Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 92)

4.14.4.2 Object 60FFh: target_velocity (DS402)

The speed setpoint (target_velocity) represents the setpoint for the ramp generator.

The scaling of this value depends on the factor velocity_encoder_resolution (Object 6096

Index

0x60FF

Name

target_velocity

Object code

VAR

Data type

INTEGER32

Mode

Access

PDO mapping

possible

Unit

increments

Value range

(-2

) ... (2

-1)

Default value

—

EEPROM

4.15 Position Control Function (pc) (DS402)

4.15.1 General Information

This section describes the actual position values that are associated with the position controller of

the drive. They are used for the profile position mode.

4.15.2 Objects that are defined in this section

Index Object Name Type Access

6063

VAR position_actual_value* INTEGER32 ro

6064

VAR position_actual_value INTEGER32 ro

4.15.3 Objects that are defined in other sections

Index Object Name Type Section

607A

VAR target_position INTEGER32

pp (Þ 4.17)

607B

VAR position_range_limit INTEGER32

pp (Þ 4.17)

607C

VAR home-offset INTEGER32

hm (Þ 4.16)

6093

VAR position_factor UNSIGNED32

fg (Þ 4.5)

6094

ARRAY velocity_encoder_factor UNSIGNED32

fg (Þ 4.5)

6096

ARRAY acceleration_factor UNSIGNED32

fg (Þ 4.5)

6040

VAR control word INTEGER16

dc (Þ 4.4)

6041

VAR status word UNSIGNED16

dc (Þ 4.4)

92 CANopen for AX2000/2500

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 92

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