Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 86)

Sub-index

Brief description

internal velocity setpoint

Unit

—

Access

PDO mapping

possible

Data type

INTEGER32

Value range

-(2

-1)..(2

-1)

Default value

—

This Object can be used to read out the internal speed setpoint. In this context, an internal speed

count corresponds to a position count/250 microseconds. Thus, the speed in rpm is calculated as

follows:

rpm

incr

4000

Sub-index

Brief description

Master velocity (electronic gear)

Unit

—

Access

PDO mapping

possible

Data type

UNSIGNED32

Value range

0..(2

-1)

Default value

—

This Object supplies the speed resulting from the master-encoder pulses read in on the electronic

gear (Mode 0xF7).

Sub-index

Brief description

control variable (electronic gear)

Unit

—

Access

PDO mapping

possible

Data type

INTEGER8

Value range

-(2

-1)..(2

-1)

Default value

This Object is used to display the status/transition associated with synchronization/decoupling within

the electronic gear. The following values are defined (only when ENGAGE=1or3):

Value Description

0 No synchronization

1 Synchronization with master speed using ramp ACCR

2 Uncoupling using ramp DECR

3 Travel synchronized with master

4 Synchronization over distance defined by Object 2050 sub 5

86 CANopen for AX2000/2500

CANopen Drive Profile 07/2007 BECKHOFF

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 86

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