Introduction Manual ENC66
eckelmann.de
6.6.3
Example of a gantry axis with CAN-Bus
The drive setup consists of three drives with the following characteristics
Tabelle 25:
Table 25:
Example of gantry axis, drive configuration
Drive 1
Drive 2
Drive 3
Axis number
0
1
1
CAN node address
8
7
3
CAN Baud rate
500 kB
Axis denomination
C
X
(X’)
Type of axis
axis of rotation
linear axis
gantry axis to drive 2 with
equal characteristics
Resolution pulses
4096
8192
as drive 2
The file of the machine constants for the described drive configuration is to be as follows:
Tabelle 26:
Table 26:
Example of gantry axis, machine constants
MK
Numb
er val-
ues
values
Te
st
set
-up
MK_TEST_OHNEMECHANIK
1
0
MK_SPS_DUMMY
1
0
Hardware
co
nf
ig
ur
ati
on
MK_CANDRIVES
48
-1, -1, 1, -1, -1, -1, 1, 0,
-1, -1, -1, -1, -1, -1,-1,-1,
-1, -1, -1, -1, -1, -1,-1,-1,
-1, -1, -1, -1, -1, -1,-1,-1,
-1, -1, -1, -1, -1, -1,-1,-1,
-1, -1, -1, -1, -1, -1,-1,-1,
MK_APPLACHSIDX
18
1, -1, -1, 0, -1, -1, -1, -1, -1,
-1, -1, -1, -1, -1, -1, -1, -1, -1
MK_ACHSENART
16
1, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
Software-
co
nfi
guration
MK_CANOPEN_BAUDRATE
2
0, 500
Setting of
th
e axi
s
MK_IMPULSE
16
4096, 8192, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0
