BECKHOFF AX2000 CANopen communication profile - Manual (Page 134)

Index
Sub-
index
DEF Data format Access
PDO
mapp.
Description ASCII Object
2083 h
00 h S INTEGER8 ro — 32/24-bit negative latch —
01 h S INTEGER32 ro ý 32-bit latch LATCH32N
02 h S INTEGER24 ro ý 24-bit latch —
2084 h
00 h S INTEGER8 ro — 16-bit positive latch —
01 h S INTEGER16 ro ý 16-bit latch LATCH16
2085 h
00 h S INTEGER8 ro — 16-bit negative latch —
01 h S INTEGER16 ro ý 16-bit latch LATCH16N
2086 h 00 h S UNSIGNED16 ro ý Position trigger word POSRSTAT
2087h
00h S RECORD ro — Latch positions Input 1 —
01h S INTEGER32 ro ý Latch position input 1, positive edge LATCHX32
02h S INTEGER32 ro ý Latch position input 1, negative edge LATCHX32N
03h S UNSIGNED8 rw ý Latch enable for inputs 1 and 2 —
2090 h
00 h S ARRAY ro ý DP-Ram variables, write only (PDO) -
01 h S INTEGER32 ro ý DP-Ram Variable 1 DPRVAR1
02 h S INTEGER32 ro ý DP-Ram Variable 2 DPRVAR2
03 h S INTEGER32 ro ý DP-Ram Variable 3 DPRVAR3
04 h S INTEGER32 ro ý DP-Ram Variable 4 DPRVAR4
05 h S INTEGER32 ro ý DP-Ram Variable 5 DPRVAR5
06 h S INTEGER32 ro ý DP-Ram Variable 6 DPRVAR6
07 h S INTEGER32 ro ý DP-Ram Variable 7 DPRVAR7
08 h S INTEGER32 ro ý DP-Ram Variable 8 DPRVAR8
2600 h 00 h S INTEGER8 rw — 1
st
receive-PDO select —
2601 h 00 h S INTEGER8 rw — 2
nd
receive-PDO select —
2602 h 00 h S INTEGER8 rw — 3 rd receive-PDO select —
2603 h 00 h S INTEGER8 rw — 4 th receive-PDO select —
2721 h 00 h S INTEGER8 rw — Configuration receive-PDO 33 —
2A00 h 00 h S INTEGER8 rw — 1 st transmit-PDO select —
2A01 h 00 h S INTEGER8 rw — 2 nd transmit-PDO select —
2A02 h 00 h S INTEGER8 rw — 3 rd transmit-PDO select —
2A03 h 00 h S INTEGER8 rw — 4 th transmit-PDO select —
3100 h 00 h S Visible String rw — ASCII character direction —
3500 h
00 h S RECORD ro — Start of Object Channel —
01 h S UNSIGNED16 ro — Total number of Objects in Object Channel MAXSDO
02 h S UNSIGNED16 ro — Lower limit value —
03 h S UNSIGNED16 ro — Upper limit value —
04 h S UNSIGNED16 ro — Default value —
05 h S UNSIGNED8 ro — Data format of Object —
06 h S UNSIGNED32 ro — Check data —
07 h S — — — reserved —
08 h S — — — reserved —
3501 h
00 h S RECORD ro — Acceleration ramp: speed control —
01 h S UNSIGNED16 ro — Value ACC
02 h S UNSIGNED16 ro — Lower limit value —
03 h S UNSIGNED16 ro — Upper limit value —
04 h S UNSIGNED16 ro — Default value —
05 h S UNSIGNED8 ro — Data format of Object —
06 h S UNSIGNED32 ro — Check data —
07 h S — — — reserved —
08 h S — — — reserved —
6040 h 00 h 4 INTEGER16 wo ý DS402 control word —
6041 h 00 h 4 INTEGER16 ro ý DS402 Status —
605A h 4 INTEGER16 rw — Quick Stop option code —
6060 h 00 h 4 INTEGER8 wo ý Mode of Operation —
6061 h 00 h 4 INTEGER8 ro ý Display Mode of Operation —
6063 h 00 h 4 INTEGER32 ro ý Incr. actual position —
6064 h 00 h 4 INTEGER32 ro ý
Actual position
(taking account of gearing factors)
—
606C h 00 h 4 INTEGER32 ro ý Actual speed (mode: pv) —
6077 h 00 h 4 INTEGER16 ro ý Torque actual value IQ
607A h 00 h 4 INTEGER32 rww ý Target position (mode: pp) —
607B h
00 h 4 ARRAY ro — position_range_limit —
01 h 4 INTEGER32 rw — min_position_range_limit —
02 h 4 INTEGER32 rw — max_position_range_limit —
134 CANopen for AX2000/2500
Appendix
07/2007
BECKHOFF