Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 127)

To start up the axes, the servo amplifiers must be put into the operational status (operation enable)

and the network management functions must be started.

The network management functions enable the application of the Process Data Objects (PDOs)

and are initialized by the following telegram for both axes:

Switch the NMT (Network Management) status machine to operation enable:

COB-ID Command specifier (CS) Node-ID Comment

0 1 1 NMT enable for all axes

Next, power is applied to each servo amplifier, and they are put into the operation enable condition.

Control word for operation enable:

COB-ID Control byte

Index

Sub-

index

Data

Comment

Low byte High byte

601 2B 40 60 00

0F 00 00 00

control word for axis 1

581 60 40 60 00

00 00 00 00

602 2B 40 60 00

0F 00 00 00

control word for axis 2

582 60 40 60 00

00 00 00 00

The configuration above now enables a cyclical sequence, as shown in the following diagram:

RPDO 2 can now be used to supply trajectory data for both axes, for instance:

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

301 F4 01 00 00 E8 03 00 00

In this example, the first axis receives a trajectory value of 500 increments (Bytes 0 ... 3) and the

second axis receives a trajectory value of 1000 increments.

The axes accept these values, and the positioning is made when the next SYNC telegram is recei

ved.

CANopen for AX2000/2500 127

BECKHOFF 07/2007 Appendix

Control

Drive

Control

cycle

Setpoint

Axis 1

Sync

Setpoint

Axis 2

Position & Status

Axis 1

Position & Status

Axis 2

μs

cle

1 ms per axis at 1 MBaud

e.g. 2 axes

1 2 ... 122 123 124 125 126 127 128 129 130 131 132 ... 136 137

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 127

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