BECKHOFF AX2000 CANopen communication profile - Manual (Page 120)

The homing movement can now be started by Bit 4 of the CANopen control word:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2B 40 60 00 h 1F 00 00 00 mode
581 60 40 60 00 h 00 00 00 00
homing runs until home
conditions are fulfilled
A positive edge transition of the Reference point set bit in the manufacturer-specific status register
can be used to detect that the servo drive has calibrated (zeroed) its position system. The homing
procedure is terminated by the reset of the Motion task active bit.
A TPDO1 could therefore look like this:
COB-ID Data Comment
181 05 27 00 00 0A 54 mode
The status of the homing movement can be seen from the enhanced status register, Bit 17 (Refer-
ence point set).
6.1.5 Example of Motion Block Processing
Switch on position control
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2F 60 60 00 h FF 00 00 00 position control mode
581 60 60 60 00 h 00 00 00 00 position control switched on
Map the second receive-PDO:
(Start motion block, motion blocks for the example are already defined. 1
st
receive-PDO is set to the
standard setting: control word.)
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2F 01 26 00 h 23 00 00 00 start motion block Object
581 60 01 26 00 h 00 00 00 00 OK, mapped
Switch NMT status machine to operational:
COB-ID Command specifier (CS) Node-ID
0 1 1
Access second receive-Object
COB-ID Motion block number: Low Motion block number: High
301 01 00
Response: none, the given motion block 1 is being processed.
Motor Quick Stop
COB-ID Control: Low Control: High
201 03 00
Response: none, motor is stopped with t_not.
Disable controller:
COB-ID Control: Low Control: High Motion block number
201 03 00 1
Response: none, drive is without torque.
120 CANopen for AX2000/2500
Appendix
07/2007
BECKHOFF