Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 5)

4.4 Device Control (dc) ..................................................................... 50

4.4.1 Status Machine (DS402) ............................................................ 51

4.4.1.1 States of the Status Machine ..................................................... 51

4.4.1.2 Transitions of the status machine .................................................. 52

4.4.2 Object description ................................................................. 53

4.4.2.1 Object 6040h: Controlword (DS402) ................................................ 53

4.4.2.2 Object 6041h: Statusword (DS402)................................................. 54

4.4.2.3 Object 6060h: modes_of_operation (DS402) ......................................... 56

4.4.2.4 Object 6061h: modes_of_operation_display (DS402)................................... 57

4.5 Factor Groups (fg) (DS402) ............................................................... 57

4.5.1 General Information ................................................................ 57

4.5.1.1 Factors ...................................................................... 57

4.5.1.2 Relationship between physical and internal units ...................................... 57

4.5.2 Object Description ................................................................. 58

4.5.2.1 Object 608Bh: velocity_notation_index (DS402) ....................................... 58

4.5.2.2 Object 608Ch: velocity_dimension_index (DS402) ..................................... 58

4.5.2.3 Object 6093h: position_factor (DS402) .............................................. 59

4.5.2.4 Object 6094h: velocity_encoder_factor (DS402)....................................... 60

4.5.2.5 Object 6097h: acceleration_factor (DS402) .......................................... 62

4.6 Manufacturer-specific Current and Speed-Mode ............................................... 63

4.6.1 Object 2060h: Digital current or speed setpoint ........................................... 63

4.6.2 Objekt 2061h: Current limitation....................................................... 63

4.7 Setup data for manufacturer-specific Jogging/Homing mode...................................... 64

4.7.1 Object 2024h: Setup operation for position mode (AX2xxx).................................. 64

4.8 Positioning data for position mode (AX2xxx) .................................................. 66

4.8.1 Object 2020h: Position controller ...................................................... 66

4.8.2 Object 2022h: Position data for position mode............................................ 69

4.9 Object 2050h: Auxiliary variable for digital inputs............................................... 75

4.10 Latch function.......................................................................... 76

4.10.1 Object 2026h: Latch enable .......................................................... 76

4.10.2 Object 2082h: 32/24-bit Latch positive.................................................. 76

4.10.3 Object 2083h: 32/24-bit Latch negative ................................................. 77

4.10.4 Object 2084h: 16-bit Latch positive .................................................... 77

4.10.5 Object 2085h: 16-bit Latch negative.................................................... 78

4.10.6 Object 2087h: Latch Positions Digital Input 1............................................. 79

4.11 Manufacturer specific values .............................................................. 80

4.11.1 Object 2070h: Actual values ......................................................... 80

4.11.2 Objekt 6077h: Torque actual value .................................................... 87

4.11.3 Objekt 60C2h: Interpolation time period................................................. 87

4.12 Freely available, mappable PLC variables, Objects 2030h / 2090h ................................. 88

4.12.1 Object 2030h: DP-Ram-Variables 9-16 (write only) ........................................ 88

4.12.2 Object 2090h: DP-Ram-Variables 1-8 (read only) ......................................... 88

4.13 Dummy Variables, Objects 2031h / 2071h.................................................... 89

4.13.1 Object 2031h: Dummy variables for mapping (WO)........................................ 89

4.13.2 Object 2071h: Dummy variables for mapping (RO) ........................................ 90

4.14 Profile Velocity Mode (pv) (DS402) ......................................................... 91

4.14.1 General Information ................................................................ 91

4.14.2 Objects that are defines in this section.................................................. 91

4.14.3 Objects that are defines in other sections ............................................... 91

4.14.4 Object Description ................................................................. 91

4.14.4.1 Object 606Ch: velocity_actual_value* (DS402)

........................................ 91

4.14.4.2 Object 60FFh: target_velocity (DS402) .............................................. 92

4.15 Position Control Function (pc) (DS402) ...................................................... 92

4.15.1 General Information ................................................................ 92

4.15.2 Objects that are defined in this section ................................................. 92

4.15.3 Objects that are defined in other sections ............................................... 92

4.15.4 Object Decription .................................................................. 93

4.15.4.1 Object 6063h: position_actual_value* (DS402)........................................ 93

4.15.4.2 Object 6064h: position_actual_value (DS402) ........................................ 93

CANopen for AX2000/2500 5

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 5

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