Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 50.7 Supported Cyclical Setpoint and Actual Values
50.7 Supported Cyclical Setpoint and Actual Values
Supported cyclical setpoint values
Name CANopen object
number Data
type Description
Position command value 0x60C1 sub 1 INT32 Interpolation data record in IP-
mode
Velocity command value 0x60FF sub 0 INT32
CANopen control-word 0x6040 sub 0 UINT16 CANopen control word.
Latch Control word 0x20a4 sub 0 UINT16
Torque feed forward 0x60B2 sub 0 INT16
Digital outputs 0x60FE sub 1 UINT32
Supported cyclical actual values
Name CANopen object
number Data
type Description
Position actual internal value 0x6063 sub 0 INT32
Velocity actual value 0x606c sub 0 INT32
CANopen status-word 0x6041 sub 0 UINT16 CANopen status word.
Second position feedback 2050 sub 0 INT32
Digital inputs 60FD sub 0 UINT32
Following error actual value 60F4 sub 0 INT32
Latch position positive edge 20a0 sub 0 INT32
Torque actual value 6077 sub 0 INT16
Latch status 20A5 sub 0 UINT16
Analog input value 3470 sub 0 INT16
50.8 Supported Operation Modes
CANopen mode of oper-
ation AKD PDMM mode of
operation Description
Profile velocity DRV.OPMODE 2
DRC.CMDSOURCE 1 0x6060Sub0 Data: 3
In this mode of operation the EtherCAT master
sends cyclic velocity command values to the AKD
PDMM.
Interpolated position DRV.OPMODE 2
DRV.CMDSOURCE 1 0x6060Sub0 Data: 7
In this mode of operation the EtherCAT master
sends cyclic position command values to the AKD
PDMM. These command values are interpolated
by the AKD PDMM according to the fieldbus sam-
ple rate.
Homing mode DRV.OPMODE 2
DRV.CMDSOURCE 0 0x6060 sub 0 data : 6
In this mode an AKD PDMM-internal homing can
be done.
Kollmorgen™ | December 2012 489