Beckhoff AX2000 CANopen communication profile Bedienungsanleitung PDF herunterladen (Seite 4)

4 CANopen Drive Profile

4.1 Emergency Messages ................................................................... 27

4.2 General definitions ...................................................................... 29

4.2.1 General Objects ................................................................... 29

4.2.1.1 Object 1000h: Device Type (DS301)................................................ 29

4.2.1.2 Object 1001h: Error register (DS301) ............................................... 29

4.2.1.3 Object 1002h: Manufacturer Status Register (DS301) .................................. 30

4.2.1.4 Object 1003h: Pre-Defined Error Field (DS301) ....................................... 31

4.2.1.5 Object 1004h: Number of supported PDOs (DS301).................................... 32

4.2.1.6 Object 1005h: COB-ID of the SYNC Message (DS301) ................................. 33

4.2.1.7 Object 1006h: Communication Cycle Period (DS301)................................... 33

4.2.1.8 Object 1007h: Synchronous window length (DS301) ................................... 34

4.2.1.9 Object 1008h: Manufacturer Device Name (DS301) .................................... 34

4.2.1.10 Object 100Ah: Manufacturer Software Version (DS301)................................. 34

4.2.1.11 Object 100Bh: Node-ID (DS301)................................................... 35

4.2.1.12 Object 100Ch: Guard Time (DS301) ................................................ 35

4.2.1.13 Object 100Dh: Lifetime Factor (DS301) ............................................. 35

4.2.1.14 Object 100Eh: COB-ID Nodeguarding (DS301) ....................................... 36

4.2.1.15 Object 100Fh: Number of the supported Objects (DS301) ............................... 36

4.2.1.16 Object 1010h: Store Parameters (DS301)............................................ 37

4.2.1.17 Object 1012h: COB-ID for Time-Stamp Message (DS301) ...............................38

4.2.1.18 Object 1013h: High Resolution Time-Stamp (in preparation) (DS301) ......................38

4.2.1.19 Object 1014h: COB-ID for Emergency Message (DS301) ............................... 38

4.2.1.20 Object 1018h: Identity Object (DS301) .............................................. 39

4.3 PDO Mapping.......................................................................... 40

4.3.1 Receive-PDOs (RPDO) ............................................................. 41

4.3.1.1 Description of predefined Receive-PDOs ............................................ 41

4.3.1.1.1 PDO controlword (1) (DS402) ................................................ 41

4.3.1.1.2 PDO Receive ASCII Channel (21) ............................................. 42

4.3.1.1.3 PDO Current/Speed Setpoint (22) ............................................. 42

4.3.1.1.4 PDO Setpoint 2 (32)........................................................ 42

4.3.1.1.5 PDO Trajectory (33) ........................................................ 43

4.3.1.1.6 PDO Motion Block (34)...................................................... 43

4.3.1.1.7 PDO Start Motion Block (35) ................................................. 44

4.3.1.1.8 PDO Free Definition (37 to 40)................................................ 44

4.3.1.1.9 PDO master position for CAN slaves (41) ....................................... 44

4.3.1.2 Object Decription............................................................... 45

4.3.1.2.1 Object 1400-1403h: 1st-4th Receive-PDO communication parameter (DS301)...........45

4.3.1.2.2 Object 1600-1603h: 1st-4th Receive-PDO mapping parameter (DS301)................45

4.3.1.2.3 Object 2600-2603h: 1st-4th Receive PDO select.................................. 45

4.3.1.2.4 Object 2721h: Configuration of Receive-PDO 33.................................. 45

4.3.2 Transmit-PDOs (TPDO)............................................................. 46

4.3.2.1 Description of the predefined Transmit-PDOs......................................... 46

4.3.2.1.1 PDO Status Word (1) (DS402) ................................................ 46

4.3.2.1.2 PDO Transmit ASCII Channel (21) ............................................ 47

4.3.2.1.3 PDO Actual Position (22) .................................................... 47

4.3.2.1.4 PDO Enhanced Status (23) .................................................. 47

4.3.2.1.5 PDO Actual Position 2 (32) .................................................. 47

4.3.2.1.6 PDO Incremental Actual Position (33) .......................................... 48

4.3.2.1.7 PDO Position Treshold (34) .................................................. 48

4.3.2.1.8 PDO Free Definition (37 to 40)................................................ 48

4.3.2.1.9 PDO Internal Master Position Setpoint (41)

...................................... 48

4.3.2.2 Object Description.............................................................. 49

4.3.2.2.1 Object 1800-1803h: 1st-4th Transmit-PDO communcation param. (DS301) .............49

4.3.2.2.2 Object 1A00-1A03h: 1st-4th Transmit-PDO mapping parameter (DS301) ...............49

4.3.2.2.3 Object 2A00-2A03h: 1st-4th Transmit-PDO select (DS301).......................... 49

4.3.2.2.4 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO ..........................50

4 CANopen for AX2000/2500

Contents 07/2007 BECKHOFF

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