1 receive-pdos (rpdo), 1 description of predefined receive-pdos, 1 pdo controlword (1) (ds402) – BECKHOFF AX2000 CANopen communication profile User Manual
Page 41: Receive-pdos, Receive-pdos (rpdo), Description of predefined receive-pdos, Pdo controlword (1) (ds402), Canopen drive profile
4.3.1
Receive-PDOs (RPDO)
The Objects 2600
h
to 2603
h
can be used to select RPDOs. The configuration of the RPDOs is
made through the Objects 1400
h
to 1403
h
(communication parameter) and 1600
h
to 1603
h
(map-
ping parameter). These Objects have channel-linked operation, i.e.
l
RPDO Channel 1: 2600
h
, 1400
h
, 1600
h
l
RPDO Channel 2: 2601
h
, 1401
h
, 1601
h
l
RPDO Channel 3: 2602
h
, 1402
h
, 1602
h
l
RPDO Channel 4: 2603
h
, 1403
h
, 1603
h
The Objects 1600
h
to 1603
h
can only be read, in order to disclose the Object configuration within
the PDOs.
Exception:
If one or more PDOs 37 to 40 are selected, then the Object configuration for the relevant
RPDO channel must be made through the Objects 1600
h
to 1603
h
(write access).
The following PDOs have been defined:
PDO Number
Mapping Object Index
Sub-index
Mapping Object Name
1 (01h)
6040
h
—
control word
2..20 (02h..14h)
—
—
reserved
21 (15h)
3100
h
01
h
..08
h
ASCII-Object
22 (16h)
6040
h
—
control word
2060
h
00
h
current or speed setpoint
23..31 (17
h
..1F
h
)
—
—
reserved
32 (20
h
)
2060
h
00
h
current or speed setpoint
33 (21
h
)
2022
h
04
h
incremental position setpoint
2022
h
04
h
incremental position setpoint
34 (22
h
)
2022
h
01
h
position
2022
h
02
h
velocity
2022
h
03
h
type of motion task
35 (23
h
)
2022
h
05
h
motion block number
(Caution: in the device status Operation Enable
it will start immediately)
36 (24
h
)
—
—
reserved
37..40 (25
h
..28
h
)
xxxx
h
xx
h
freely definable PDO
41 (29
h
)
2022h
04h
master position for CAN slaves
42..64 (30
h
..40
h
)
—
—
reserved
4.3.1.1
Description of predefined Receive-PDOs
4.3.1.1.1
PDO controlword (1) (DS402)
The PDO control word (Default-PDO) consists of the control word (UNSIGNED16). This PDO can
only be used to operate the status machine (
Þ 4.4.1), and is available for use in all modes.
After switch-on, this PDO is mapped to RPDO 1.
The table shows the mapping of the PDO control word:
Sub-index
Value
Description
00
h
1
h
number of entries
01
h
60400010
h
control word
CANopen for AX2000/2500
41
BECKHOFF
07/2007
CANopen Drive Profile