Beckhoff AX2000 CANopen communication profile Bedienungsanleitung PDF herunterladen (Seite 119)

6.1.4 Example of Homing

When the AX2000/2500 is operated as a linear axis, a reference/homing point must be defined

before positioning tasks can be executed. This can be done simply through Set reference point

(control word Bit 12=0->1->0orhoming type 35 in Homing mode) or by starting a homing move

ment, either in the manufacturer-specific mode Homing/reference (0xF9) or in the Homing mode

(0x6).

This example shows the procedure in the Homing mode.

First switch over to the Homing movement mode:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 60 60 00

F9 00 00 00 Homing mode

581 60 60 60 00

00 00 00 00 O.K. signal

In the following example, all parameters that affect the homing movement are set via the bus. If you

can be absolutely certain that no-one has altered the parameters in the amplifier, then this part can

be omitted, since the amplifiers save the data in non-volatile memory. (The inputs must have been

previously configured as limit switches.)

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 24 20

17 00 00 00

homing to limit switch & re-

solver zero mark

581 60 24 20 01

00 00 00 00 OK

601 2F 24 20 02

00 00 00 00 negative direction

581 60 24 20 02

00 00 00 00 OK

601 2B 24 20 03

10 27 00 00 v = 10mm/s

581 60 24 20 03

00 00 00 00 OK

601 2B 24 20 04

32 00 00 00 accel. ramp 50ms

581 60 24 20 04

00 00 00 00 OK

601 2B 24 20 05

32 00 00 00 decel. ramp 50ms

581 60 24 20 05

00 00 00 00 OK

601 23 24 20 06

30 75 00 00 reference offset 30000μm

581 60 24 20 06

00 00 00 00 OK

To check the bit signals that are important for the homing movement, the PDO for enhanced status

(PDO 23) must be used. PDO 23 is selected as TPDO 1:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 00 2A 00

17 00 00 00 select PDO 23 as 1

TPDO

601 60 00 2A 00

00 00 00 00 response telegram

TPDO1 is thus composed of 6 bytes, whereby the first two bytes contain the CANopen status word

(Object 6041), and the other four bytes contain the manufacturer-specific status register (Object

1002).

This assignment can be queried through the Objects for the PDO mapping (Object 1A00

Sub-index 00

-02

). The PDOs are subsequently enabled through an NMT Object:

COB-ID Command specifier (CS) Node-ID

011

From now on, status changes for TPDO1 will be automatically reported.

CANopen for AX2000/2500 119

BECKHOFF 07/2007 Appendix

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