JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 209
5.6 Expansion Mod. MAC00-FC2/FC4/FC41
Receive PDO 24:
This PDO updates the outputs.
5.6.43 Transmit PDOs
The transmit PDOs 1-20 are reserved for use with the DSP-402 (CANopen® motion
control profile).
All of the transmit PDOs support synchronous transmission, and PDO 25 also supports
asynchronous transmission.
JVL uses static mapping of the PDOs, but with some manufacturer specific ways to make
some of the PDOs use registers selectable by the user. After reset all the PDOs are dis
-
abled, because the highest bit in their COB-ID field is set. The user must then select what
PDOs to use by writing valid COB-ID values in addition to selecting Transmission type
as SYNC’ed or Event Timer with period in ms, and then change the node into Opera
-
tional state for the PDOs to start operating.
The EDS files delivered from JVL describes only the standard static mapping as after re-
set. In system that actually use the EDS file, and depend on it to be correct, it will be nec-
essary to edit the EDS file in a text editor to describe the selected manufacturer specific
mapping. Many systems either don’t use the EDS file at all, or use it only to make it easier
to configure the system.
Transmit PDO 21:
With this PDO the actual position can be read.
Transmit PDO 22:
With this PDO the actual velocity can be read.
(): VF_OUT only available if option bit is set in subindex
Byte 0 1 2 3 4 5 6 7
Data
Output
data
Reserved Reserved Reserved Reserved Reserved Reserved Reserved
Object
2011h,
sub 2
Byte 0 1 2 3 4 5 6 7
Data P_IST Motor Status Inputs Reserved Reserved
Object 2012h, sub 10 2011h, sub 3 2011h, sub 1
Byte 0 1 2 3 4 5 6 7
Data V_IST (VF_OUT) Reserved Reserved Reserved Reserved
Object 2012h, sub 12
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