Beckhoff – BECKHOFF AX2000 CANopen communication profile User Manual
Page 122
If the mechanical resolution is to be defined, this can only be written through Object 6093
h
,
Sub-index 01
h
and 02
h
. 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
h
00 00 10 00
2
20
increments
581
60
93
60
01
h
00 00 00 00
601
23
93
60
02
h
A0 8C 00 00
36000 user-units
581
60
93
60
02
h
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
h
0F 00 00 00
control word: enable ope-
ration
581
60
40
60
00
h
00 00 00 00
601
2F
60
60
00
h
06 00 00 00
mode: set Homing mode
581
60
60
60
00
h
00 00 00 00
601
2F
98
60
00
h
0C 00 00 00
homing type 12, negative
direction
581
60
98
60
00
h
00 00 00 00
601
23
99
60
01
h
40 19 01 00
homing velocity
72000 units/s = 2 s
-!
581
60
99
60
01
h
00 00 00 00
601
2B
40
60
00
h
1F 00 00 00
start homing movement
581
60
40
60
00
h
00 00 00 00
After the start of the homing movement, the following telegrams could come from the 1
st
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:
Bit 0 = 0 : homing movement completed, Bit 1 = 1 : reference point set, Bit 3 = 1 In Position. After-
wards, the homing movement is also ended by the control word, in this case through the 1
st
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
h
32 00 00 00
50ms acceleration time
581
60
83
60
00
h
00 00 00 00
601
23
84
60
00
h
32 00 00 00
50ms deceleration time
581
60
84
60
00
h
00 00 00 00
601
2F
60
60
00
h
01 00 00 00
Profile position mode
581
60
60
60
00
h
00 00 00 00
122
CANopen for AX2000/2500
Appendix
07/2007
BECKHOFF