2 transmit-pdos (tpdo), 1 description of the predefined transmit-pdos, 1 pdo status word (1) (ds402) – BECKHOFF AX2000 CANopen communication profile User Manual
Page 46: Transmit-pdos, Transmit-pdos (tpdo), Description of the predefined transmit-pdos, Pdo status word (1) (ds402), Beckhoff
4.3.2
Transmit-PDOs (TPDO)
The Objects 2A00
h
to 2A03
h
can be used to select TPDOs. The configuration of the PDOs is made
with the Objects 1800
h
to 1803
h
(communication parameter) und 1A00
h
to 1A03
h
(mapping parame-
ter). These Objects have channel-linked operation, i.e.
l
TPDO Channel 1: 2A00
h
, 1800
h
, 1A00
h
l
TPDO Channel 2: 2A01
h
, 1801
h
, 1A01
h
l
TPDO Channel 3: 2A02
h
, 1802
h
, 1A02
h
l
TPDO Channel 4: 2A03
h
, 1803
h
, 1A03
h
The Objects 1A00
h
to 1A03
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
TPDO channel must be made through the Objects 1A00
h
to 1A03
h
(write access).
The following PDOs have been defined:
PDO Number
Mapping Object Index
Sub-
index
Mapping Object Name
1 (01
h
)
6041
h
—
status word
2..20 (02
h
..14
h
)
—
reserved
21 (15
h
)
3102
h
01
h
..08
h
ASCII Object
22 (16
h
)
6041
h
—
status word
2070
h
01
h
actual position (20 bits/turn)
2070
h
02
h
speed (1 bit = 1875/262144 [revs/min])
23 (17
h
)
6041
h
—
status word
1002
h
—
manufacturer-specific status register
24..31 (18
h
..1F
h
)
—
—
reserved
32 (20
h
)
2070
h
01
h
actual position (20 bits/turn)
2070
h
02
h
speed (1 bit = 1875/262144 [revs/min])
33 (21
h
)
2070
h
03
h
incremental actual position value
2070
h
11
h
2nd enhanced status register
34..35 (22
h
..23
h
)
—
—
—
36 (24
h
)
—
—
reserved
37..40 (25
h
..28
h
)
xxxx
h
—
freely definable TPDOs
41 (29
h
)
2070
h
19
h
internal master position setpoint
42..64 (30
h
..40
h
)
—
—
reserved
4.3.2.1
Description of the predefined Transmit-PDOs
4.3.2.1.1
PDO Status Word (1) (DS402)
The status word PDO (default PDO) is formed by the status word (UNSIGNED16).
This PDO can only be used to disclose the state of the status machine (
Þ 4.4.1). The PDO is
mode-independent.
After switch-on, this PDO is mapped to TPDO 1.
The table shows the mapping for the status word PDO.
Sub-index
Value
Description
00
h
1
h
number of entries
01
h
60410010
h
status word
46
CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF