BECKHOFF AX2000 CANopen communication profile - Manual (Page 101)

4.17.4.6 Object 6086h: motion_profile_type (DS402)
The type of acceleration ramp can be selected by this Object as a linear or as sin
2
ramp.
Index 0x6086 h
Name motion_profile_type
Object code VAR
Data type INTEGER16
Mode pp
Access rw
PDO mapping possible
Unit none
Value range (-2 15 )..(2 15 -1)
Default value —
EEPROM yes
profile code profile type
-32768 ... -1 manufacturer-specific (not supported)
0 linear (trapezoidal)
1 sin²
2 ... 32767 profile-specific extensions (not supported)
4.17.5 Functional Description
Two different ways to apply target_positions to a drive are supported by this device profile.
Set of setpoints:
After reaching the target_position, the drive device immediately processes the next
target_position, which results in a move where the velocity of the drive normally is not
reduced to zero after achieving a setpoint. With AX2000/2500, this is
only possible if trapezoidal ramps are used.
Single setpoints:
After reaching the target_position, the drive device signals this status to a host
computer and then receives a new setpoint. After reaching a target_position, the
velocity is normally reduced to zero before starting a move to the next setpoint.
The two modes are controlled by the timing of the bits for new_setpoint and change_set_immedi-
ately in the control word, and setpoint_acknowledge in the status word. These bits allow the setting
up of a request-response mechanism in order to prepare a set of setpoints while another set is still
being processed in the drive unit. This minimizes reaction times within a control program on a host
computer.
CANopen for AX2000/2500 101
BECKHOFF
07/2007
CANopen Drive Profile
data
new_setpoint
change_set_immediately
setpoint_acknowledge
(2) (4)
(6)
(3) (5)
(1)