Parker Hauser COMPAX 02XXM Series, User Manual

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Reading process data from COMPAX
Mapping parameters for transmission PDO1 (T-PDO1)
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6.8.3 Mapping parameters for transmission PDO1 (T-PDO1)
This entry contains information about the data to be transmitted on this PDO (mapping).
Sub-index 0 contains the number of mapped objects.
A maximum of 5 objects with a total length of 8 bytes can be mapped.
All other indices contain the index, sub-index and the length of the individual objects.
After Power on, the object STATUS WORD is automatically entered.
P135 and P136 can be used to define two other objects which are mapped after Power on.
Object Description
Index
0x1A00
Standard Length
-
Min -
Object code Array Elements 5 Max -
Data type - Access rights
-
PDO mapping no
Number of entries
Index: subindex
0x1A00:000
Standard 0x01 Length
1
Min 0x00
Object code - Elements - Max 0x05
Data type
Unsigned8
Access rights
read/write
PDO mapping no
PDO mapping entry of the first object (links, MSB) (T-PDO1) (6041: Index of status word)
Index: subindex
0x1A00:001
Standard 0x60410010 Length
4
Min 0x00000000
Object code - Elements - Max
0xFFFFFFFF
Data type
Unsigned32
Access rights
read/write
PDO mapping no
PDO mapping entry (T-PDO1)
Index: subindex
0x1A00:002
Standard
^
Length
4
Min 0x00000000
Object code - Elements - Max
0xFFFFFFFF
Data type
Unsigned32
Access rights
read/write
PDO mapping no
PDO mapping entry (T-PDO1)
Index: subindex
0x1A00:003
Standard
Value from P136
Length
4
Min 0x00000000
Object code - Elements - Max
0xFFFFFFFF
Data type
Unsigned32
Access rights
read/write
PDO mapping no
Data Description
The structure of each mapping entry is:
Index
Sub-index Length
xxx xx xx
COMPAX objects which can be used as transmission PDOs
Object Access Index
Sub-
index
COMPAX
parameters P135-
P138
Length
PDO
See
page
Status byte rd 0x2001 0 2097408 1 T 28
COMPAX status word rd 0x2003 0 2097920 2 T 30
Current motor torque rd 0x2010 0 2101248 2 T 39
Contour error rd 0x2021 0 2105600 2 T 44
Current axis process speed rd 0x2035 0 2110720 2 T 49
Status word rd 0x6041 0 6308096 2 T 31
Position actual value rd 0x6064 0 6317056 4 T 41
Logic state of the 16 digit. inputs rd 0x6100 0 6356992 2 T 52
Logic state of the 16 digit. Outputs rd/wr 0x6300 0 6488064 2 T/R 52
When assigning a PDO observe the respective length of the objects!