Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 131)

Index

Sub-

index

DEF Data format Access

PDO

mapp.

Description ASCII Object

2022

S RECORD ro — Position data for Position mode —

S INTEGER32 rww ý Position (motion block 0) O_P

S UNSIGNED16 rww ý

Weighted velocity, see ASCII VMUL (motion block 0,

see also Object 2020

Sub-index02

)

O_V

S UNSIGNED16 rww ý Motion task type (motion block 0) O_C

S INTEGER32 rww ý Position for external trajectory —

S UNSIGNED16 rww ý Motion task number —

S UNSIGNED16 rww ý Acceleration time (motion block 0) O_ACC1

S UNSIGNED16 rww ý Braking time (motion block 0) O_DEC1

S UNSIGNED16 rww ý Jolt limit for acceleration time (motion block 0) O_ACC2

S UNSIGNED16 rww ý Jolt limiting for braking time (motion block 0) O_DEC2

S UNSIGNED16 rww ý Number of following task O_FN

S UNSIGNED16 rww ý Start delay for following task O_FT

S 2 x UNSIGNED16 wo — Copy a motion task OCOPY

S UNSIGNED16 rw —

Velocity weighting factor

(Object 2020

Sub-index 02

)

VMUL

S UNSIGNED32 rww ý Speed/velocity (motion block 0) O_V

0Fh S INTEGER32 rww ý Setpoint position CAN-Master-Slave

2024

S RECORD r — Setup operation for Position mode —

S UNSIGNED8 rw — Homing type NREF

S UNSIGNED8 rw — Homing direction DREF

S INTEGER32 rw — Velocity for homing movement VREF

S UNSIGNED16 rw — Acceleration ramp [jogging and homing] ACCR

S UNSIGNED16 rw — Braking ramp [jogging and homing] DECR

S INTEGER32 rw — Reference offset ROFFS

S INTEGER32 rw — Jogging velocity VJOG

2026

S RECORD r — Special Object for Position mode —

S UNSIGNED8 rw —

Activate internal evaluation unit for saving actual po-

sition value

—

2030

00h S ARRAY ro — DP-Ram Variables, write only (PDO) —

01h S INTEGER32 rww ý DP-Ram Variable 9 DPRVAR9

02h S INTEGER32 rww ý DP-Ram Variable 10 DPRVAR10

03h S INTEGER32 rww ý DP-Ram Variable 11 DPRVAR11

04h S INTEGER32 rww ý DP-Ram Variable 12 DPRVAR12

05h S INTEGER32 rww ý DP-Ram Variable 13 DPRVAR13

06h S INTEGER32 rww ý DP-Ram Variable 14 DPRVAR14

07h S INTEGER32 rww ý DP-Ram Variable 15 DPRVAR15

08h S INTEGER32 rww ý DP-Ram Variable 16 DPRVAR16

2031

00h S RECORD ro — Dummy-Variables for mapping —

01h S UNSIGNED8 wo ý Write-only dummy 8 bit —

02h S UNSIGNED16 wo ý Write-only dummy 16 bit —

03h S UNSIGNED24 wo ý Write-only dummy 24 bit —

04h S UNSIGNED32 wo ý Write-only dummy 32 bit —

2050

S ARRAY ro — Aux. variable for the digital inputs —

S INTEGER32 rw — Trigger variable input 1 IN1TRIG

S INTEGER32 rw — Trigger variable input 2 IN2TRIG

S INTEGER32 rw — Trigger variable input 3 IN3TRIG

04h S INTEGER32 rw — Trigger variable input 4 IN4TRIG

05h S INTEGER32 wo ý Trigger help variable for electronic gearing InxTRIG 51

2051

S ARRAY ro — Configuration for threshold register —

S UNSIGNED32 rw — Monitoring (deactivate / activate) WPOSE

S UNSIGNED32 rw — Signaling type (repeated / once) WPOSX

S UNSIGNED32 rw — Polarity position signaling WPOSP

CANopen for AX2000/2500 131

BECKHOFF 07/2007 Appendix

1 2 ... 126 127 128 129 130 131 132 133 134 135 136 137

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 131

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