2 pdo transmit ascii channel (21), 3 pdo actual position (22), 4 pdo enhanced status (23) – BECKHOFF AX2000 CANopen communication profile User Manual
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4.3.2.1.2
PDO Transmit ASCII Channel (21)
As soon as ASCII characters have been transferred to the ASCII transmission buffer, they are
transmitted to the master (control system) with the help of this PDO (default PDO). This always
takes place when commands or parameters have been transmitted with the aid of the PDO Receive
ASCII channel (
Þ 4.3.1.1.2). After switch-on, this PDO is mapped to TPDO 2.
The table shows the mapping for the PDO Transmit ASCII channel.
Sub-index
Value
Description
00
h
8
h
number of entries
01
h
..08
h
31020208
h
ASCII chars. 1 ... 8
This Object only supports transmission type 255 (asynchronous).
4.3.2.1.3
PDO Actual Position (22)
The Actual Position PDO is formed from the status word (UNSIGNED16), actual position (UNSIG-
NED24) and speed in revs/minute (UNSIGNED24). This PDO can be used to disclose the position
in the Digital speed or Digital current mode.
The table shows the mapping for the PDO Actual Position:
Sub-index
Value
Description
00
h
3
h
number of entries
01
h
60410010
h
status word
02
h
20700118
h
actual position (20 bits/turn)
03
h
20700218
h
speed *
* Resolution: 1 bit = 1875 / 262144 revs/min
4.3.2.1.4
PDO Enhanced Status (23)
The Enhanced Status PDO is formed by the status word (UNSIGNED16) and the manufacturer
specific status register (UNSIGNED32). This PDO can additionally be triggered by an event in the
status register area. The PDO is mode-independent.
The table shows the mapping for the PDO Enhanced Status:
Sub-index
Value
Description
00
h
2
h
number of entries
01
h
60410010
h
status word
02
h
10020020
h
manufacturer specific status register
4.3.2.1.5
PDO Actual Position 2 (32)
The PDO Actual Position 2 is a time- and data-optimized PDO (see PDO 21). It contains the actual
position (UNSIGNED24) and the revs/minute (UNSIGNED 24). This PDO can be used to disclose
the position in the Digital speed or Digital current mode.
This PDO can only be requested with the SYNC Object.
The table shows the mapping for the PDO Actual Position 2:
Sub-index
Value
Description
00
h
2
h
number of entries
01
h
20700118
h
actual position (20 bits/turn)
02
h
20700218
h
speed *
* Resolution: 1 bit = 1875 / 262144 revs/min
This Object only supports transmission types 1 to 240 (cyclically synchronous).
CANopen for AX2000/2500
47
BECKHOFF
07/2007
CANopen Drive Profile