JVL MIS17 Series User Manual page 287

11.4
Transmit PDO 24:
With this PDO the value of the analogue inputs 4-8 can be read.
Byte
Data
Object
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.
Byte
Data
Object
Tables shown above are default mapping. The mapping can however also be changed dy-
namically. See Dynamic Mapping, page 283
11.4.8 Beckhoff support
The MIS motors (or SMC66/85) 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
11.4.9 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.
To setup and use the Beckhoff mode, enable the Beckhoff support from MacTalk and
press the Save in flash -button.
JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
Objects in the DS301 standard
0 1 2
ANALOGUE5 ANALOGUE6
2014h, sub 93 2014h, sub 94
0 1 2
Inputs
2014h, sub 18 2014h, sub 35
3 4
ANALOGUE7
2014h, sub 95
3 4
Motor error
5 6 7
ANALOGUE8
2014h, sub 96
5 6 7
Available
T T 2267GB
287