JVL MAC050 User Manual page 146

4.4 Expansion Modules MAC00-FC2/FC4
Receive PDO 24:
This PDO updates the outputs.
Byte
Data
Object
4.4.36 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.
Transmit PDO 21:
With this PDO the actual position can be read.
Byte
Data
Object
Transmit PDO 22:
With this PDO the actual velocity can be read.
Byte
Data
Object
Transmit PDO 23:
With this PDO the actual torque can be read.
Byte
Data
Object
Transmit PDO 24:
With this PDO the value of the analog input can be read.
Byte
Data
Object
142 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
0 1 2
Output
Reserved Reserved
data
2011h,
sub 2
0 1 2
P_IST
2012h, sub 10
0 1 2
V_IST Reserved Reserved Reserved
2012h, sub 12
0 1 2
VF_OUT Reserved Reserved
2012h, sub 121
0 1 2
ANINP Reserved Reserved
2012h, sub 122
3 4
Reserved Reserved Reserved Reserved Reserved
3 4
Motor Status
2011h, sub 3 2011h, sub 1
3 4
3 4
Reserved
3 4
Reserved Reserved Reserved
5 6
5 6
Inputs Reserved Reserved
5 6
Reserved Reserved Reserved
5 6
Reserved Reserved Reserved
5 6
Reserved
7
7
7
7
7