Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 43)

4.3.1.1.5 PDO Trajectory (33)

The Trajectory PDO is a time- and data-optimized PDO. This PDO must only be used in the Trajec

tory mode. The Trajectory PDO must always be transmitted at constant time intervals (to be set with

the PTBASE command), otherwise there may be irregularities in the speed characteristic. This

PDO consists of two components: the incremental actual position values for two axes. The

assignment of the data for the axes, which must both be set to the same COB-ID for this RPDO

(Sub-index 01

of the corresponding communication parameters), is made through the Object

2721

Example of the calculation of the absolute position:

Position

incremental position value

The maximum difference between two incremental positions is given by the final limit speed that is

set (ASCII-command VLIM) – see example.

Example of the maximum incremental position difference:

max.achievable final speed / 1000

rev

min

0.016667

rev

incr.pos.(t ) incr.pos.(t ) 2 0.016667 17475

-£´=

Depending on the amplifier parameters that have been set, there may be a larger or smaller lag/fol-

lowing error. If the error message contouring error appears and the axis is stopped with the emer-

gency ramp, there are several possible reasons:

The selected incremental position difference is too large (see above).

The contouring error window has been set too small (Object 2020

Sub-index 03

)

The amplifier parameters have not been set up optimally.

The table shows the mapping of the Trajectory PDO:

Sub-index Value Description

number of entries

20220420

incremental position

20220420

incremental position

This Object does not support transmission type 255 (asynchronous).

4.3.1.1.6 PDO Motion Block (34)

The Motion Block PDO is put together from the position (SIGNED32, weighted), speed (UNSIG-

NED16) and the type of motion tasks (UNSIGNED16).

The PDO starts a motion block from the volatile motion block memory (motion block number = 0)

and can only be used in the Position mode.

The table shows the mapping for the Motion Block PDO:

Sub-index Value Description

number of entries

20220120

position

20220210

speed

20220310

motion task type

(absolute/relative)

This Object only supports transmission type 255 (asynchronous).

CANopen for AX2000/2500 43

BECKHOFF 07/2007 CANopen Drive Profile

1 2 ... 38 39 40 41 42 43 44 45 46 47 48 ... 136 137

Comentarios a estos manuales

Sin comentarios

Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 43

Comentarios a estos manuales

Relacionado con productos y manuales para Equipo Beckhoff AX2000 CANopen communication profile