Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 66)

4.8 Positioning data for position mode

4.8.1 Object 2020h: Position controller

Index

2020

Brief description

parameter for position controller

Object code

RECORD

Number of elements

Used to enter all the general parameters for the Position mode.

Sub-Indexes:

Sub-index

Brief description

axis type

Unit

—

Access

PDO mapping

not possible

Data type

UNSIGNED8

Value range

0, 1

Default value

Describes the type of mechanical axis.

Value 0: Linear axis. Positions are counted from a defined reference mark. This must be defined by

making a homing movement or setting a reference point. The movement of the axis will be restric-

ted by software limit-switches, if they have been configured.

Value 1: Rotary axis. A reference position is not required. The position is set to 0 at the start of

each motion block or jogging mode. Movement is not limited by software limited switches.

Sub-index

Brief description

In-Position window

Unit

μm

Access

PDO mapping

not possible

Data type

INTEGER32

Value range

-(2

-1) ... (2

-1)

Default value

4000

Defines a target window for positioning. Bit 19 of the manufacturer-specific status register is set

when the window limits are reached, and the selected output goes High (if the corresponding confi-

guration was implemented).

Sub-index

Brief description

maximum contouring error

Unit

μm

Access

PDO mapping

not possible

Data type

INTEGER32

Value range

-(2

-1) ... (2

-1)

Default value

40000

Defines a maximum value for the contouring (lag) error. The drive will be stopped if the contouring

error exceeds this value. Bit 2 of the manufacturer-specific status register is used to indicate an

excessive contouring error. The contouring error will not be monitored if the value is set to 0.

66 CANopen for AX2000/2500

CANopen Drive Profile 07/2007 BECKHOFF

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