BECKHOFF AX2000 CANopen communication profile - Manual (Page 71)

Type of relative/absolute motion block
Bit 0 Bit 1 Bit 2 Bit 15 Meaning
0 x x x
Absolute motion block: the position given in the motion block is taken as the
target position.
1 0 0 x
Relative motion block: the position given in the motion block is taken as the
distance to be moved. The target is calculated according to the status of the
IN-POSITION signal:
IN-POSITION=1:
new target position =
last target position + movement distance
IN-POSITION=0: new target position =
actual position + movement distance
1 1 0 x
Relative motion block: the position given in the motion block is taken as the
distance to be moved.
new target position = last target position + movement distance
1 0 1 x
Relative motion block: the position given in the motion block is taken as the
distance to be moved.
new target position = actual position + movement distance
1 1 1 0
Relative motion block: the position given in the motion block is taken as the
distance to be moved.
new target position = positive latch position + movement distance
(see also LATCH32 command)
1 1 1 1
Relative motion block: the position given in the motion block is taken as the
distance to be moved.
new target position = negative latch position + movement distance
(see also LATCH32N command)
Type of next motion block
Bit 4
NOBRAKE
Bit 5
FOL_IO
Bit 6
HI/LO
Bit 7
FTIME
Bit 8
VTARG
Meaning
0 0 0 0 0
Changeover to next motion task with braking.
The drive brakes to the target position of the first motion block.
Afterwards, the next motion block is started.
1 0 0 0 0
Flying changeover to the next motion task at the target position.
The drive moves with the target velocity up to the target position
of the first motion block. It then changes over to the next motion
block at full speed.
1 0 0 0 1
Flying changeover to the next motion task at the target position.
The changeover point for the next motion task is advanced, so
that the drive already has the target velocity for the next motion
block when it reaches the target position of the first motion
block.
0 1 0 0 0
Changeover to next motion task with braking.
The drive brakes to the target position of the first motion block.
The next motion block is started when the pre-defined input
(function INxMODE=15) goes LOW.
0 1 1 0 0
Changeover to next motion task with braking.
The drive brakes to the target position of the first motion block.
The next motion block is started when the pre-defined input
(function INxMODE=15) goes HIGH.
0 0 0 1 0
Changeover to next motion task with braking.
The drive brakes to the target position of the first motion block.
The next motion block is started when the pre-programmed de-
lay time (O_FT) has elapsed.
0 1 0 1 0
Changeover to next motion task with braking. The drive brakes
to the target position of the first motion block.
The next motion block is started when the pre-defined input
(function INxMODE=15) goes LOW, or the pre-programmed de-
lay time (O_FT) has elapsed.
0 1 1 1 0
Changeover to next motion task with braking. The drive brakes
to the target position of the first motion block.
The next motion block is started when the pre-defined input
(function INxMODE=15) goes HIGH or the pre-programmed de-
lay time (O_FT) has elapsed.
CANopen for AX2000/2500 71
BECKHOFF
07/2007
CANopen Drive Profile