BECKHOFF AX2000 CANopen communication profile - Manual (Page 42)

4.3.1.1.2 PDO Receive ASCII Channel (21)
With the help of the ASCII channel (Default-PDO), all the parameters and commands can be trans-
mitted to the AX2xxx. Up to 8 ASCII characters can be sent in one PDO. Commands or parameters
that require more than 8 characters must be segmented. All commands and parameters are termi-
nated by the ASCII code CR LF (0xD
h
, 0xA
h
). The unused bytes in the PDO are filled with the
ASCII code NUL (0x0
h
), because otherwise every surplus character would be interpreted as a new
command. After switch-on, this PDO is mapped to RPDO 2.
The table describes the mapping of the PDO Receive ASCII channel:
Sub-index Value Description
00 h 1 h number of entries
01..08 h 31000208 h ASCII chars. 1 to 8
This Object only supports transmission type 255 (asynchronous).
4.3.1.1.3 PDO Current/Speed Setpoint (22)
The PDO current or speed setpoint is formed from the control word (UNSIGNED16) and the set-
point (SIGNED16). This PDO must only be used in the Digital speed or Digital current mode. It will
be recognized as a speed or current setpoint, depending on the mode that is set (digital current or
digital speed). The PDO is executed immediately. A repeated transmission of the PDO with various
setpoint values does not require an intermediate halt of the drive.
Current normalization: 3280 = peak current of the controller
1640 = rated current of the controller
e.g.. rated current = 3A, setpoint = 1.0A Þ 547 increments
speed normalization:
e.g. speed = 3000 rpm
Þ setpoint = 419430
The table shows the mapping for the Setpoint PDO:
Sub-index Value Description
00 h 1 h number of entries
01 h 60400010 h control word
02 h 20600020 h current/speed setpoint
4.3.1.1.4 PDO Setpoint 2 (32)
The PDO Setpoint 2 is a time- and data-optimized PDO. It contains just one 32-bit setpoint. This
setpoint can only be used in the Digital speed or Digital current mode. It will be recognized as a
speed or current setpoint, depending on the mode that is set (digital current or digital speed).
The PDO is executed immediately. A repeated transmission of the PDO with various setpoint values
does not require an intermediate halt of the drive.
The table shows the mapping for the PDO Setpoint 2:
Sub-index Value Description
00 h 1 h number of entries
01 h 20600020 h current/speed setpoint
42 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF