JVL MIS17 Series User Manual page 288

11.4
11.4.10 Beckhoff receive PDO setup
The table below shows default values of the COB-ID:
PDO
1
2
3
4
Receive PDO1
Byte
Data
Object
Receive PDO 2:
With this PDO it is possible to update the running current and operating mode.
Byte
Data
Object
Receive PDO 3:
This PDO can be used to issue a Motor command.
Byte
Data
Object
Receive PDO 4:
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
288 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
0 1 2
P_SOLL
2012h, sub 3
0 1
RUN_CURRENT
2014h, sub 7
0 1 2
Motor Command
2014h, sub 24
0 1 2
Output data
2014h, sub 19
Description Default
COB-ID Nodeid+0x00000200
COB-ID Nodeid+0x00000180
COB-ID Nodeid+0x00000300
COB-ID Nodeid+0x00000280
COB-ID Nodeid+0x00000400
COB-ID Nodeid+0x00000380
COB-ID Nodeid+0x00000500
COB-ID Nodeid+0x00000480
3 4
2014h, sub 5
2 3 4
MODE_REG
2014h, sub 2
3 4
3 4
5 6
V_SOLL A_SOLL
2014h, sub 6
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
7
7
7
7