JVL MIS23 Series, User Manual

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234 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS23x, 34x, 43x
10.4 Objects in the DS301 standard
The table below shows default values of the COB-ID:
Receive PDO 22:
With this PDO it is possible to update the running current and operating mode.
Receive PDO 23:
This PDO can be used to issue a Motor command.
Receive PDO 24:
This PDO updates the outputs.
PDO
Sub-
index
Type Description Default
Access
type
21 1 Receive COB-ID 0x80000200 r/w
1 Transmit COB-ID 0x80000180 r/w
22 1 Receive COB-ID 0x80000300 r/w
1 Transmit COB-ID 0x80000280 r/w
23 1 Receive COB-ID 0x80000400 r/w
1 Transmit COB-ID 0x80000380 r/w
24 1 Receive COB-ID 0x80000500 r/w
1 Transmit COB-ID 0x80000480 r/w
25 1 Transmit COB-ID 0x80000480 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
Object
2014h, sub 7 2014h, sub 2
Byte 0 1 2 3 4 5 6 7
Data
Motor Command Reserved Reserved Reserved Res. Res. Res.
Object
2014h, sub 24
Byte 0 1 2 3 4 5 6 7
Data
Output data Reserved Reserved Reserved Res. Res. Res.
Object
2014h, sub 19