BECKHOFF AX2000 CANopen communication profile - Manual (Page 67)

Sub-index 04 h
Brief description position register 1
Unit μm
Access rw
PDO mapping not possible
Data type INTEGER32
Value range -(2 31 -1) ... (2 31 -1)
Default value 0
Depending on the configuration, if the position goes above or below the preset position value, either
a threshold bit (Bit 22 of the manufacturer-specific status register) will be set or the axis will be stop-
ped. (going below software-limit switch 1 : Bit 5 = 1 in the manufacturer-specific status register).
Sub-index 05 h
Brief description position register 2
Unit μm
Access rw
PDO mapping not possible
Data type INTEGER32
Value range -(2
31
-1) ... (2
31
-1)
Default value 0
Depending on the configuration, if the position goes above or below the preset position value, either
a threshold bit (Bit 23 of the manufacturer-specific status register) will be set or the axis will be stop-
ped. (going above software-limit switch 2 : Bit 6 = 1 in the manufacturer-specific status register).
Sub-index 06 h
Brief description position register 3
Unit μm
Access rw
PDO mapping not possible
Data type INTEGER32
Value range -(2
31
-1) ... (2
31
-1)
Default value 0
Depending on the configuration, if the position goes above or below the preset position value, a
threshold bit (Bit 24 of the manufacturer-specific status register) will be set.
Sub-index 07 h
Brief description Position register 4
Unit μm
Access rw
PDO mapping not possible
Data type INTEGER32
Value range -(2 31 -1) ... (2 31 -1)
Default value 0
Depending on the configuration, if the position goes above or below the preset position value, a
threshold bit (Bit 25 of the manufacturer-specific status register) will be set.
Sub-index 08 h
Brief description resolution / denominator of the gearing ratio
Unit revs (turns)
Access rw
PDO mapping not possible
Data type UNSIGNED32
Value range 1 ... (2
32
-1)
Default value 1
The ratio of the values of Sub-indices 08
h
and 09
h
provides the mechanical resolution of the axis in
μm/turn.
CANopen for AX2000/2500 67
BECKHOFF
07/2007
CANopen Drive Profile