Beckhoff AX2000 CANopen communication profile Bedienungsanleitung PDF herunterladen (Seite 133)

Index

Sub-

index

DEF Data format Access

PDO

mapp.

Description ASCII Object

2070

S RECORD r — Manufacturer-specific actual values —

S INTEGER24 r ý Actual position (rot. angle, 20-bit res./turn) PRD

S INTEGER24 r ý Speed in incr. (1[incr.] = 1875/262144 [rpm]) —

S INTEGER32 r ý Incr. act. position (res. depends on PRBASE) —

S UNSIGNED16 r ý

Stored position

(HW - LATCH positive, 16-bit resolution/turn)

LATCH16

S INTEGER32 r ý

Stored position

(HW - LATCH positive, 32-bit resolution/turn )

LATCH32

S INTEGER32 r ý

Position, dependent on gearing factors

(PGEARI, PGEARO)

PFB

S INTEGER32 r —

Velocity, dependent on gearing factors

(PGEARI, PGEARO)

S INTEGER32 r ý

Lag error, dependent on gearing factors

(PGEARI, PGEARO)

S UNSIGNED32 r — Effective (r.m.s.) current I

S INTEGER32 r ý Speed, revs/min V

S INTEGER32 r — Heat sink temperature TEMPH

S INTEGER32 r — Internal temperature TEMPE

S INTEGER32 r — DC-link (DC-bus) voltage VBUS

S INTEGER32 r — Regen power (ballst power) PBAL

S INTEGER32 r — I²t loading I2T

S INTEGER32 r — Operating time TRUN

S INTEGER32 r ý Enhanced status for TPDO 33 —

12h S INTEGER32 ro ý Encoder position (SI-units) PFB0

13h S INTEGER32 ro ý Internal position setpoint

S_SETL

(user-defined)

14h S INTEGER16 ro ý Analog input value 1 ANIN1

15h S INTEGER16 ro ý Analog input value 2 ANIN2

16h S UNSIGNED32 ro ý Error register ERRCODE

17h S INTEGER32 ro ý Speed setpoint

PSPEED

(user-defined)

18h S UNSIGNED32 ro ý Read master speed (electronic gearing)

MASTSPEED

(user-defined)

19h S INTEGER8 ro ý Control variable (electronic gearing)

ENGEDGE

(user-defined)

2071h

00h S RECORD ro — Dummy-variables for mapping —

01h S UNSIGNED8 ro

Read-only dummy 8 bit —

02h S UNSIGNED16 ro

Read-only dummy 16 bit —

03h S UNSIGNED24 ro

Read-only dummy 24 bit —

04h S UNSIGNED32 ro

Read-only dummy 32 bit —

2080

S ARRAY ro — Status information —

S UNSIGNED8 ro ý Input/Output/Latch —

S UNSIGNED8 ro ý Collective info (Warning/Error/Reserve) —

S UNSIGNED8 ro ý DRVSTAT LSB DRVSTAT

S UNSIGNED8 ro ý “ DRVSTAT

S UNSIGNED8 ro ý DRVSTAT MSB DRVSTAT

S UNSIGNED8 ro ý TRJSTAT LSB TRJSTAT

S UNSIGNED8 ro ý “ TRJSTAT

S UNSIGNED8 ro ý TRJSTAT MSB TRJSTAT

2081

S INTEGER8 ro — Incr. actual position (bytewise/24-bit) —

S INTEGER8 ro ý Incr. position LSB —

S INTEGER8 ro ý Incremental position —

S INTEGER8 ro ý Incremental position MSB —

S INTEGER24 ro ý Incremental position 24-bit —

S INTEGER32 ro ý Incremental position 32-bit —

2082

S INTEGER8 ro — 32/24-bit positive latch —

S INTEGER32 ro ý 32-bit latch LATCH32

S INTEGER24 ro ý 24-bit latch —

CANopen for AX2000/2500 133

BECKHOFF 07/2007 Appendix

1 2 ... 128 129 130 131 132 133 134 135 136 137

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