Object directory of the encoder
ATM60-Cxx 03/2007 29
The following objects from the object directory can be mapped in a PDO.
· Object 6004: position value
Entry under sub-index 2..4: 60040020
hex
· Object 6300: status register of the cams
Entry under sub-index 2..4: 63000108
hex
· Object 6400: status register of the working range
Entry under sub-index 2..4: 64000108
hex
· Object 6503: alarms
Entry under sub-index 2..4: 65030010
hex
· Object 6505: warnings
Entry under sub-index 2..4: 65050010
hex
· Object 2004: speed
Entry under sub-index 2..4: 20040020
hex
· Object 2005: acceleration
Entry under sub-index 2..4: 20050020
hex
Changing the composition of a PDO must be carried out in accordance with the following scheme:
· Firstly, the sub-index 0 must be set to 0.
· Then, the necessary sub-indices 2 to 4 are written with the new objects to be mapped. In this case, a
check is made as to whether the object can be transmitted in a PDO.
· Then, sub-index 0 is set to the number of sub-indices to be mapped. Here, a check is made on the
overall length of the objects to be mapped to a maximum of 8 bytes. If the check is correct, the content
of the PDO is changed. If not, the composition of the PDO remains the same.
9.1.1.17 Object 1A02 hex: transmit PDO 2, mapping
Description
Contains the composition of the data which are transmitted via the PDO 2.
Explanation
· Sub-index 0: number of objects mapped in the PDO.
· Sub-index 1: first object mapped in the PDO.
Position value => 60040020
hex
In work
In Arbeit
To Next Page
Loading...
