AKD User Guide |
The configuration above now enables a cyclical sequence, as shown in the diagram:
RPDO 2 can now be used to supply trajectory data for both axes, e.g.:
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
301 F4 01 00 00 E8 03 00 00
In this example, the first axis receives a trajectory value of 500 increments (Bytes 0 to 3) and the second axis
receives a trajectory value of 1000 increments.
The axes accept these values, and the positioning is made when the next SYNC telegram is received.
149 Kollmorgen | December 2010
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