BECKHOFF AX2000 CANopen communication profile - Manual (Page 73)

Sub-index 08 h
Brief description jolt (acceleration) limiting (under development)
Unit ms
Access rw
PDO mapping not possible
Data type UNSIGNED16
Value range 1 ... 65535
Default value 0
This Index sets the form of the acceleration ramp. The value chosen must be smaller than half of
the run-up time (Sub-index 06
h
). The following diagram illustrates the relationships:
T
1
corresponds to the Sub-index 06
h
and T
2
to Sub-index 08
h
.
If T
2
= 0, then a trapezoidal acceleration ramp is used.
If T
2
=
T
2
1 then an approximately sin
2
ramp is used.
Sub-index 09 h
Brief description jolt (deceleration) limiting (under development)
Unit ms
Access rw
PDO mapping not possible
Data type UNSIGNED16
Value range 0 ... 65535
Default value 0
This Index defines the form of the braking/deceleration ramp. The value chosen must be smaller
than half of the braking time (Sub-index 07
h
). Jolt (deceleration) limiting functions in the same way
as jolt (acceleration)
Sub-index 0A h
Brief description number of the next motion task
Unit —
Access rw
PDO mapping not possible
Data type UNSIGNED16
Value range 0 ... 180, 192 ... 255
Default value 0
Used to set the number of the next motion task. The setting of Sub-index 03
h
, Bit 3, decides whet-
her this is used to continue.
CANopen for AX2000/2500 73
BECKHOFF
07/2007
CANopen Drive Profile
a
t
T
2
T
2
T
1