BECKHOFF AX2000 CANopen communication profile - Manual (Page 128)

The SYNC telegram looks like this:
COB-ID
080
Afterwards, both axes send back their incremental positions and the contents of their status regis-
ters when the SYNC Object with the COB-ID for the 2
nd
TPDO is received:
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comment
181 23 01 00 00 00 00 03 44
position + manufacturer
status register for axis1
182 A5 02 00 00 00 00 03 44
position + manufacturer
status register for axis2
If an error occurs during operation, the axis concerned transmits an Emergency message, which
could appear as follows:
Emergency Object
COB-ID Emergency error Error
register
Category
Low High
081 10 43 08 01 00 00 00 00 motor temperature, tempera-
ture, manufacturer-specific
081 00 00 08 00 00 00 00 00
6.2.1.2 Position controller in the control system
128 CANopen for AX2000/2500
Appendix
07/2007
BECKHOFF
SYNC
RPDO Trajektory No. 32
Position controller
speed setpoint
Status
TPDO "Enhanced Status" No. 23
Trajektory
Control
Drive
Drive
Control
tcycle
speed
setpoint
Axis
1
Sync Sync
S
tatus
Axis
1
S
tatus
Axis
2
400 μs
t 1 ms per Axis at 1 MBaud
E.g. 2 axes
speed
setpoint
Axis
2
position
value
Axis
1
position
value
Axis
2
cycle