Beckhoff AX2000 CANopen communication profile Bedienungsanleitung PDF herunterladen (Seite 122)

If the mechanical resolution is to be defined, this can only be written through Object 6093

Sub-index 01

and 02

. The pre-setting after switching on the drive corresponds to the drive-speci

fic factors PGEARI and PGEARO:

COB-ID Control byte

Index Sub-

index

Data

Comment

Low byte High byte

601 23 93 60 01

00 00 10 00

increments

581 60 93 60 01

00 00 00 00

601 23 93 60 02

A0 8C 00 00

36000 user-units

581 60 93 60 02

00 00 00 00

You could use this example, for instance, for operating a rotary table with 0.1° angular resolution.

After these settings, a homing movement can be set up and initiated:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2B 40 60 00

0F 00 00 00

control word: enable ope-

ration

581 60 40 60 00

00 00 00 00

601 2F 60 60 00

06 00 00 00

mode: set Homing mode

581 60 60 60 00

00 00 00 00

601 2F 98 60 00

0C 00 00 00

homing type 12, negative

direction

581 60 98 60 00

00 00 00 00

601 23 99 60 01

40 19 01 00

homing velocity

72000 units/s=2s

581 60 99 60 01

00 00 00 00

601 2B 40 60 00

1F 00 00 00

start homing movement

581 60 40 60 00

00 00 00 00

After the start of the homing movement, the following telegrams could come from the 1

TPDO:

COB-ID Byte 0 Byte 1 Byte 2

181 27 00 21

181 27 10 27

181 27 10 23

181 27 14 2B

181 27 15 2A

The following bits from Byte 2 are required to detect the end of the homing movement:

Bit0=0:homing movement completed, Bit1=1:reference point set, Bit3=1InPosition. After-

wards, the homing movement is also ended by the control word, in this case through the 1

RPDO:

COB-ID Byte 0 Byte 1

201 0F 00

Now you can change over to the Profile position mode and set the ramps to be used for positioning:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 23 83 60 00

32 00 00 00

50ms acceleration time

581 60 83 60 00

00 00 00 00

601 23 84 60 00

32 00 00 00

50ms deceleration time

581 60 84 60 00

00 00 00 00

601 2F 60 60 00

01 00 00 00

Profile position mode

581 60 60 60 00

00 00 00 00

122 CANopen for AX2000/2500

Appendix 07/2007 BECKHOFF

1 2 ... 117 118 119 120 121 122 123 124 125 126 127 ... 136 137

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