BECKHOFF AX2000 CANopen communication profile - Manual (Page 127)

To start up the axes, the servo amplifiers must be put into the operational status (operation enable)
and the network management functions must be started.
The network management functions enable the application of the Process Data Objects (PDOs)
and are initialized by the following telegram for both axes:
Switch the NMT (Network Management) status machine to operation enable:
COB-ID Command specifier (CS) Node-ID Comment
0 1 1 NMT enable for all axes
Next, power is applied to each servo amplifier, and they are put into the operation enable condition.
Control word for operation enable:
COB-ID Control byte Index Sub-
index
Data Comment
Low byte High byte
601 2B 40 60 00 h 0F 00 00 00
control word for axis 1
581 60 40 60 00 h 00 00 00 00
602 2B 40 60 00 h 0F 00 00 00
control word for axis 2
582 60 40 60 00 h 00 00 00 00
The configuration above now enables a cyclical sequence, as shown in the following diagram:
RPDO 2 can now be used to supply trajectory data for both axes, for instance:
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
301 F4 01 00 00 E8 03 00 00
In this example, the first axis receives a trajectory value of 500 increments (Bytes 0 ... 3) and the
second axis receives a trajectory value of 1000 increments.
The axes accept these values, and the positioning is made when the next SYNC telegram is recei-
ved.
CANopen for AX2000/2500 127
BECKHOFF
07/2007
Appendix
Control
Drive
Drive
Control
t cycle
Setpoint Axis
1
Sync Sync
Setpoint Axis
2
Position
&
S
tatus
Axis
1
Position
&
S
tatus
Axis
2
400 μs
cycle
t 1 ms per axis at 1 MBaud
e.g. 2 axes