BECKHOFF AX2000 CANopen communication profile - Manual (Page 74)

Sub-index 0B h
Brief description start delay for next motion task
Unit ms
Access rw
PDO mapping not possible
Data type UNSIGNED16
Value range 1 ... 65535
Default value 0
This Object is used to set a delay time for the start of the next motion task. To do this, the function
must be enabled through Sub-index 03
h
, Bit 7.
Sub-index 0C h
Brief description copy a motion task
Unit —
Access wo
PDO mapping not possible
Data type 2 x UNSIGNED16
Value range 0 ... 180, 192... 255
Default value 0, 0
This Object can be used to copy motion tasks. The number that appears first in the CAN telegram
defines the source motion task, the following number defines the target motion task.
Sub-index 0D h
Brief description velocity weighting factor
Unit —
Access rw
PDO mapping not possible
Data type UNSIGNED16
Value range 0 ... 65535
Default value 1
This Object sets a multiplying factor for the velocity given in the RPDO motion block.
Sub-index 0E h
Brief description velocity for direct motion task
Unit increments / 250μs, or dependent on resolution
Access rw
PDO mapping not possible
Data type INTEGER32
Value range -(2 31 -1) ... (2 31 -1)
Default value 0
This Object defines the velocity for the direct motion task (motion block 0). The type of motion task
then determines whether the velocity is evaluated in increments or in SI units.
Sub-index 0F h
Brief description Position setpoint CAN-Master-Slave
Unit Increments / 250μs or depending on resolutio
Access rw
PDO mapping possible
Data type INTEGER32
Value range -(2
31
-1)..(2
31
-1)
Default value 0
This Object is used to specify the target position in position controller increments (2
20
incre-
ments/motor revolution) in Electronic Gear mode. This Object is located within Rx-PDO 41, whose
definition is fixed.
74 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF