Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 98)

4.17.3 Objects that are defined in other sections

Index Object Name Type Section

6040

VAR control word INTEGER16

dc (Þ 4.4)

6041

VAR status word UNSIGNED16

dc (Þ 4.4)

605A

VAR quick_stop_option_code INTEGER16

dc (Þ 4.4)

6093

ARRAY position_factor UNSIGNED32

fg (Þ 4.5)

6094

ARRAY velocity_encoder_factor UNSIGNED32

fg (Þ 4.5)

6097

ARRAY acceleration_factor UNSIGNED32

fg (Þ 4.5)

4.17.4 Object Description

4.17.4.1 Object 607Ah: target_position (DS402)

The Object target_position defines the target position for the drive. The target position is interpreted

as a relative distance or an absolute position, depending on Bit 6 of the control word.

The type of relative movement can be further defined by the manufacturer-specific parameter 2022

Sub-index 03

The mechanical resolution is set by the gearing factors Object 6093

Sub-index 01

and 02

Index

0x607A

Name

target_position

Object code

VAR

Data type

INTEGER32

Mode

Access

PDO mapping

possible

Unit

user-defined

Value range

-(2

-1) ... (2

-1)

Default value

—

EEPROM

98 CANopen for AX2000/2500

CANopen Drive Profile 07/2007 BECKHOFF

1 2 ... 93 94 95 96 97 98 99 100 101 102 103 ... 136 137

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 98

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