BECKHOFF AX2000 PROFIBUS DP communication profile User Manual
BECKHOFF Equipment
Table of contents
Document Outline
- Contents
- 1 General
- 2 Installation / Setup
- 3 Profile of AX2000/2500
- 4 Using the parameter channel (PKW)
- 4.1 Read/write an amplifier parameter
- 4.2 Summary of the parameter numbers
- 4.2.1 List of the parameters
- 4.2.2 Standard PROFIDRIVE parameters
- 4.2.3 Manufacturer specific parameters
- 4.2.4 Position control parameters
- 4.2.5 Position data for the position control mode
- 4.2.5.1 PNU 1790: position
- 4.2.5.2 PNU 1791: velocity
- 4.2.5.3 PNU 1785: motion task type
- 4.2.5.4 PNU 1783: acceleration time
- 4.2.5.5 PNU 1784: acceleration jolt limiting
- 4.2.5.6 PNU 1786: deceleration time
- 4.2.5.7 PNU 1787: deceleration jolt limiting
- 4.2.5.8 PNU 1788: next motion task
- 4.2.5.9 PNU 1789: start delay
- 4.2.5.10 PNU 1310: copy motion task
- 4.2.5.11 PNU 1311: position, 32 bit floating decimal point format
- 4.2.5.12 PNU 1312: velocity, 32 bit floating decimal point format
- 4.2.6 Setup mode: position
- 4.2.7 Actual values
- 4.2.8 Digital I/O configuration
- 4.2.9 Analog configuration
- 4.2.10 Manufacturer specific object channel (from PNU 1600)
- 5 Process data channel
- 5.1 Instrument control
- 5.2 Operating modes
- 5.2.1 Positioning (operating mode 2)
- 5.2.2 Digital speed (operating mode 1)
- 5.2.3 Analog speed (operating mode -1)
- 5.2.4 Digital torque (operating mode -2)
- 5.2.5 Analog torque (operating mode -3)
- 5.2.6 Electronic gearing (operating mode -4)
- 5.2.7 Trajectory (operating mode -5)
- 5.2.8 ASCII channel (operating mode -16)
- 5.2.9 Operating mode after switch-on (operating mode -126)
- 6 Appendix
- 6.1 Example telegrams
- 6.1.1 Zero telegram (for initialization)
- 6.1.2 Setting the Opmode
- 6.1.3 Enable the AX2000/2500
- 6.1.4 Start jog mode (on positioning opmode)
- 6.1.5 Set reference point
- 6.1.6 Start homing run
- 6.1.7 Start a motion task
- 6.1.8 Start a direct motion task
- 6.1.9 Polling a warning or error message
- 6.1.10 Writing a parameter (via parameter channel PKW)
- 6.1.11 Reading actual values
- 6.1.12 Write a parameter via the ASCII channel
- 6.2 Index
- 6.1 Example telegrams
- Index