Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 63)

4.6 Manufacturer-specific Current and Speed-Mode

4.6.1 Object 2060h: Digital current or speed setpoint

Index

2060

Brief description

digital current/speed setpoint

Unit

A or /min

Access

PDO mapping

possible (pre-mapped to selectable RPDO 22)

Data type

INTEGER32

Value range

-(2

-1) ... (2

-1)

Default value

This Object is used for the transfer of digital setpoint values which are evaluated according to the

digital mode that has been set (mode FD

= digital current, mode FE

= digital speed, adjustable via

Object 6060

). The normalizations are as follows:

Current:

I[A]

digital current setpoint

1640

max

=´

Speed:

n[min ]

1875

262144

digital speed setpoint

=´

A new setpoint only becomes valid after a fresh Enable Operation (via Object 6040

, control word)

The AX2000/2500 position controller is switched off while speed or current control is

activated.

4.6.2 Objekt 2061h: Current limitation

This Object is used rapid current limitation in Speed mode (0x3, 0xFE, 0xFC). A value of 3280 cor-

responds to the maximum device current that can be requested via DIPEAK.

Index

2061

Brief description

Current limitation

Unit

A (referred to DIPEAK)

Access

PDO mapping

possible

Data type

UNSIGNED16

Value range

0...3280

Default value

This Object affects ASCII parameter DPRILIMIT. In order for it to become effective, configuration

parameter DILIM must be set to 1.

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 63

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