AX2000 at SSB
Required material:
- TwinCAT 2.9 build 953 or higher
- BX3100 version 0.80 or higher
- 1 x KL1xx4
- 1 x KL2xx4
- 1 x KL9010
- 1 x AX2000 with the following settings: Slave address 4, baud rate 500 kbyte
- Cabling material and power supply
- Example program and configuration on the BX Controller
- TwinCAT System Manager file (sample file)
(The System Manager file has to be transferred to the BX Controller via ADS).- BX program file (sample file)
For the configuration download via ADS, either a BECKHOFF fieldbus master or a free serial port is required.
AX2000 description
The following sections are extracts from the AX2000 drive manual. Further information can be found on the internet at http://www.beckhoff.de.
Hardware and interfaces
Setting the Station Address
The station address (device address at the CAN bus) of the servo drive can be set in three
ways:
- Via the front panel keyboard (see AX2000 installation guide)
- Via the "Basic settings" screen of the DRIVE.EXE commissioning software
- Via the serial interface with the following ASCII command sequence:
ADDR nn > SAVE > COLDSTART (with nn = address)
The address range can be extended from 1..63 to 1..127 with the ASCII object
MDRV.
Setting the baud rate
The CAN transfer speed (baud rate) can be set in three ways:
- Via the front panel keyboard (see AX2000 installation guide)
- Via the "Basic settings" screen of the DRIVE.EXE commissioning software
- Via the serial interface with the following ASCII command sequence:
CBAUD bb > SAVE > COLDSTART (with bb = baud rate in kB)
Possible baud rates are 10, 20, 50, 100, 125, 250, 333, 500 (default), 666, 800 or 1000 kBaud.
CANopen Interface (X6)
Interface for connection to the CAN bus (default 500 kBaud). The integrated profile is based on the DS301 CANopen communication profile and on the DSP402 drive profile. The following functions are available in combination with the position controller:
jogging with variable speed, reference motion, start travel command, start direct travel command, digital set value specification, data transfer functions and many others.
Detailed information can be found in the CANopen manual. The interface is electrically isolated via an optocoupler and has the same potential as the RS232 interface. The analog set value inputs can still be used. The two interfaces (RS232 and CAN) occupying the same connector (X6) can be split to two connectors via the optional 2 CAN extension card.
