 RECORD rw — 2 nd transmit-PDO mapping parameter —
01-08 h 3 UNSIGNED32 rw — PDO mapping parameter for the n-th object —
1A02 h
00 h 3 RECORD rw — 3
rd
transmit-PDO mapping parameter —
01-08 h 3 UNSIGNED32 rw — PDO mapping parameter for the n-th object —
1A03 h
00 h 3 RECORD rw — 4
th
transmit-PDO mapping parameter —
01-08 h 3 UNSIGNED32 rw — PDO mapping parameter for the n-th object —
2014 h
00 h S ARRAY ro — Mask PDOs 37..40 Channel 1 —
01 h S UNSIGNED32 rw — Mask (Byte 0 ... 3) —
02 h S UNSIGNED32 rw — Mask (Byte 4 ... 7) —
2015 h
00 h S ARRAY ro — Mask PDOs 37..40 Channel 2 —
01 h S UNSIGNED32 rw — Mask (Byte 0 ... 3) —
02 h S UNSIGNED32 rw — Mask (Byte 4 ... 7) —
2016 h
00 h S ARRAY ro — Mask PDOs 37..40 Channel 3 —
01 h S UNSIGNED32 rw — Mask (Byte 0 ... 3) —
02 h S UNSIGNED32 rw — Mask (Byte 4 ... 7) —
2017 h
00 h S ARRAY ro — Mask PDOs 37..40 Channel 4 —
01 h S UNSIGNED32 rw — Mask (Byte 0 ... 3) —
02 h S UNSIGNED32 rw — Mask (Byte 4 ... 7) —
2020 h
00 h S RECORD ro — Position controller —
01 h S UNSIGNED8 rw — Axis type POSCNFG
02 h S INTEGER32 rw — In-Position window PEINPOS
03 h S INTEGER32 rw — Lag/following error window PEMAX
04 h S INTEGER32 rw — Position register 1 SWE1
05 h S INTEGER32 rw — Position register 2 SWE2
06 h S INTEGER32 rw — Position register 3 SWE3
07 h S INTEGER32 rw — Position register 4 SWE4
08 h S UNSIGNED32 rw — Denominator for resolution PGEARO
09 h S UNSIGNED32 rw — Numerator for resolution PGEAR
0A h S UNSIGNED8 rw — Count direction DIR
130 CANopen for AX2000/2500
Appendix
07/2007
BECKHOFF