6 pdo incremental actual position (33), 7 pdo position treshold (34), 8 pdo free definition (37 to 40) – BECKHOFF AX2000 CANopen communication profile User Manual
Page 48: 9 pdo internal master position setpoint (41), Pdo incremental actual position (33), Pdo position treshold (34), Pdo free definition (37 to 40), Pdo internal master position setpoint (41), Beckhoff
4.3.2.1.6
PDO Incremental Actual Position (33)
The PDO Incremental Actual Position is a data-optimized Object that can only be requested with a
SYNC Object.
Calculation of the absolute position:
Position
incremental actual position
2
20
=
The table shows the mapping for the PDO Incremental Actual Position:
Sub-index
Value
Description
00
h
2
h
number of entries
01
h
20700320
h
incremental actual position
02
h
20701120
h
enhanced status register for PDO 33
This Object only supports transmission types 1 to 240 (cyclically synchronous).
4.3.2.1.7
PDO Position Treshold (34)
PDO position threshold is used to recognize an exceeding of the fast position registers P1..P16.
They are configured by Objects 2051 - 2053.
The table shows the mapping for the PDO position threshold:
Sub-index
Value
Description
00
h
1
h
number of entries
01
h
20860010
h
Display of position threshold
4.3.2.1.8
PDO Free Definition (37 to 40)
If these PDOs are selected, then Objects can be freely added. The Objects 1A00
h
to 1A03
h
(map-
ping parameters) are used for this purpose. Up to 8 individual Objects can be mapped into a single
PDO.
Attention:
Even if Objects are “event-triggered” and not called over the CAN bus, they will still be
monitored. 16 mapped Objects can therefore place a heavy processing load on the CPU. To
avoid this, only map those objects which are really needed, or increase the “inhibit time”
accordingly (e.g. to 400 ms). An excessive CPU loading can cause a long response time for
an SDO data service (average response time > 40 ms).
4.3.2.1.9
PDO Internal Master Position Setpoint (41)
The CAN master can use Transmit PDO 41 to notify the bus of its internal trajectory position set-
point (e.g. from travel-block mode). These values are output using a time base determined by
PTBASE.
The following settings are required for this type of operation:
- The clock pulse must be set via Object 60C2 (->PTBASE)
- SYNCSRC = 3
- FPGA = 3 (S600 only)
- CAMMCTRL = 1
The table shows how the PDO "Internal master position setpoint" is mapped.
Sub-index
Value
Description
00
h
1
h
number of entries
01
h
20701920
h
internal position setpoint
48
CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF