BECKHOFF AX2000 CANopen communication profile - Manual (Page 133)

Index
Sub-
index
DEF Data format Access
PDO
mapp.
Description ASCII Object
2070 h
00 h S RECORD r — Manufacturer-specific actual values —
01 h S INTEGER24 r ý Actual position (rot. angle, 20-bit res./turn) PRD
02 h S INTEGER24 r ý Speed in incr. (1[incr.] = 1875/262144 [rpm]) —
03 h S INTEGER32 r ý Incr. act. position (res. depends on PRBASE) —
04 h S UNSIGNED16 r ý
Stored position
(HW - LATCH positive, 16-bit resolution/turn)
LATCH16
05 h S INTEGER32 r ý
Stored position
(HW - LATCH positive, 32-bit resolution/turn )
LATCH32
06 h S INTEGER32 r ý
Position, dependent on gearing factors
(PGEARI, PGEARO)
PFB
07 h S INTEGER32 r —
Velocity, dependent on gearing factors
(PGEARI, PGEARO)
PV
08 h S INTEGER32 r ý
Lag error, dependent on gearing factors
(PGEARI, PGEARO)
PE
09 h S UNSIGNED32 r — Effective (r.m.s.) current I
0A h S INTEGER32 r ý Speed, revs/min V
0B h S INTEGER32 r — Heat sink temperature TEMPH
0C h S INTEGER32 r — Internal temperature TEMPE
0D h S INTEGER32 r — DC-link (DC-bus) voltage VBUS
0E h S INTEGER32 r — Regen power (ballst power) PBAL
0F h S INTEGER32 r — I²t loading I2T
10 h S INTEGER32 r — Operating time TRUN
11 h S INTEGER32 r ý Enhanced status for TPDO 33 —
12h S INTEGER32 ro ý Encoder position (SI-units) PFB0
13h S INTEGER32 ro ý Internal position setpoint
S_SETL
(user-defined)
14h S INTEGER16 ro ý Analog input value 1 ANIN1
15h S INTEGER16 ro ý Analog input value 2 ANIN2
16h S UNSIGNED32 ro ý Error register ERRCODE
17h S INTEGER32 ro ý Speed setpoint
PSPEED
(user-defined)
18h S UNSIGNED32 ro ý Read master speed (electronic gearing)
MASTSPEED
(user-defined)
19h S INTEGER8 ro ý Control variable (electronic gearing)
ENGEDGE
(user-defined)
2071h
00h S RECORD ro — Dummy-variables for mapping —
01h S UNSIGNED8 ro ý Read-only dummy 8 bit —
02h S UNSIGNED16 ro ý Read-only dummy 16 bit —
03h S UNSIGNED24 ro ý Read-only dummy 24 bit —
04h S UNSIGNED32 ro ý Read-only dummy 32 bit —
2080 h
00 h S ARRAY ro — Status information —
01 h S UNSIGNED8 ro ý Input/Output/Latch —
02 h S UNSIGNED8 ro ý Collective info (Warning/Error/Reserve) —
03 h S UNSIGNED8 ro ý DRVSTAT LSB DRVSTAT
04 h S UNSIGNED8 ro ý “ DRVSTAT
05 h S UNSIGNED8 ro ý “ DRVSTAT
06 h S UNSIGNED8 ro ý DRVSTAT MSB DRVSTAT
07 h S UNSIGNED8 ro ý TRJSTAT LSB TRJSTAT
08 h S UNSIGNED8 ro ý “ TRJSTAT
09 h S UNSIGNED8 ro ý “ TRJSTAT
0A h S UNSIGNED8 ro ý TRJSTAT MSB TRJSTAT
2081 h
00 h S INTEGER8 ro — Incr. actual position (bytewise/24-bit) —
01 h S INTEGER8 ro ý Incr. position LSB —
02 h S INTEGER8 ro ý Incremental position —
03 h S INTEGER8 ro ý Incremental position —
04 h S INTEGER8 ro ý Incremental position MSB —
05 h S INTEGER24 ro ý Incremental position 24-bit —
06 h S INTEGER32 ro ý Incremental position 32-bit —
2082 h
00 h S INTEGER8 ro — 32/24-bit positive latch —
01 h S INTEGER32 ro ý 32-bit latch LATCH32
02 h S INTEGER24 ro ý 24-bit latch —
CANopen for AX2000/2500 133
BECKHOFF
07/2007
Appendix