0x1B25 Position actual internal value (4 bytes), 2nd position feedback position (4 bytes),
latch position 2 positive / negative (4 bytes), digital inputs (4 bytes), following error
(4 bytes), latch position 1 positive / negative (4 bytes), status word (2 bytes), torque
actual value (2 bytes), latch status (2 bytes), analog input value (2 bytes)
0x1B26 Statusword (2 bytes), Position actual value (4 bytes), Analog input value (2 bytes),
Digital inputs (4 bytes), Following error actual value (4 bytes)
Velocity interface, supported fixed mappings:
0x1702
Velocity command value (4 bytes), Control word (2 bytes), total (6 bytes)
The objects, which are mapped into the fixed PDOs can be read via the subindices 1 to n of
the above indices. The number of mapped entries is available by reading subindex 0 of the
above indices.
Example:
A read access to object 1702 sub 0 gives a value of 2, a read on subindex 1 gives
0x60ff0020, on subindex 2 0x60400010. The meaning of these numbers can be seen in the
CANopen manual or the flexible-mapping example (
p. 46.).
AKD EtherCAT | 4 EtherCAT Profile
Kollmorgen | kdn.kollmorgen.com | October 2017
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