BECKHOFF AX2000 CANopen communication profile - Manual (Page 124)

6.1.8 Test for SYNC-telegrams
Aims:
1. Assign/set Start motion block to the PDO (1
st
receive-PDO)
2. Assign Actual position (PDO21) to PDO (1
st
transmit-PDO), generated with every 2
nd
SYNC.
3. Assign Status word (PDO1) to PDO (2
nd
transmit-PDO), generated with every 3
rd
SYNC.
Telegrams with the corresponding responses:
COB-ID Control byte
Index Sub-
index
Data Comment
Low byte High byte
601 2F 00 26 00 h 23 00 00 00 set PDO Start motion block
to 1
st RPDO 581 60 00 26 00 h 00 00 00 00
601 2F 00 2A 00 h 16 00 00 00 set PDO Actual position to
1
st TPDO 581 60 00 2A 00 h 00 00 00 00
601 2F 01 2A 00 h 17 00 00 00 set PDO Enhanced status
word to
2
nd
TPDO
581 60 01 2A 00 h 00 00 00 00
601 2F 00 18 02 h 02 00 00 00 1 st TPDO triggered for
every 2 nd SYNC 581 60 00 18 02 h 00 00 00 00
601 2F 01 18 02 h 03 00 00 00 2
nd
TPDO triggered for
every 3
rd
SYNC 581 60 01 18 02 h 00 00 00 00
6.1.9 SYNC-Object
COB-ID
080
Meaning: Object 181 (TPDO 1) appears at every 2
nd
SYNC,
Object 281 (TPDO 2) appears at every 3
rd
SYNC.
6.1.10 Emergency-Object
If, for instance, the resolver connector is disconnected, a serious error will be caused in the control-
ler. This results in an Emergency telegram.
COB-ID
Emergency error
Error register Data Comment
Low High
081 10 43 08 00 00 00 00 motor temperature, temperature, ma-
nufacturer specific
081 00 00 88 00 00 00 00
124 CANopen for AX2000/2500
Appendix
07/2007
BECKHOFF