Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 120)

The homing movement can now be started by Bit 4 of the CANopen control word:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2B 40 60 00

1F 00 00 00 mode

581 60 40 60

00 00 00 00

homing runs until home

conditions are fulfilled

A positive edge transition of the Reference point set bit in the manufacturer-specific status register

can be used to detect that the servo drive has calibrated (zeroed) its position system. The homing

procedure is terminated by the reset of the Motion task active bit.

A TPDO1 could therefore look like this:

COB-ID Data Comment

181 05 27 00 00 0A 54 mode

The status of the homing movement can be seen from the enhanced status register, Bit 17 (Refer-

ence point set).

6.1.5 Example of Motion Block Processing

Switch on position control

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 60 60 00

FF 00 00 00 position control mode

581 60 60 60 00

00 00 00 00 position control switched on

Map the second receive-PDO:

(Start motion block, motion blocks for the example are already defined. 1

receive-PDO is set to the

standard setting: control word.)

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 01 26 00

23 00 00 00 start motion block Object

581 60 01 26 00

00 00 00 00 OK, mapped

Switch NMT status machine to operational:

COB-ID Command specifier (CS) Node-ID

01 1

Access second receive-Object

COB-ID Motion block number: Low Motion block number: High

301 01 00

Response: none, the given motion block 1 is being processed.

Motor Quick Stop

COB-ID Control: Low Control: High

201 03 00

Response: none, motor is stopped with t_not.

Disable controller:

COB-ID Control: Low Control: High Motion block number

201 03 00 1

Response: none, drive is without torque.

120 CANopen for AX2000/2500

Appendix 07/2007 BECKHOFF

1 2 ... 115 116 117 118 119 120 121 122 123 124 125 ... 136 137

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