Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 97)

4.16.5 Homing Mode SequenceS

The homing movement is started by setting Bit 4 (positive edge). The successful conclusion is indi

cated by Bit 12 in the status word (see Object 6041

). Bit 13 indicates that an error occurred during

the homing movement. In this case, the error code must be evaluated (error register: Objects

1001

, 1003

, manufacturer status: Object1002

Bit 4 Meaning

0 homing inactive

0 Þ 1

start homing movement

1 homing active

1 Þ 0

interruption of homing movement

Bit 13 Bit 12 Meaning

0 0 reference point not set, or homing movement not yet finished

0 1 reference point set, homing movement finished

1 0 homing movement could not be successfully concluded (lag error)

1 1 impermissible state

4.17 Profile Position Mode (pp)

4.17.1 General Information

The overall structure for this mode is shown in this figure.:

The special handshake procedure for the control word and status word is described in Section

4.17.4.1.

4.17.2 Objects that are defined in this section

Index Object Name Type Access

607A

VAR target_position INTEGER32 rw

607B

ARRAY position_range_limit INTEGER32 rw

6081

VAR profile_velocity UNSIGNED32 rw

6083

VAR profile_acceleration UNSIGNED32 rw

6084

VAR profile_deceleration UNSIGNED32 rw

6085

VAR quick_stop_deceleration UNSIGNED32 rw

6086

VAR motion_profile_type INTEGER16 rw

CANopen for AX2000/2500 97

BECKHOFF 07/2007 CANopen Drive Profile

Trajectory

Generator

Trajectory Generator

Parameters

Position Control

Law Parameters

target_position

(607A )

control_effort

(60FA )

position_demand_value

(60F2 )

Position

Control

Function

1 2 ... 92 93 94 95 96 97 98 99 100 101 102 ... 136 137

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