BECKHOFF AX2000 CANopen communication profile - Manual (Page 44)

4.3.1.1.7 PDO Start Motion Block (35)
The Start Motion Block PDO is formed by the motion task number (UNSIGNED16).
The PDO starts a motion block from the volatile memory (motion block number = 0, 192 ... 255)
or from the permanent memory (motion block number = 1 ... 180).
This PDO can only be used in the Position mode.
The table shows the mapping of the Start Motion Block PDO:
Sub-index Value Description
00 h 1 h number of entries
01 h 20220510 h motion task number
This Object only supports transmission type 255 (asynchronous).
4.3.1.1.8 PDO Free Definition (37 to 40)
If these PDOs are selected, then Objects can be freely added. The Objects 1600
h
to 1603
h
(map-
ping parameters) are used for this purpose. Up to 8 individual Objects can be mapped into a single
PDO.
An example of PDO mapping and communication configuration can be found in the appendix.
(
Þ 6.1)
4.3.1.1.9 PDO master position for CAN slaves (41)
CAN slaves receive position setpoints from a master via PDO 41; they follow the master in exactly
the same way as in the case of the electronic gear. These position setpoints must be transmitted
using a fixed time base.
The following settings are required for this type of operation:
– The clock pulse must be set via Object 60C2h (-> PTBASE).
– The synchronization source is the CAN bus -> SYNCSRC = 3
– FPGA = 3 (SR600 only)
– CAMMCTRL = 2
– CANopen mode 0xFA (Trajectory mode)
The table shows how the Receive PDO "Master position over CAN" is mapped.
Sub-index Value Description
00 h 1 h number of entries
01 h 20220420 h internal position setpoint
44 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF