JVL MAC050 User Manual page 212

5.6 Expansion Mod. MAC00-FC2/FC4/FC41
The table below shows default value of the COB-ID:
PDO
21d
22d
23d
24d
25d
Remark: Some PLC's count PDO's starting from 1. Other PLC's count from 0. If counting
from 0 please subtract 1 from the above mentioned PDO numbers.
5.6.42 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 21d:
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 22d:
With this PDO it is possible to update the velocity, acceleration and torque.
Byte
Data
Object
Receive PDO 23d:
This PDO sets a new operating mode for the motor.
Byte
Data
Object
Add 96 to the FastMac command number. For example command 23 becomes 119 (dec-
imal). 96 +28 (decimal) will reset the module (only)
208
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
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
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 T_SOLL
2012h, sub 6 2012h, sub 7
2 3 4
Reserved Reserved
Access
type
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
r/w
5 6 7
Reserved Reserved Reserved
5 6 7
MODE_REG
2012, sub 2
5 6 7
Reserved Reserved Reserved