BECKHOFF AX2000 CANopen communication profile - Manual (Page 80)

4.11 Manufacturer specific values
4.11.1 Object 2070h: Actual values
Index 2070 h
Brief description actual values
Object code RECORD
Number of elements 16
This Index makes relevant actual values available from the AX2000/2500.
Sub-Indexes:
Sub-index 01 h
Brief description actual position
Unit —
Access ro
PDO mapping
possible
(pre-mapped to selectable TPDO 22, TPDO 32)
Data type UNSIGNED32
Value range 0 ... 16777215
Default value 0
Used to read the motor position within 16 turns/revolutions. One turn is resolved with 20 bits, in
increments.
1 turn
Þ 2 20
increments
Þ1048576 increments
Sub-index 02 h
Brief description actual speed
Unit min -1
Access ro
PDO mapping
possible
(pre-mapped to selectable TPDO 22, TPDO 32)
Data type UNSIGNED32
Value range 0 ... 1677215
Default value 0
Used to read the motor speed. The actual speed is given by:
n[min ] 1875
262144
speed value as read) 1 - = ´(
Sub-index 03 h
Brief description incremental actual position
Unit —
Access ro
PDO mapping possible (pre-mapped to selectable TPDO 33)
Data type INTEGER32
Value range -(2 31 -1) ... (2 31 -1)
Default value 0
This Index can be used to read the incremental value for the actual position. One turn is resolved
with 20 bits, in increments.
1 turn
Þ 2 20
increments
Þ1048576 increments
Sub-index 04l h
Brief description read the 16-bit position latch
Unit —
Access ro
PDO mapping possible
Data type INTEGER16
Value range -(2 15 ) ... (2 15 -1)
Default value 0
Used to read the 16-bit position stored in the latch. The position is given as increments within a
single turn. The output is not affected by the gearing factor or the Factor Groups.
80 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF