Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 71)

Type of relative/absolute motion block

Bit 0 Bit 1 Bit 2 Bit 15 Meaning

0xx x

Absolute motion block: the position given in the motion block is taken as the

target position.

100 x

Relative motion block: the position given in the motion block is taken as the

distance to be moved. The target is calculated according to the status of the

IN-POSITION signal:

IN-POSITION=1: new target position =

last target position + movement distance

IN-POSITION=0: new target position =

actual position + movement distance

110 x

Relative motion block: the position given in the motion block is taken as the

distance to be moved.

new target position = last target position + movement distance

101 x

Relative motion block: the position given in the motion block is taken as the

distance to be moved.

new target position = actual position + movement distance

111 0

Relative motion block: the position given in the motion block is taken as the

distance to be moved.

new target position = positive latch position + movement distance

(see also LATCH32 command)

111 1

Relative motion block: the position given in the motion block is taken as the

distance to be moved.

new target position = negative latch position + movement distance

(see also LATCH32N command)

Type of next motion block

Bit 4

NOBRAKE

Bit 5

FOL_IO

Bit 6

HI/LO

Bit 7

FTIME

Bit 8

VTARG

Meaning

00000

Changeover to next motion task with braking.

The drive brakes to the target position of the first motion block.

Afterwards, the next motion block is started.

10000

Flying changeover to the next motion task at the target position.

The drive moves with the target velocity up to the target position

of the first motion block. It then changes over to the next motion

block at full speed.

10001

Flying changeover to the next motion task at the target position.

The changeover point for the next motion task is advanced, so

that the drive already has the target velocity for the next motion

block when it reaches the target position of the first motion

block.

01000

Changeover to next motion task with braking.

The drive brakes to the target position of the first motion block.

The next motion block is started when the pre-defined input

(function INxMODE=15) goes LOW.

01100

Changeover to next motion task with braking.

The drive brakes to the target position of the first motion block.

The next motion block is started when the pre-defined input

(function INxMODE=15) goes HIGH.

00010

Changeover to next motion task with braking.

The drive brakes to the target position of the first motion block.

The next motion block is started when the pre-programmed de-

lay time (O_FT) has elapsed.

01010

Changeover to next motion task with braking. The drive brakes

to the target position of the first motion block.

The next motion block is started when the pre-defined input

(function INxMODE=15) goes LOW, or the pre-programmed de-

lay time (O_FT) has elapsed.

01110

Changeover to next motion task with braking. The drive brakes

to the target position of the first motion block.

The next motion block is started when the pre-defined input

(function INxMODE=15) goes HIGH or the pre-programmed de

lay time (O_FT) has elapsed.

CANopen for AX2000/2500 71

BECKHOFF 07/2007 CANopen Drive Profile

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