5 homing mode sequences, 17 profile position mode (pp), 1 general information – BECKHOFF AX2000 CANopen communication profile User Manual
Page 97: 2 objects that are defined in this section, Profile position mode, Homing mode sequences, Profile position mode (pp), General information, Objects that are defined in this section, Canopen drive profile
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4.16.5
Homing Mode SequenceS
The homing movement is started by setting Bit 4 (positive edge). The successful conclusion is indi-
cated by Bit 12 in the status word (see Object 6041
h
). Bit 13 indicates that an error occurred during
the homing movement. In this case, the error code must be evaluated (error register: Objects
1001
h
, 1003
h
, manufacturer status: Object1002
h
).
Bit 4
Meaning
0
homing inactive
0
Þ 1
start homing movement
1
homing active
1
Þ 0
interruption of homing movement
Bit 13
Bit 12
Meaning
0
0
reference point not set, or homing movement not yet finished
0
1
reference point set, homing movement finished
1
0
homing movement could not be successfully concluded (lag error)
1
1
impermissible state
4.17
Profile Position Mode (pp)
4.17.1
General Information
The overall structure for this mode is shown in this figure.:
The special handshake procedure for the control word and status word is described in Section
4.17.4.1.
4.17.2
Objects that are defined in this section
Index
Object
Name
Type
Access
607A
h
VAR
target_position
INTEGER32
rw
607B
h
ARRAY
position_range_limit
INTEGER32
rw
6081
h
VAR
profile_velocity
UNSIGNED32
rw
6083
h
VAR
profile_acceleration
UNSIGNED32
rw
6084
h
VAR
profile_deceleration
UNSIGNED32
rw
6085
h
VAR
quick_stop_deceleration
UNSIGNED32
rw
6086
h
VAR
motion_profile_type
INTEGER16
rw
CANopen for AX2000/2500
97
BECKHOFF
07/2007
CANopen Drive Profile
Trajectory
Generator
Trajectory Generator
Parameters
Position Control
Law Parameters
target_position
(607A )
h
control_effort
(60FA )
h
position_demand_value
(60F2 )
h
Position
Control
Function