BECKHOFF AX2000 CANopen communication profile - Manual (Page 97)

4.16.5 Homing Mode SequenceS
The homing movement is started by setting Bit 4 (positive edge). The successful conclusion is indi-
cated by Bit 12 in the status word (see Object 6041
h
). Bit 13 indicates that an error occurred during
the homing movement. In this case, the error code must be evaluated (error register: Objects
1001
h
, 1003
h
, manufacturer status: Object1002
h
).
Bit 4 Meaning
0 homing inactive
0 Þ 1 start homing movement
1 homing active
1 Þ 0 interruption of homing movement
Bit 13 Bit 12 Meaning
0 0 reference point not set, or homing movement not yet finished
0 1 reference point set, homing movement finished
1 0 homing movement could not be successfully concluded (lag error)
1 1 impermissible state
4.17 Profile Position Mode (pp)
4.17.1 General Information
The overall structure for this mode is shown in this figure.:
The special handshake procedure for the control word and status word is described in Section
4.17.4.1.
4.17.2 Objects that are defined in this section
Index Object Name Type Access
607A h VAR target_position INTEGER32 rw
607B h ARRAY position_range_limit INTEGER32 rw
6081 h VAR profile_velocity UNSIGNED32 rw
6083 h VAR profile_acceleration UNSIGNED32 rw
6084 h VAR profile_deceleration UNSIGNED32 rw
6085 h VAR quick_stop_deceleration UNSIGNED32 rw
6086 h VAR motion_profile_type INTEGER16 rw
CANopen for AX2000/2500 97
BECKHOFF
07/2007
CANopen Drive Profile
Trajectory
Generator
Trajectory Generator
Parameters
Position Control
Law Parameters
target_position
(607A )
h
control_effort
(60FA )
h
position_demand_value
(60F2 )
h
Position
Control
Function