BECKHOFF AX2000 CANopen communication profile - Manual (Page 135)

Index
Sub-
index
DEF Data format Access
PDO
mapp.
Description ASCII Object
607C h 00 h 4 INTEGER32 rww ý Reference offset —
6081 h 00 h 4 UNSIGNED32 rww ý Velocity (Mode: pp) —
6083 h 00 h 4 UNSIGNED32 rww ý Acceleration (Mode: pp pv) —
6084 h 00 h 4 UNSIGNED32 rww ý Deceleration (Mode: pp pv) —
6086 h 00 h 4 INTEGER16 rww ý Type of motion block ramp (motion_profile_type) —
6089 h 00 h 4 INTEGER8 rw — Notation index: position (not supported) —
608A h 00 h 4 UNSIGNED8 rw — Dimension index: position (not supported) —
608B h 00 h 4 INTEGER8 rw — Notation index: speed (not supported) —
608C h 00 h 4 UNSIGNED8 rw — Dimension index: speed (not supported) —
608D h 00 h 4 INTEGER8 rw — Notation index: acceleration (not supported) —
608E h 00 h 4 UNSIGNED8 rw — Dimension index: acceleration (not supported) —
6093 h
00 h 4 UNSIGNED32 rw — Position factor —
01 h 4 UNSIGNED32 rww ý Numerator PGEARO
02 h 4 UNSIGNED32 rww ý feed_constant PGEARI
6094 h
00 h 4 UNSIGNED32 rw — Velocity factor: encoder —
01 h 4 UNSIGNED32 rw — Numerator —
02 h 4 UNSIGNED32 rw — Divisor —
6097 h
00 h 4 UNSIGNED32 rw — Acceleration factor —
01 h 4 UNSIGNED32 rw — Divisor —
02 h 4 UNSIGNED32 rw — Acceleration factor —
6098 h 00 h 4 INTEGER8 rww ý Homing type —
6099 h
00 h 4 ARRAY ro — Homing velocity —
01 h 4 INTEGER32 rw ý
Homing velocity
(homing to references switch)
VREF
02 h 4 INTEGER32 ro ý Homing velocity (homing to resolver zero mark) VREF
609A h 00 h 4 UNSIGNED32 rw ý Homing acceleration —
60C2 h
00 h 4 RECORD ro — Interpolation time period PTBASE
01 h 4 UNSIGNED8 rw — Interpolation time units —
02 h 4 INTEGER16 rw — Interpolation time index —
60FF h 00 h 4 INTEGER32 rw ý Speed setpoint —
6.4 New configuration of AX2000/2500
In AX2000/2500 there are a number of parameters, that can only be integrated into the current firm-
ware program and produce their proper effect for the first time during the initialization phase, when
the amplifier is switched on. As a result, an alteration of one of these parameters means that all
parameters have to be saved, and the amplifier must then be restarted. This can be carried out via
the CAN-bus, by using the following Objects:
1. Write Object 35EB
h
Sub-index 01
h
, value 0, save command
2. Write Object 3632
h
Sub-index 01
h
, value 0, restart amplifier
CANopen for AX2000/2500 135
BECKHOFF
07/2007
Appendix