BECKHOFF AX2000 CANopen communication profile - Manual (Page 50)

4.3.2.2.4 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO
In order to reduce the bus loading with event-triggered PDOs, masking can be used to switch off the
monitoring for individual bits in the PDO. In this way it can be arranged, for instance, that actual
position values are only signaled once per turn.
This Object masks the PDO-channel 1 for TPDOs with the numbers 37 to 40. If only two bytes
have been defined in a PDO, then it masks just two bytes, although 4 bytes of mask information
have been transmitted.
An activated bit in the mask means that monitoring is active for the corresponding bit in the PDO.
Index 0x2014 h to 0x2017 h
Name tx_mask 1 to 4
Object code ARRAY
Number of elements 2
Data type UNSIGNED32
Sub-Indexes:
Sub-index 01 h
Brief description tx_mask1 to 4_low
Mode independent
Access rw
PDO mapping not possible
Unit —
Value range —
EEPROM no
Default value FFFFFFFF h
Sub-index 02 h
Brief description tx_mask1 to 4_high
Mode independent
Access rw
PDO mapping not possible
Unit —
Value range —
EEPROM no
Default value FFFFFFFF h
4.4 Device Control (dc)
The device control of the AX2xxx can be used to carry out all the motion functions in the correspon-
ding modes. The control of the AX2000/2500 is implemented through a mode-dependent status
machine. The status machine is controlled through the control word
(
Þ 4.4.2.1).
The mode setting is made through the Object “Modes of Operation” ( Þ 6.3). The states of the sta-
tus machine can be revealed by using the status word ( Þ 4.4.2.2).
50 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF