JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x 235
10.4 Objects in the DS301 standard
10.4.7 Transmit PDOs
The PDOs 1-20 are reserved for use with DSP-402.
All of the transmit PDOs support synchronous transmission. PDO 25 also supports asyn-
chronous transmission.
From firmware V2.8 some new features has been developed in the CANopen support.
From MacTalk both a 16-bit and 32-bit user selectable register can be setup to be trans-
mitted in PDO22 when using DSP-301.
Transmit PDO 21:
With this PDO the actual position can be read.
Transmit PDO 22:
With this PDO the actual velocity can be read.
Transmit PDO 23:
With this PDO the value of the analogue inputs 1-4 can be read.
Byte 0 1 2 3 4 5 6 7
Data P_IST V_IST Motor error
Object 2012h, sub 10 2014h, sub 12 2014h, sub 35
Byte 0 1 2 3 4 5 6 7
Data V_IST Reserved Reserved Reserved Res. Res. Res.
Object 2014h, sub 12
User selectable 16-bit
register exc.
STATUSBITS
(register 25)
User selectable 32-bit register exc.
ENCODER_POS
(register16)
Byte 0 1 2 3 4 5 6 7
Data ANALOGUE1 ANALOGUE2 ANALOGUE3 ANALOGUE4
Object 2014h, sub 89 2014h, sub 90 2014h, sub 91 2014h, sub 92
Register 10 is selected as 32-bit,
that is P_IST actual position
Register 5 is selected as 16-bit,
that is V_IST actual velocity
TT2266GB
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