BECKHOFF AX2000 CANopen communication profile - Manual (Page 45)

4.3.1.2 Object Decription
4.3.1.2.1 Object 1400-1403h: 1st-4th Receive-PDO communication parameter (DS301)
Sub-index Description
00 h number of entries
01 h PDO COB-ID*
02 h transmission type**
03 h inhibit time
04 h CMS priority group
* After selecting a PDO higher than 2600 h to 2603 h , here you can define the COB-identifier that the amplifier
responds to (if a different setting is required from the default value).
** For selecting SYNC, event-triggering etc.
4.3.1.2.2 Object 1600-1603h: 1st-4th Receive-PDO mapping parameter (DS301)
Sub-index Description
00 h number of configured Objects
01 h ... 08 h description of the configured Objects
4.3.1.2.3 Object 2600-2603h: 1st-4th Receive PDO select
This Object is used to select a predefined receive-PDO. The Objects 1400
h
to 1403
h
1
st
to 4
th
receive-PDO parameter and 1600
h
to 1603
h
1
st
to 4
th
receive-PDO mapping can then be used to
define the characteristics of this PDO.
This Object enables variable mapping of predefined PDOs. The possible PDOs for selection are lis-
ted in the table in Chapter 4.3.1.
Index 2600 h ... 2603 h
Name 1 st ... 4 th receive-PDO select
Object code VAR
Data type UNSIGNED8
Access rw
PDO mapping not possible
Value range 0 ... 255
Default value 0
4.3.1.2.4 Object 2721h: Configuration of Receive-PDO 33
This Object influences the processing of the eight data bytes received for the PDO Trajectory (No.
33). The bytes of the PDO are interpreted as an incremental setpoint for the next movement, as fol-
lows: with the value LOW ( = 0), the bytes 0 – 3 (Sub-index 01
h
of the PDO mapping) are used, and
with the value HIGH ( = 1), the bytes 4 – 7 (Sub-index 02
h
of the PDO mapping) are used.
Index 2721 h
Name PDO 33 data select
Object code VAR
Data type UNSIGNED8
Access rw
PDO mapping not possible
Unit —
Value range 0, 4
EEPROM no
Default value 0
CANopen for AX2000/2500 45
BECKHOFF
07/2007
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