AKD EtherCAT | 4 EtherCAT Profile
4.5 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 0x1725. 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 0x1B26.
Use the sequence below 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
Up to firmware version 1.8.x.x AKD.XML file, fixed mapping 0x1701 called out 0x6062sub0
as the “Position Command”. From AKD firmware release 1.8.5.0, the AKD.XML will be
changed to call out 0x60C1sub1 as the “Position Command” and an additional XML file called
“AKD_TwinCAT.XML” will be added to support TwinCat 2x and older. In reality, SDO
0x6062sub0 is not supported in the AKD firmware but was called in the fixed mapping to sup-
port a TwinCat issue.
Position interface, supported fixed mappings:
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 con-
trol 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 con-
trol 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)
0x1725 Controlword (2 bytes), Target position for cyclic synchronous position mode (4
bytes), Digital outputs (4 bytes), Torque feed forward (2 bytes), Analog output value
(2 bytes), Max torque (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), analog 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), analog 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), analog input value (2 bytes)
0x1B24 Position actual value (4 bytes), status word (2 bytes)
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Kollmorgen | kdn.kollmorgen.com | October 2017
