Example for CANopen drive

The following axis parameters are required in order to use #DRIVE commands:

antr.function[0].id                  MON_WINDOW

antr.function[0].wr_ident[0]         6065_00

antr.function[0].commu               ACYCLIC

antr.function[0].data_type           UNS32

antr.function[0].mask                NOT_USED

antr.function[0].scaling_type        UNSCALED

antr.function[0].scaling_factor      1.0

antr.function[0].min_limit           0.0

antr.function[0].max_limit           4294967295

antr.function[1].id                  TORQUE_LIMIT

antr.function[1].wr_ident[0]         6072_00

antr.function[1].commu               ACYCLIC

antr.function[1].data_type           UNS16

antr.function[1].mask                NOT_USED

antr.function[1].scaling_type        LINEAR

antr.function[1].scaling_factor      10.0

For more details on how to use the #DRIVE command, see [FCT-A10// Parameterising the DRIVE command].

Programing Example

Measurement run with CANopen drive

%Meas_fixed_stop

N010 #MEAS MODE [7]

;

N020 G0 Z100

; enable torque limiting

N030 #DRIVE WR SYN [AX=Z KEY=TORQUE_LIMIT VAL=10 WAIT]

; disable position lag monitoring in drive

N040 #DRIVE WR SYN [AX=Z KEY=MON_WINDOW VAL=4294967295 WAIT]

; start measurement run

N050 G100 Z1000 F100

; move away from fixed stop

N060 G01 Z100 F1000

; re-enable position lag monitoring

N070 #DRIVE WR SYN [AX=Z KEY=MON_WINDOW VAL=1048575 WAIT]

; disable torque limiting

N080 #DRIVE WR SYN [AX=Z KEY=TORQUE_LIMIT VAL=5000 WAIT]

;

N090 M30