Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 50.5 Fixed PDO Mappings
50.5 Fixed PDO Mappings
Various ready-to-use mappings can be selected for cyclic data exchange via SDO’s of the object 0x1C12
and 0x1C13. Using object 0x1C12 subindex 1 (Sync Manager 2 assignment), a fixed mapping for the
cyclic command values can be set with the values 0x1701, 0x1702,0x1720 to 0x1724. Using object
0x1C13 subindex 1 (Sync Manager 3 assignment), a fixed mapping for the cyclic actual values can be set
via the data 0x1B01, 0x1B20 to 0x1B24.
The following sequence describes how to select the fixed command value mapping 0x1701 via SDO’s:
1. SDO write access to object 0x1C12Sub0 Data:0x00
2. SDO write access to object 0x1C12Sub1 Data:0x1701
3. SDO write access to object 0x1C12Sub0 Data:0x01
The following fixed mappings are supported:
Position interface:
0x1701 Position command value (4 bytes), Control word (2 bytes), total (6 bytes)
0x1720 Control Word (2 bytes), Interpolated position command value (4 bytes),
Latch control word (2 bytes), Torque feed forward (2 bytes), Digital outputs (2 bytes)
0x1721 Interpolated position command value (4 bytes), Control Word (2 bytes),
Torque feed forward (2 bytes)
0x1722 Control word (2 byte), Interpolated position command value (4 bytes),
Latch control word (2 bytes), Torque feed forward (2 bytes), Digital outputs (2 bytes),
max. torque (2 bytes)
0x1723 Control word (2 bytes), Interpolated position command value (4 bytes),
Latch control word (2 bytes), Torque feed forward (2 bytes), Digital outputs (2 bytes),
Reset of changed input information (2 bytes)
0x1724 Target position for cyclic synchronous position mode (4 bytes), Control word (2 byte),
Torque feed forward (2 bytes)
0x1B01 Position actual value (4 bytes), Status word (2 bytes), total (6 bytes)
0x1B20 Position actual internal value ( 4 bytes), 2nd position feedback position (4 bytes), velocity
actual value (4 bytes), digital inputs (4 bytes), following error (4 bytes), latch position positive (4
bytes), status word (2 bytes), torque actual value (2 bytes), latch status (2 bytes), analogue
input value (2 bytes)
0x1B21 Position Actual Internal Value (4 bytes), Status word (2 bytes)
0x1B22 Position actual internal value ( 4 bytes), 2nd position feedback position (4 bytes), velocity
actual value (4 bytes), digital inputs (4 bytes), following error (4 bytes), latch position negative
(4 bytes), status word (2 bytes), torque actual value (2 bytes), latch status (2 bytes), analogue
input value (2 bytes)
0x1B23 Position actual internal value ( 4 bytes), 2nd position feedback position (4 bytes), velocity
actual value (4 bytes), digital inputs (4 bytes), following error (4 bytes), latch position positive /
negative (4 bytes), status word (2 bytes), torque actual value (2 bytes), latch status (2 bytes),
analogue input value (2 bytes)
0x1B24 Position actual value (4 bytes), status word (2 bytes)
Velocity interface:
0x1702 Velocity command value (4 bytes), Control word (2 bytes), total (6 bytes)
0x1B02 Position actual value (4 bytes), Status 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
free-mapping example (=> p. 486.).
Kollmorgen™ | December 2012 483