BECKHOFF AX2000 CANopen communication profile - Manual (Page 103)

Notes on motion task type relative:
If Bit 6 is set, then the motion task type is relative, and activated according to the last target position
or actual position. If other types of relative motion are required, these must be activated in advance
through Object 2022
h
Sub-index 03
h
position data for position mode (see also Object 2022
h
Sub-index 03
h
or ASCII Object O_C).
Notes on profile position mode:
Functional description for the profile position mode
The drive profile DSP402 distinguishes between two methods of moving to a target position. These
two methods are controlled by the bits for new_setpoint and change_set_immediately in the control
word, and setpoint_acknowledge in the status word. These bits can be used to prepare a motion
task while another is still being carried out (handshake).
l Moving to several target positions without an intermediate halt
After the target position has been reached, the drive moves immediately to the next target po-
sition. This requires that new setpoints are signaled to the drive. This is done through a positi-
ve transition of the new_setpoint bit. In this case, the setpoint_acknowledge bit must not be set
(see also Handshake DSP402).
The velocity is not reduced to zero when the first setpoint is reached.
l Moving to a single target position
The drive moves to the target position, whereby the velocity is reduced to zero. Reaching the
target position is signaled by the bit for target_reached in the status word.
CANopen for AX2000/2500 103
BECKHOFF
07/2007
CANopen Drive Profile