Beckhoff AX2000 CANopen communication profile Instrukcja Użytkownika Pobierz pdf (Strona 135)

Index

Sub-

index

DEF Data format Access

PDO

mapp.

Description ASCII Object

607C

4 INTEGER32 rww ý Reference offset —

6081

4 UNSIGNED32 rww ý Velocity (Mode: pp) —

6083

4 UNSIGNED32 rww ý Acceleration (Mode: pp pv) —

6084

4 UNSIGNED32 rww ý Deceleration (Mode: pp pv) —

6086

4 INTEGER16 rww ý Type of motion block ramp (motion_profile_type) —

6089

4 INTEGER8 rw — Notation index: position (not supported) —

608A

4 UNSIGNED8 rw — Dimension index: position (not supported) —

608B

4 INTEGER8 rw — Notation index: speed (not supported) —

608C

4 UNSIGNED8 rw — Dimension index: speed (not supported) —

608D

4 INTEGER8 rw — Notation index: acceleration (not supported) —

608E

4 UNSIGNED8 rw — Dimension index: acceleration (not supported) —

6093

4 UNSIGNED32 rw — Position factor —

4 UNSIGNED32 rww ý Numerator PGEARO

4 UNSIGNED32 rww ý feed_constant PGEARI

6094

4 UNSIGNED32 rw — Velocity factor: encoder —

4 UNSIGNED32 rw — Numerator —

4 UNSIGNED32 rw — Divisor —

6097

4 UNSIGNED32 rw — Acceleration factor —

4 UNSIGNED32 rw — Divisor —

4 UNSIGNED32 rw — Acceleration factor —

6098

4 INTEGER8 rww ý Homing type —

6099

4 ARRAY ro — Homing velocity —

4 INTEGER32 rw ý

Homing velocity

(homing to references switch)

VREF

4 INTEGER32 ro ý Homing velocity (homing to resolver zero mark) VREF

609A

4 UNSIGNED32 rw ý Homing acceleration —

60C2

4 RECORD ro — Interpolation time period PTBASE

4 UNSIGNED8 rw — Interpolation time units —

4 INTEGER16 rw — Interpolation time index —

60FF

4 INTEGER32 rw ý Speed setpoint —

6.4 New configuration of AX2000/2500

In AX2000/2500 there are a number of parameters, that can only be integrated into the current firm-

ware program and produce their proper effect for the first time during the initialization phase, when

the amplifier is switched on. As a result, an alteration of one of these parameters means that all

parameters have to be saved, and the amplifier must then be restarted. This can be carried out via

the CAN-bus, by using the following Objects:

1. Write Object 35EB

Sub-index 01

, value 0, save command

2. Write Object 3632

Sub-index 01

, value 0, restart amplifier

CANopen for AX2000/2500 135

BECKHOFF 07/2007 Appendix

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