Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 54)

Mode-dependent bits im control word

The following table shows the mode-dependent bits in the control word. Only manufacturer-specific

modes are supported at present. The individual modes are set by Object 6060

Modes of operation.

Operation mode No. Bit 4 Bit 5 Bit 6

Position FF

reserved reserved reserved

Digital speed FE

reserved reserved reserved

Digital current FD

reserved reserved reserved

Analog speed FC

reserved reserved reserved

Analog current FB

reserved reserved reserved

Trajectory FA

reserved reserved reserved

Homing F9

Start homing reserved reserved

Jogging F8

reserved reserved reserved

Profile Position

Mode (pp)

new_set_point change_set_immediately

absolute / relati-

Profile Velocity

Mode (pv)

reserved reserved reserved

Homing Mode (hm) 06

homing_operation_start reserved reserved

Description of the remaining bits in the control word

The remaining bits in the control word are described below.

Bit 8 Pause If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed for

homing or jogging, motion task number, setpoints for digital mode) for the individual modes are

retained.

Bit 9,10 These bits are reserved for the drive profile (DS402).

Bit 11 Acknowledge error Setting Bit 11 acknowledges the response monitoring and/or the con-

touring error.

Bit 12 Reset the position, taking account of the reference offset. (See also Homing type 6 in Object

2024

, Sub-index 01

)

Bit 13, 14, 15 These bits are manufacturer-specific, and reserved at present.

4.4.2.2 Object 6041h: Statusword (DS402)

The momentary state of the status machine can be read out with the aid of the status word

(Þ 4.3.2.1.1).

Index

0x6041

Name

Status word

Object code

VAR

Data type

UNSIGNED16

Mode

all

Access

PDO mapping

possible

Unit

—

Value range

0 ... 65535

EEPROM

yes

Default value

54 CANopen for AX2000/2500

CANopen Drive Profile 07/2007 BECKHOFF

1 2 ... 49 50 51 52 53 54 55 56 57 58 59 ... 136 137

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