BECKHOFF AX2000 CANopen communication profile - Manual (Page 131)

Index
Sub-
index
DEF Data format Access
PDO
mapp.
Description ASCII Object
2022 h
00 h S RECORD ro — Position data for Position mode —
01 h S INTEGER32 rww ý Position (motion block 0) O_P
02 h S UNSIGNED16 rww ý
Weighted velocity, see ASCII VMUL (motion block 0,
see also Object 2020
h Sub-index02 h )
O_V
03 h S UNSIGNED16 rww ý Motion task type (motion block 0) O_C
04 h S INTEGER32 rww ý Position for external trajectory —
05 h S UNSIGNED16 rww ý Motion task number —
06 h S UNSIGNED16 rww ý Acceleration time (motion block 0) O_ACC1
07 h S UNSIGNED16 rww ý Braking time (motion block 0) O_DEC1
08 h S UNSIGNED16 rww ý Jolt limit for acceleration time (motion block 0) O_ACC2
09 h S UNSIGNED16 rww ý Jolt limiting for braking time (motion block 0) O_DEC2
0A h S UNSIGNED16 rww ý Number of following task O_FN
0B h S UNSIGNED16 rww ý Start delay for following task O_FT
0C h S 2 x UNSIGNED16 wo — Copy a motion task OCOPY
0D h S UNSIGNED16 rw —
Velocity weighting factor
(Object 2020
h Sub-index 02 h )
VMUL
0E h S UNSIGNED32 rww ý Speed/velocity (motion block 0) O_V
0Fh S INTEGER32 rww ý Setpoint position CAN-Master-Slave
2024 h
00 h S RECORD r — Setup operation for Position mode —
01 h S UNSIGNED8 rw — Homing type NREF
02 h S UNSIGNED8 rw — Homing direction DREF
03 h S INTEGER32 rw — Velocity for homing movement VREF
04 h S UNSIGNED16 rw — Acceleration ramp [jogging and homing] ACCR
05 h S UNSIGNED16 rw — Braking ramp [jogging and homing] DECR
06 h S INTEGER32 rw — Reference offset ROFFS
07 h S INTEGER32 rw — Jogging velocity VJOG
2026 h
00 h S RECORD r — Special Object for Position mode —
01 h S UNSIGNED8 rw —
Activate internal evaluation unit for saving actual po-
sition value
—
2030 h
00h S ARRAY ro — DP-Ram Variables, write only (PDO) —
01h S INTEGER32 rww ý DP-Ram Variable 9 DPRVAR9
02h S INTEGER32 rww ý DP-Ram Variable 10 DPRVAR10
03h S INTEGER32 rww ý DP-Ram Variable 11 DPRVAR11
04h S INTEGER32 rww ý DP-Ram Variable 12 DPRVAR12
05h S INTEGER32 rww ý DP-Ram Variable 13 DPRVAR13
06h S INTEGER32 rww ý DP-Ram Variable 14 DPRVAR14
07h S INTEGER32 rww ý DP-Ram Variable 15 DPRVAR15
08h S INTEGER32 rww ý DP-Ram Variable 16 DPRVAR16
2031 h
00h S RECORD ro — Dummy-Variables for mapping —
01h S UNSIGNED8 wo ý Write-only dummy 8 bit —
02h S UNSIGNED16 wo ý Write-only dummy 16 bit —
03h S UNSIGNED24 wo ý Write-only dummy 24 bit —
04h S UNSIGNED32 wo ý Write-only dummy 32 bit —
2050 h
00 h S ARRAY ro — Aux. variable for the digital inputs —
01 h S INTEGER32 rw — Trigger variable input 1 IN1TRIG
02 h S INTEGER32 rw — Trigger variable input 2 IN2TRIG
03 h S INTEGER32 rw — Trigger variable input 3 IN3TRIG
04h S INTEGER32 rw — Trigger variable input 4 IN4TRIG
05h S INTEGER32 wo ý Trigger help variable for electronic gearing InxTRIG 51
2051 h
00 h S ARRAY ro — Configuration for threshold register —
01 h S UNSIGNED32 rw — Monitoring (deactivate / activate) WPOSE
02 h S UNSIGNED32 rw — Signaling type (repeated / once) WPOSX
03 h S UNSIGNED32 rw — Polarity position signaling WPOSP
CANopen for AX2000/2500 131
BECKHOFF
07/2007
Appendix