BECKHOFF AX2000 CANopen communication profile - Manual (Page 81)

Sub-index 05 h
Brief description read the 32-bit position latch
Unit —
Access ro
PDO mapping possible
Data type INTEGER32
Value range -(2 31 ) ... (2 31 -1)
Default value 0
Used to read the 32-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.
Sub-index 06 h
Brief description SI actual position
Unit μm
Access ro
PDO mapping possible
Data type INTEGER32
Value range -(2
31
-1)..(2
31
-1)
Default value 0
This Index can be used to read the actual position in SI units. The ratio of distance actually traveled
to motor revolutions is given by
S
SI
S
Inkr
PGEARI
PGEARO
= ´
whereby PGEARO (Object 2020
h
, Sub-index 08
h
) contains the number of increments that must
moved to cover a distance of PGEARI (Object 2020
h
, Sub-index 09
h
). It must be noted that one turn
of the motor corresponds to 2
20
= 1048576 increments.
Sub-index 07 h
Brief description SI actual velocity
Unit μm/s
Access ro
PDO mapping not possible
Data type INTEGER32
Value range -(2 31 -1) ... (2 31 -1)
Default value 0
This Index can be used to read the actual speed in SI units.
Sub-index 08 h
Brief description lag/following error
Unit μm
Access ro
PDO mapping not possible
Data type INTEGER32
Value range -(2
31
-1) ... (2
31
-1)
Default value 0
This Index can be used to read out the momentary lag error, measured in SI units.
Sub-index 09 h
Brief description rms (effective) current
Unit mA
Access ro
PDO mapping not possible
Data type UNSIGNED32
Value range 0 ... 2 * rated current [mA]
Default value 0
The Index can be used to read out the momentary rms (effective) current.
CANopen for AX2000/2500 81
BECKHOFF
07/2007
CANopen Drive Profile