BECKHOFF AX2000 CANopen communication profile - Manual (Page 66)

4.8 Positioning data for position mode
4.8.1 Object 2020h: Position controller
Index 2020 h
Brief description parameter for position controller
Object code RECORD
Number of elements 10
Used to enter all the general parameters for the Position mode.
Sub-Indexes:
Sub-index 01 h
Brief description axis type
Unit —
Access rw
PDO mapping not possible
Data type UNSIGNED8
Value range 0, 1
Default value 0
Describes the type of mechanical axis.
Value 0: Linear axis. Positions are counted from a defined reference mark. This must be defined by
making a homing movement or setting a reference point. The movement of the axis will be restric-
ted by software limit-switches, if they have been configured.
Value 1: Rotary axis. A reference position is not required. The position is set to 0 at the start of
each motion block or jogging mode. Movement is not limited by software limited switches.
Sub-index 02 h
Brief description In-Position window
Unit μm
Access rw
PDO mapping not possible
Data type INTEGER32
Value range -(2 31 -1) ... (2 31 -1)
Default value 4000 h
Defines a target window for positioning. Bit 19 of the manufacturer-specific status register is set
when the window limits are reached, and the selected output goes High (if the corresponding confi-
guration was implemented).
Sub-index 03 h
Brief description maximum contouring error
Unit μm
Access rw
PDO mapping not possible
Data type INTEGER32
Value range -(2
31
-1) ... (2
31
-1)
Default value 40000 h
Defines a maximum value for the contouring (lag) error. The drive will be stopped if the contouring
error exceeds this value. Bit 2 of the manufacturer-specific status register is used to indicate an
excessive contouring error. The contouring error will not be monitored if the value is set to 0.
66 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF