BECKHOFF AX2000 CANopen communication profile - Manual (Page 98)

4.17.3 Objects that are defined in other sections
Index Object Name Type Section
6040 h VAR control word INTEGER16 dc ( Þ 4.4)
6041 h VAR status word UNSIGNED16 dc ( Þ 4.4)
605A h VAR quick_stop_option_code INTEGER16 dc ( Þ 4.4)
6093 h ARRAY position_factor UNSIGNED32 fg ( Þ 4.5)
6094 h ARRAY velocity_encoder_factor UNSIGNED32 fg ( Þ 4.5)
6097 h ARRAY acceleration_factor UNSIGNED32 fg ( Þ 4.5)
4.17.4 Object Description
4.17.4.1 Object 607Ah: target_position (DS402)
The Object target_position defines the target position for the drive. The target position is interpreted
as a relative distance or an absolute position, depending on Bit 6 of the control word.
The type of relative movement can be further defined by the manufacturer-specific parameter 2022
h
Sub-index 03
h
.
The mechanical resolution is set by the gearing factors Object 6093
h
Sub-index 01
h
and 02
h
.
Index 0x607A h
Name target_position
Object code VAR
Data type INTEGER32
Mode pp
Access rw
PDO mapping possible
Unit user-defined
Value range -(2 31 -1) ... (2 31 -1)
Default value —
EEPROM no
98 CANopen for AX2000/2500
CANopen Drive Profile
07/2007
BECKHOFF