BECKHOFF AX2000 CANopen communication profile - Manual (Page 84)

Sub-index 12 h
Brief description position absolut encoder in SI units
Unit user units
Access ro
PDO mapping possible
Data type INTEGER32
Value range -(2 31 -1)..(2 31 -1)
Default value —
Assuming that an absolute encoder has been configured in the device (EXTPOS 1, 2 or 3), this
Object can be used to determine the encoder position. Scaling is defined by parameters PGEARI,
PGEARO, ENCIN, and EXTMUL.
Sub-index 13 h
Brief description Internal Position Setpoint
Unit internal position counts
Access ro
PDO mapping possible
Data type INTEGER32
Value range -(2
31
-1)..(2
31
-1)
Default value —
This Object can be used to read the position setpoint used for internal position control. The value is
output in internal position counts.
Sub-index 14 h
Brief description Analog Input 1 actual value
Unit mV (scaled)
Access ro
PDO mapping possible
Data type INTEGER16
Value range -(2 15 -1)..(2 15 -1)
Default value —
This Object supplies a scaled value for the input voltage at analog input 1. In this context, 10 V cor-
responds to 8192 increments.
Sub-index 15 h
Brief description Analog Input 2 actual value
Unit mV (scaled)
Access ro
PDO mapping possible
Data type INTEGER16
Value range -(2 15 -1)..(2 15 -1)
Default value —
This Object supplies a scaled value for the input voltage at analog input 2. In this context, 10 V cor-
responds to 8192 increments.
84 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF