Beckhoff AX2000 CANopen communication profile Bedienungsanleitung PDF herunterladen (Seite 42)

4.3.1.1.2 PDO Receive ASCII Channel (21)

With the help of the ASCII channel (Default-PDO), all the parameters and commands can be trans

mitted to the AX2xxx. Up to 8 ASCII characters can be sent in one PDO. Commands or parameters

that require more than 8 characters must be segmented. All commands and parameters are termi

nated by the ASCII code CR LF (0xD

, 0xA

). The unused bytes in the PDO are filled with the

ASCII code NUL (0x0

), because otherwise every surplus character would be interpreted as a new

command. After switch-on, this PDO is mapped to RPDO 2.

The table describes the mapping of the PDO Receive ASCII channel:

Sub-index Value Description

number of entries

01..08

31000208

ASCII chars. 1 to 8

This Object only supports transmission type 255 (asynchronous).

4.3.1.1.3 PDO Current/Speed Setpoint (22)

The PDO current or speed setpoint is formed from the control word (UNSIGNED16) and the set-

point (SIGNED16). This PDO must only be used in the Digital speed or Digital current mode. It will

be recognized as a speed or current setpoint, depending on the mode that is set (digital current or

digital speed). The PDO is executed immediately. A repeated transmission of the PDO with various

setpoint values does not require an intermediate halt of the drive.

Current normalization: 3280 = peak current of the controller

1640 = rated current of the controller

e.g.. rated current = 3A, setpoint = 1.0A Þ 547 increments

speed normalization:

e.g. speed = 3000 rpm Þ setpoint = 419430

The table shows the mapping for the Setpoint PDO:

Sub-index Value Description

number of entries

60400010

control word

20600020

current/speed setpoint

4.3.1.1.4 PDO Setpoint 2 (32)

The PDO Setpoint 2 is a time- and data-optimized PDO. It contains just one 32-bit setpoint. This

setpoint can only be used in the Digital speed or Digital current mode. It will be recognized as a

speed or current setpoint, depending on the mode that is set (digital current or digital speed).

The PDO is executed immediately. A repeated transmission of the PDO with various setpoint values

does not require an intermediate halt of the drive.

The table shows the mapping for the PDO Setpoint 2:

Sub-index Value Description

number of entries

20600020

current/speed setpoint

42 CANopen for AX2000/2500

CANopen Drive Profile 07/2007 BECKHOFF

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