236 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
10.4 Objects in the DS301 standard
Transmit PDO 24:
With this PDO the value of the analogue inputs 4-8 can be read.
Transmit PDO 25:
With this PDO the motor status, inputs and last error can be read.
This PDO also supports asynchronous transmission. If this PDO is in asynchronous
mode, it will be transmitted every time the run status or inputs are changed.
10.4.8 Beckhoff support
The MIS23x (SMC75) supports running CAN with Beckhoff PLC.
In this mode, 4 receive and transmit PDO's are enabled from startup and are configured
as PDO 1-4.
COB_ID = 0x800000xxx: NOT ENABLED
COB_ID = 0x000000xxx: ENABLED
10.4.9 PDO setup in Beckhoff mode
Normally each selected PDO needs to be enabled after power up and initialization but
in Beckhoff mode PDO 1-4 is automatically enabled at power up.
The 2 dynamic registers are put into PDO4.
Default the 16-bit register is set to 35 (motor error) and
the 32-bit register is set to (170 external encoder).
To setup and use the Beckhoff mode, enable the Beckhoff support from MacTalk and
press the Save in flash -button.
Byte 0 1 2 3 4 5 6 7
Data ANALOGUE5 ANALOGUE6 ANALOGUE7 ANALOGUE8
Object 2014h, sub 93 2014h, sub 94 2014h, sub 95 2014h, sub 96
Byte 0 1 2 3 4 5 6 7
Data Inputs Motor error Res. Res. Res. Res.
Object 2014h, sub 18 2014h, sub 35
TT2 2 6 7 G B
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