JVL MAC050 User Manual page 145

4.4 Expansion Modules MAC00-FC2/FC4
The table below shows default value of the COB-ID:
PDO
21
22
23
24
25
4.4.35 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 21:
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.
Byte
Data
Object
Receive PDO 22:
With this PDO it is possible to update the velocity, acceleration and torque.
Byte
Data
Object
Receive PDO 23:
This PDO sets a new operating mode for the motor.
Byte
Data
Object
JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
Sub-
index Type
1 Receive
1 Transmit
1 Receive
1 Transmit
1 Receive
1 Transmit
1 Receive
1 Transmit
1 Transmit
0 1
P_SOLL
2012h, sub 3
0 1
V_SOLL
2012h, sub 5
0 1
FastMac
Reserved Reserved
Command
2013h,
sub 0
Description Default
COB-ID Nodeid+0x80000200
COB-ID Nodeid+0x80000180
COB-ID Nodeid+0x80000300
COB-ID Nodeid+0x80000280
COB-ID Nodeid+0x80000400
COB-ID Nodeid+0x80000380
COB-ID Nodeid+0x80000500
COB-ID Nodeid+0x80000480
COB-ID Nodeid+0x80000480
2 3 4
Reserved
2 3 4
A_SOLL
2012h, sub 6
2 3 4
Reserved Reserved
5 6
Reserved Reserved
5 6
T_SOLL MODE_REG
2012h, sub 7 2012, sub 2
5 6
Reserved Reserved
Access
type
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
7
Reserved
7
7
Reserved
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