208 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
The table below shows default value of the COB-ID:
Remark: Some PLC’s count PDO’s starting from 1. Other PLC’s count from 0. If counting
from 0 please subtract 1 from the above mentioned PDO numbers.
5.6.42 Receive PDOs
The PDOs 1-20 are reserved for use with the DSP-402 (CANopen® motion control
profile). The following receive PDOs are available:
Receive PDO 21d:
This PDO can be used to update the position. The data in the PDO is written directly to
the position register and if the motor is in position mode, it will start moving to that po
-
sition.
Receive PDO 22d:
With this PDO it is possible to update the velocity, acceleration and torque.
Receive PDO 23d:
This PDO sets a new operating mode for the motor.
Add 96 to the FastMac command number. For example command 23 becomes 119 (dec-
imal). 96 +28 (decimal) will reset the module (only)
PDO
Sub-
index Type Description Default
Access
type
21d 1 Receive COB-ID Nodeid+0x80000200 r/w
1 Transmit COB-ID Nodeid+0x80000180 r/w
22d 1 Receive COB-ID Nodeid+0x80000300 r/w
1 Transmit COB-ID Nodeid+0x80000280 r/w
23d 1 Receive COB-ID Nodeid+0x80000400 r/w
1 Transmit COB-ID Nodeid+0x80000380 r/w
24d 1 Receive COB-ID Nodeid+0x80000500 r/w
1 Transmit COB-ID Nodeid+0x80000480 r/w
25d 1 Transmit COB-ID Nodeid+0x80000480 r/w
Byte 0 1 2 3 4 5 6 7
Data P_SOLL Reserved Reserved Reserved Reserved
Object 2012h, sub 3
Byte 0 1 2 3 4 5 6 7
Data V_SOLL A_SOLL T_SOLL MODE_REG
Object 2012h, sub 5 2012h, sub 6 2012h, sub 7 2012, sub 2
Byte 0 1 2 3 4 5 6 7
Data
FastMac
Command
Reserved Reserved Reserved Reserved Reserved Reserved Reserved
Object
2013h,
sub 0
To Next Page
Loading...