BECKHOFF AX2000 CANopen communication profile - Manual (Page 92)

4.14.4.2 Object 60FFh: target_velocity (DS402)
The speed setpoint (target_velocity) represents the setpoint for the ramp generator.
The scaling of this value depends on the factor velocity_encoder_resolution (Object 6096
h
).
Index 0x60FF h
Name target_velocity
Object code VAR
Data type INTEGER32
Mode pv
Access rw
PDO mapping possible
Unit increments
Value range (-2
31
) ... (2
31
-1)
Default value —
EEPROM no
4.15 Position Control Function (pc) (DS402)
4.15.1 General Information
This section describes the actual position values that are associated with the position controller of
the drive. They are used for the profile position mode.
4.15.2 Objects that are defined in this section
Index Object Name Type Access
6063 h VAR position_actual_value* INTEGER32 ro
6064 h VAR position_actual_value INTEGER32 ro
4.15.3 Objects that are defined in other sections
Index Object Name Type Section
607A h VAR target_position INTEGER32 pp ( Þ 4.17)
607B h VAR position_range_limit INTEGER32 pp ( Þ 4.17)
607C h VAR home-offset INTEGER32 hm ( Þ 4.16)
6093 h VAR position_factor UNSIGNED32 fg ( Þ 4.5)
6094 h ARRAY velocity_encoder_factor UNSIGNED32 fg ( Þ 4.5)
6096 h ARRAY acceleration_factor UNSIGNED32 fg ( Þ 4.5)
6040 h VAR control word INTEGER16 dc ( Þ 4.4)
6041 h VAR status word UNSIGNED16 dc ( Þ 4.4)
92 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF