JVL MIS17 Series User Manual page 285

11.4
The table below shows default values of the COB-ID:
PDO
21
22
23
24
25
Receive PDO 21:
With this PDO it is possible to update the target position (P_SOLL), the maximum ve-
locity (V_SOLL) and the acceleration (A_SOLL).
Byte
Data
Object
Receive PDO 22:
With this PDO it is possible to update the running current and operating mode.
Byte
Data
Object
Receive PDO 23:
This PDO can be used to issue a Motor command.
Byte
Data
Object
Receive PDO 24:
This PDO updates the outputs.
Byte
Data
Object
Tables shown above are default mapping. The mapping can however also be changed dy-
namically. See Dynamic Mapping, page 283
JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Objects in the DS301 standard
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
RUN_CURRENT
2014h, sub 7
0 1
Motor Command
2014h, sub 24
0 1
Output data
2014h, sub 19
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
2 3
MODE_REG
2014h, sub 2
2 3 4
2 3 4
5 6
V_SOLL
2014h, sub 5 2014h, sub 6
4 5 6
Available
5 6
Available
5 6
Available
Access
type
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
7
A_SOLL
7
7
7
285