BECKHOFF AX2000 CANopen communication profile - Manual (Page 132)

Index
Sub-
index
DEF Data format Access
PDO
mapp.
Description ASCII Object
2052 h
00 h S ARRAY ro —
Position threshold register ABSOLUTE
(refresh time < 1ms)
POSRSTAT
01 h S INTEGER32 rww ý Position register P1
02 h S INTEGER32 rww ý Position register P2
03 h S INTEGER32 rww ý Position register P3
04 h S INTEGER32 rww ý Position register P4
05 h S INTEGER32 rww ý Position register P5
06 h S INTEGER32 rww ý Position register P6
07 h S INTEGER32 rww ý Position register P7
08 h S INTEGER32 rww ý Position register P8
09 h S INTEGER32 rww ý Position register P9
0A h S INTEGER32 rww ý Position register P10
0B h S INTEGER32 rww ý Position register P11
0C h S INTEGER32 rww ý Position register P12
0D h S INTEGER32 rww ý Position register P13
0E h S INTEGER32 rww ý Position register P14
0F h S INTEGER32 rww ý Position register P15
10 h S INTEGER32 rww ý Position register P16
2053 h
00 h S INTEGER8 ro —
Position threshold RELATIVE
(refresh time < 1ms) see also ASCII
POSRSTAT
01 h S INTEGER32 rww ý Position register P1
02 h S INTEGER32 rww ý Position register P2
03 h S INTEGER32 rww ý Position register P3
04 h S INTEGER32 rww ý Position register P4
05 h S INTEGER32 rww ý Position register P5
06 h S INTEGER32 rww ý Position register P6
07 h S INTEGER32 rww ý Position register P7
08 h S INTEGER32 rww ý Position register P8
09 h S INTEGER32 rww ý Position register P9
0A h S INTEGER32 rww ý Position register P10
0B h S INTEGER32 rww ý Position register P11
0C h S INTEGER32 rww ý Position register P12
0D h S INTEGER32 rww ý Position register P13
0E h S INTEGER32 rww ý Position register P14
0F h S INTEGER32 rww ý Position register P15
10 h S INTEGER32 rww ý Position register P16
2060 h 00 h S INTEGER32 rw — Speed or current setpoint —
2061h 00h S UNSIGNED16 wo ý Current limitation DPRILIMIT
132 CANopen for AX2000/2500
Appendix
07/2007
BECKHOFF