BECKHOFF AX2000 CANopen communication profile - Manual (Page 86)

Sub-index 17 h
Brief description internal velocity setpoint
Unit —
Access ro
PDO mapping possible
Data type INTEGER32
Value range -(2 31 -1)..(2 31 -1)
Default value —
This Object can be used to read out the internal speed setpoint. In this context, an internal speed
count corresponds to a position count/250 microseconds. Thus, the speed in rpm is calculated as
follows:
v
v
rpm
incr =
×
×
4000
2
60
20
Sub-index 18 h
Brief description Master velocity (electronic gear)
Unit —
Access ro
PDO mapping possible
Data type UNSIGNED32
Value range 0..(2
32
-1)
Default value —
This Object supplies the speed resulting from the master-encoder pulses read in on the electronic
gear (Mode 0xF7).
Sub-index 19 h
Brief description control variable (electronic gear)
Unit —
Access ro
PDO mapping possible
Data type INTEGER8
Value range -(2 7 -1)..(2 7 -1)
Default value 0
This Object is used to display the status/transition associated with synchronization/decoupling within
the electronic gear. The following values are defined (only when ENGAGE = 1 or 3):
Value Description
0 No synchronization
1 Synchronization with master speed using ramp ACCR
2 Uncoupling using ramp DECR
3 Travel synchronized with master
4 Synchronization over distance defined by Object 2050 sub 5
86 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF