BECKHOFF AX2000 CANopen communication profile - Manual (Page 72)

Sub-index 04 h
Brief description trajectory
Unit —
Access rw
PDO mapping possible (pre-mapped to selectable RPDO 33)
Data type INTEGER32
Value range -(2 31 -1) ... (2 31 -1)
Default value 0
Under development
Sub-index 05 h
Brief description motion task number
Unit —
Access rw
PDO mapping possible (pre-mapped to selectable RPDO 35)
Data type UNSIGNED16
Value range 1 ... 180, 129 ... 255
Default value 0
This Index gives the number of the selected motion task. Motion tasks 1 to 180 are EEPROM
motion blocks, and motion tasks 192 to 255 are RAM motion blocks. The RAM motion blocks are
loaded with the first 64 EEPROM motion blocks when the servo amplifier is switched on or reset.
Motion block 0 is also a RAM motion block, which is used as a copy buffer for motion tasks, and
also to hold the motion task data for a direct motion task (RPDO 34).
Sub-index 06 h
Brief description run-up time (acceleration)
Unit ms
Access rw
PDO mapping not possible
Data type UNSIGNED16
Value range 1 ... 65535
Default value 0
Used to define the total time taken to run up to the target velocity for the motion task. The value
chosen for Sub-index 08
h
sets the form of the acceleration ramp.
Sub-index 07 h
Brief description braking time (deceleration)
Unit ms
Access rw
PDO mapping not possible
Data type UNSIGNED16
Value range 1 ... 65535
Default value 0
Used to define the total time taken to brake down to velocity 0 (standstill) at the target position. The
value chosen for Sub-index 09
h
sets the form of the deceleration ramp.
72 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF