BECKHOFF AX2000 PROFIBUS DP communication profile - Manual (Page 44)

6.1.3 Enable the AX2000/2500
The hardware enable signal (24V) must be applied, as a precondition for enabling the AX2000/2500
via the PROFIBUS. The enable through PROFIBUS can be made by setting the bit combination for
the “Operation enabled” state in the control word (STW).
Byte 9 10 11 12
xxx0 x1xx 0011 1111 xxxx xxxx xxxx xxxx
STW HSW
The AX2000/2500 then reports back the corresponding state in its status word (ZSW), or indicates
a warning or error message.
Byte 9 10 11 12
xxxx xx1x 0010 0111 xxxx xxxx xxxx xxxx
ZSW HSW
6.1.4 Start jog mode (on positioning opmode)
Jog mode is started in a similar manner to homing. To start, Bit 8 STW must be set. The jog velocity
is given by the product of the 16-bit main setpoint in PZD2 and the multiplier defined by PNU 1894.
The sign of the main setpoint determines the direction of movement.
It is not necessary to have a reference point set for jogging.
6.1.5 Set reference point
Take care that the position of the reference point permits the following positioning
operations. The parameterized software limit-switches in the AX2000/2500 may not be
effective. The axis could then drive up to the hardware limit-switch or the mechanical stop.
There is a danger of damage being caused.
The control word (STW) Bit 12 = 1 defines the present position as being the reference point. The
positioning functions are enabled. The shifting of the zero point (NI-offset) is ineffective.
The replay “Reference point set” is made through Bit 17 in the manufacturer-specific status register
(PNU 1002) or Bit 1 (manufacturer status of the process data).
Conditions:
PNU930
¹ -16
No motion function active manufacturer specific status, process data 5 bit 0
44 PROFIBUS for AX2000/2500
Appendix
12/05
BECKHOFF