Beckhoff AX2000 PROFIBUS DP communication profile Manual de usuario descargar pdf (Pagina 4)

4.2.5 Position data for the position control mode .............................................. 26

4.2.5.1 PNU 1790: position ............................................................. 26

4.2.5.2 PNU 1791: velocity ............................................................. 26

4.2.5.3 PNU 1785: motion task type ...................................................... 27

4.2.5.4 PNU 1783: acceleration time...................................................... 27

4.2.5.5 PNU 1784: acceleration jolt limiting................................................. 27

4.2.5.6 PNU 1786: deceleration time ..................................................... 28

4.2.5.7 PNU 1787: deceleration jolt limiting................................................. 28

4.2.5.8 PNU 1788: next motion task ...................................................... 28

4.2.5.9 PNU 1789: start delay ........................................................... 28

4.2.5.10 PNU 1310: copy motion task...................................................... 28

4.2.5.11 PNU 1311: position, 32 bit floating decimal point format................................. 28

4.2.5.12 PNU 1312: velocity, 32 bit floating decimal point format ................................. 28

4.2.6 Setup mode: position ............................................................... 29

4.2.6.1 PNU 1773: homing type ......................................................... 29

4.2.6.2 PNU 1644: homing direction ...................................................... 29

4.2.7 Actual values ..................................................................... 29

4.2.7.1 PNU 1401: speed .............................................................. 29

4.2.7.2 PNU 1402: incremental position, actual value......................................... 29

4.2.7.3 PNU 1800: actual position value in SI (User) units ..................................... 29

4.2.7.4 PNU 1414: actual position, 32 bit floating decimal point format............................29

4.2.7.5 PNU 1415: actual velocity, 32 bit floating decimal point format............................ 30

4.2.8 Digital I/O configuration ............................................................. 30

4.2.8.1 PNUs 1698/1701/1704/1707: digital input configuration ................................. 30

4.2.8.2 PNUs 1775/1778: digital output configuration ......................................... 30

4.2.9 Analog configuration ............................................................... 30

4.2.9.1 PNU 1607: analog input configuration............................................... 30

4.2.9.2 PNU 1613/1614: analog output configuration ......................................... 30

4.2.10 Manufacturer specific object channel (from PNU 1600)..................................... 31

5 Process data channel

5.1 Instrument control ...................................................................... 34

5.1.1 Control word (STW) ................................................................ 36

5.1.2 Status word (ZSW)................................................................. 37

5.2 Operating modes ....................................................................... 37

5.2.1 Positioning (operating mode 2) ....................................................... 38

5.2.2 Digital speed (operating mode 1) ...................................................... 39

5.2.3 Analog speed (operating mode -1)..................................................... 39

5.2.4 Digital torque (operating mode -2) ..................................................... 40

5.2.5 Analog torque (operating mode -3) .................................................... 40

5.2.6 Electronic gearing (operating mode -4) ................................................. 40

5.2.7 Trajectory (operating mode -5) ....................................................... 40

5.2.8 ASCII channel (operating mode -16) ................................................... 41

5.2.9 Operating mode after switch-on (operating mode -126)..................................... 41

6 Appendix

6.1 Example telegrams ..................................................................... 43

6.1.1 Zero telegram (for initialization) ....................................................... 43

6.1.2 Setting the Opmode ................................................................ 43

6.1.3 Enable the AX2000/2500 ............................................................ 44

6.1.4 Start jog mode (on positioning opmode) ................................................ 44

6.1.5 Set reference point................................................................. 44

6.1.6 Start homing run .................................................................. 45

6.1.7 Start a motion task ................................................................. 47

6.1.8 Start a direct motion task ............................................................ 47

6.1.9 Polling a warning or error message .................................................... 47

6.1.10 Writing a parameter (via parameter channel PKW) ........................................ 48

6.1.11 Reading actual values .............................................................. 48

6.1.12 Write a parameter via the ASCII channel................................................ 49

6.2 Index ................................................................................ 50

4 PROFIBUS for AX2000/2500

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Beckhoff AX2000 PROFIBUS DP communication profile Manual de usuario Pagina 4

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