Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 125)

6.2 Special Applications

6.2.1 External Trajectory

6.2.1.1 Position controller in the servo amplifier

This example shows the situation where 2 axes each receive position setpoints through RPDO 33

Trajectory.

Controller structure for the position controller within the servo amplifier:

Description

All data are hexadecimal. In the example, the two axes in the system have the station addresses 1

and 2.

Examples of telegrams and responses:

Conditions:

The resolution that is to be used within one motor turn must be defined for both axes: PRBASE

set to 16 or 20 bit resolution for 1 turn.

The time raster for trajectory inputs must be set through the PTBASE parameter.

Here one unit has a value of 250 microseconds: for example, PTBASE = 8 producesa2ms

time raster.

The parameters must be saved in the EEPROM.

The saved values only become available after a reset.

The Trajectory PDO contains 2 trajectory setpoints, and can be transmitted simultaneously to seve-

ral stations, whereby each station can extract the relevant trajectory data.

Map the second receive-PDO for both axes to RPDO 33 Trajectory (33

=21

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2F 01 26 00

21 00 00 00

set the Trajectory PDO for

axis

581 60 01 26 00

00 00 00 00

602 2F 01 26 00

21 00 00 00

set the Trajectory PDO for

axis

582 60 01 26 00

00 00 00 00

CANopen for AX2000/2500 125

BECKHOFF 07/2007 Appendix

Position setpoints

SYNC

RPDO Trajektory

No. 33

Position controller

speed setpoint

Position + Status

TPDO actual position in increments

No. 33

1 2 ... 120 121 122 123 124 125 126 127 128 129 130 ... 136 137

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 125

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