BECKHOFF AX2000 CANopen communication profile - Manual (Page 69)

4.8.2 Object 2022h: Position data for position mode
Index 2022 h
Brief description motion task parameter
Object code RECORD
Number of elements 12
Used to enter all the parameters that refer to a direct motion task or a motion task which is stored in
the controller. (See ASCII command ORDER)
Sub-Indexes:
Sub-index 01 h
Brief description position
Mode position
Access rw
PDO mapping possible (pre-mapped to selectable RPDO 34)
Data type INTEGER32
Unit increments or μm
Value range -(2 31 -1) ... (2 31 -1)
EEPROM no
Default value 0
Used to enter the target position (absolute motion task) or the distance to be moved (relative motion
task). The choice is defined by Bit 0 of the motion task type. Bit 13 of the motion task type defines
whether the given value is to be interpreted as an increment or as an SI value.
Sub-index 02 h
Brief description weighted velocity setpoint
Mode position
Access rw
PDO mapping possible (pre-mapped to selectable RPDO 34)
Data type INTEGER16
Unit increments/s or μm/s
Value range -32768 ... 32767
EEPROM no
Default value 0
Used to enter the target velocity for motion tasks. It is weighted by Sub-index 0D
h
.
If the value is defined as an SI unit by motion task type Bit 13 = 1, then the incremental velocity vi is
given by
v v
PGEARO
PGEARI 4000
i SI
= ´
´
,
whereby PGEARO (Object 2020
h
, Sub-index 08
h
) contains the number of increments that must be
moved to cover a distance of PGEARI (Object 2020
h
, Sub-index 09
h
). It must be noted here that
one revolution of the motor corresponds to 2
20
increments = 1048576.
CANopen for AX2000/2500 69
BECKHOFF
07/2007
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