BECKHOFF AX2000 CANopen communication profile - Manual (Page 63)

4.6 Manufacturer-specific Current and Speed-Mode
4.6.1 Object 2060h: Digital current or speed setpoint
Index 2060 h
Brief description digital current/speed setpoint
Unit A or /min
Access rw
PDO mapping possible (pre-mapped to selectable RPDO 22)
Data type INTEGER32
Value range -(2 31 -1) ... (2 31 -1)
Default value 0
This Object is used for the transfer of digital setpoint values which are evaluated according to the
digital mode that has been set (mode FD
h
= digital current, mode FE
h
= digital speed, adjustable via
Object 6060
h
). The normalizations are as follows:
Current: I[A]
digital current setpoint
1640
I
max
= ´
Speed: n[min ]
1875
262144
digital speed setpoint 1 - = ´
A new setpoint only becomes valid after a fresh Enable Operation (via Object 6040
h
, control word)
The AX2000/2500 position controller is switched off while speed or current control is
activated.
4.6.2 Objekt 2061h: Current limitation
This Object is used rapid current limitation in Speed mode (0x3, 0xFE, 0xFC). A value of 3280 cor-
responds to the maximum device current that can be requested via DIPEAK.
Index 2061 h
Brief description Current limitation
Unit A (referred to DIPEAK)
Access wo
PDO mapping possible
Data type UNSIGNED16
Value range 0...3280
Default value 0
This Object affects ASCII parameter DPRILIMIT. In order for it to become effective, configuration
parameter DILIM must be set to 1.
CANopen for AX2000/2500 63
BECKHOFF
07/2007
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