BECKHOFF AX2000 CANopen communication profile - Manual (Page 65)

Sub-index 03 h
Brief description velocity for homing
Unit μm/s
Access rw
PDO mapping not possible
Data type INTEGER32
Value range -(2 31 -1) ... (2 31 -1)
Default value 0
Used to define the velocity for homing movements.
Sub-index 04 h
Brief description acceleration ramp for homing/jogging
Unit ms
Access rw
PDO mapping not possible
Data type UNSIGNED16
Value range 1 ... 32767
Default value 10
Used to set the acceleration ramp for homing and jogging. The ramp has a trapezoidal form. The
time that is set refers to the preset velocities homing and jogging movements.
Sub-index 05 h
Brief description braking ramp for homing/jogging
Unit ms
Access rw
PDO mapping not possible
Data type UNSIGNED16
Value range 1 ... 32767
Default value 10
Used to set the acceleration ramp for homing and jogging. The ramp has a trapezoidal form. The
time that is set refers to the preset velocities homing and jogging movements. The emergency stop
ramp (ASCII parameter DECSTOP) is used as the braking ramp for homing movements to a hard-
ware limit-switch.
Sub-index 06 h
Brief description reference offset
Unit μm
Access rw
PDO mapping not possible
Data type INTEGER32
Value range -(2 31 -1) ... (2 31 -1)
Default value 0
Used to set the reference offset, i.e. the actual position value displayed when homing has been
completed (Object 2070
h
, Sub-index 06
h
).
Sub-index 07 h
Brief description velocity for jogging t
Unit μm/s
Access rw
PDO mapping not possible
Data type INTEGER32
Value range -(2 31 -1) ... (2 31 -1)
Default value 0
Used to define the jogging velocity.
CANopen for AX2000/2500 65
BECKHOFF
07/2007
CANopen Drive Profile