Beckhoff AX2000 CANopen communication profile Bedienungsanleitung PDF herunterladen (Seite 6)

4.16 Homing Mode (hm) (DS402) .............................................................. 94

4.16.1 General Information ................................................................ 94

4.16.2 Objects that are defined in this section ................................................. 94

4.16.3 Objects that are defined in other sections ............................................... 94

4.16.4 Object Description ................................................................. 94

4.16.4.1 Object 607Ch: home_offset (DS402) ............................................... 94

4.16.4.2 Object 6098h: homing_method (DS402)............................................. 95

4.16.4.2.1 Description of the homing methods ............................................ 96

4.16.4.3 Object 6099h: homing_speeds (DS402) ............................................. 96

4.16.4.4 Object 609Ah: homing_acceleration (DS402) ......................................... 96

4.16.5 Homing Mode SequenceS ........................................................... 97

4.17 Profile Position Mode (pp) ................................................................ 97

4.17.1 General Information ................................................................ 97

4.17.2 Objects that are defined in this section ................................................. 97

4.17.3 Objects that are defined in other sections ............................................... 98

4.17.4 Object Description ................................................................. 98

4.17.4.1 Object 607Ah: target_position (DS402).............................................. 98

4.17.4.2 Object 607Bh: position_range_limit (DS402).......................................... 99

4.17.4.3 Object 6081h: profile_velocity (DS402).............................................. 99

4.17.4.4 Object 6083h: profile_acceleration (DS402) ......................................... 100

4.17.4.5 Object 6084h: profile_adeceleration (DS402) ........................................ 100

4.17.4.6 Object 6086h: motion_profile_type (DS402) ......................................... 101

4.17.5 Functional Description ............................................................. 101

5 The Object Channel

5.1 Object Description ..................................................................... 105

5.1.1 Object > 3500h Manufacturer Specific Object Channel .................................... 105

6 Appendix

6.1 Setup examples ....................................................................... 115

6.1.1 Basic testing of the connection control<->AX2xxx ........................................ 115

6.1.2 Example of operating the Status Machine .............................................. 116

6.1.3 Example of PDO usage ............................................................ 117

6.1.4 Example of Homing ............................................................... 119

6.1.5 Example of Motion Block Processing.................................................. 120

6.1.6 Example of Profile Positioning Mode usage............................................. 121

6.1.7 ASCII Communication ............................................................. 123

6.1.8 Test for SYNC-telegrams........................................................... 124

6.1.9 SYNC-Object .................................................................... 124

6.1.10 Emergency-Object ................................................................ 124

6.2 Special Applications .................................................................... 125

6.2.1 External Trajectory................................................................ 125

6.2.1.1 Position controller in the servo amplifier ............................................ 125

6.2.1.2 Position controller in the control system ............................................ 128

6.3 Description of the Object Dictionary ........................................................ 129

6.4 New configuration of AX2000/2500 ........................................................ 135

6.5 Index ............................................................................... 136

6 CANopen for AX2000/2500

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