JVL MIS17 Series, User Manual

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288 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x
11.4 Objects in the DS301 standard
11.4.10 Beckhoff receive PDO setup
The table below shows default values of the COB-ID:
Receive PDO1
Receive PDO 2:
With this PDO it is possible to update the running current and operating mode.
Receive PDO 3:
This PDO can be used to issue a Motor command.
Receive PDO 4:
This PDO updates the outputs.
Tables shown above are default mapping. The mapping can however also be changed dy-
namically. See Dynamic Mapping , page 283
PDO
Sub-
index Type Description Default
Access
type
1 1 Receive COB-ID 0x00000200 r/w
1 Transmit COB-ID 0x00000180 r/w
2 1 Receive COB-ID 0x00000300 r/w
1 Transmit COB-ID 0x00000280 r/w
3 1 Receive COB-ID 0x00000400 r/w
1 Transmit COB-ID 0x00000380 r/w
4 1 Receive COB-ID 0x00000500 r/w
1 Transmit COB-ID 0x00000480 r/w
Byte 0 1 2 3 4 5 6 7
Data P_SOLL V_SOLL A_SOLL
Object 2012h, sub 3 2014h, sub 5 2014h, sub 6
Byte 0 1 2 3 4 5 6 7
Data RUN_CURRENT MODE_REG
Available
Object 2014h, sub 7 2014h, sub 2
Byte 0 1 2 3 4 5 6 7
Data Motor Command
Available
Object 2014h, sub 24
Byte 0 1 2 3 4 5 6 7
Data Output data Available
Object 2014h, sub 19