BECKHOFF AX2000 CANopen communication profile - Manual (Page 117)

6.1.3 Example of PDO usage
Using all four possible PDOs in operation:
1. RPDO: PDO trajectory for one axis
2. RPDO: PDO control word and mode changeover
1. TPDO: PDO enhanced status
2. TPDO: PDO with incremental actual position, speed and operating mode display
Procedure:
Since the first RPDO is not available from the drive in the pre-defined form as required ( Þ 4.3.1) it
must be assembled. First, it is necessary to check whether the entries for the incremental setpoint
provision are available in mappable form.
This is the case with Object 2022
h
Sub-index 04
h
. So the 1st RPDO is selected:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2F 00 26 00 h 25 00 00 00 select PDO 37 as 1 st RPDO
581 60 00 26 00 h 00 00 00 00 response telegram
The freely mappable RPDO 37 has thus been selected. In the next step, data must be attached to
this PDO. This is done through the mapping parameter for the first RPDO:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 23 00 16 00 h 00 00 00 00 delete data for 1
st
RPDO
581 60 00 16 00 h 00 00 00 00 response telegram
601 23 00 16 01 h 20 04 22 20
data for first entry of the
1
st
RPDO
Object 2022 h Sub-index 04 h ,
data length: 32 bit
581 60 00 16 01 h 00 00 00 00 response telegram
The data content of the first PDO has now been defined, and it includes 4 bytes of user data.
Next, the communication parameters can be defined:
The system must react to COB-ID 201
h
as standard. So Sub-index 01
h
must remain set to the
default value. But the drive must react to every SYNC Object, so a value of 1 must be applied to
Sub-index 2:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2F 00 14 02 h 01 00 00 00 reaction to every SYNC
581 60 00 14 02 h 00 00 00 00 response telegram
The 2
nd
RPDO is to have two components: the CANopen control word (Object 6040
h
Sub-index
00
h
) and the Object for changing the operating mode (Object 6060
h
Sub-index 00
h
).
The selection of the 2
nd
RPDO is made as follows:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2F 01 26 00 h 26 00 00 00 select PDO 38 as 2 nd RPDO
581 60 01 26 00 h 00 00 00 00 response telegram
CANopen for AX2000/2500 117
BECKHOFF
07/2007
Appendix