BECKHOFF AX2000 CANopen communication profile - Manual (Page 99)

4.17.4.2 Object 607Bh: position_range_limit (DS402)
The Object position_range_limit is used to define the start and end of the range of movement for a
modulo axis. The start of the range is defined by Sub-index 01
h
min_position_range_limit (ASCII
SRND) and the end by Sub-index 02
h
max_position_range_limit (ASCII ERND). This functionality
can only be used after a re-configuration of the amplifier. To do this, Object 2020
h
Sub-index 01
h
must have the value 2 applied, and then the configuration procedure can be started ( Þ 6.4).
Index 0x607B h
Name position_range_limit
Object code ARRAY
Number of elements 2
Data type INTEGER32
Sub-Indexes:
Sub-index 01 h
Brief description min_position_range_limit
Mode pp, pc
Access rw
PDO mapping not possible
Unit position units
Value range (-2 31 ) ... (2 31 -1)
EEPROM yes
Default value -2
31
Sub-index 02 h
Brief description max_position_range_limit
Mode pp, pc
Access rw
PDO mapping not possible
Unit position units
Value range (-2 31 ) ... (2 31 -1)
EEPROM yes
Default value 2
31
-1
4.17.4.3 Object 6081h: profile_velocity (DS402)
The profile_velocity is the final velocity that should be reached after the acceleration phase of a
motion task. The scaling used depends on the setting of the velocity_encoder_factor (Object
6094
h
).
The application of the setpoint depends on the operation mode (pp, pv) that is set.
Index 0x6081 h
Name profile_velocity
Object code VAR
Data type UNSIGNED32
Mode pp, pv
Access rw
PDO mapping possible
Unit speed units
Value range 0 ... (2
32
-1)
Default value 10
EEPROM no
CANopen for AX2000/2500 99
BECKHOFF
07/2007
CANopen Drive Profile