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4.8 Supported Operation Modes
CANopen mode of
operation
Profile velocity
Interpolated position DRV.OPMODE 2
Homing mode
Profile Position
Torque
Cyclic Synchronous
Position
4.9 Adjusting EtherCAT Cycle Time
The cycle time to be used in the drive for the cyclical setpoints and actual values can either
be stored in the FBUS.SAMPLEPERIOD parameter in the amplifier or configured in the star-
tup phase. This happens via SDO mailbox access to objects 60C2 subindex 1 and 2.
Subindex 2, known as the interpolation time index, defines the power of ten of the time value
(e.g. -3 means 10-3 or milliseconds) while subindex 1, known as interpolation time units,
gives the number of units (e.g. 4 means 4 units).
You can run a 2 ms cycle using various combinations. For example,
Index = -3, Units = 2 or
Index = -4, Units = 20 etc.
The FBUS.SAMPLEPERIOD parameter is counted in multiples of 62.5us microseconds
within the device. This means, for example that 2 ms equates to FBUS.SAMPLEPERIOD
value of 32.
4.10 Maximum Cycle Times depending on operation mode
The minimum cycle time for the drive is largely dependent on the drive configuration (second
actual position value encoder latch functionality enabled and so on)
Interface Cycle time AKD
Position ≥ 0.25 ms (≥ 250 µs)
Velocity ≥ 0.25 ms (≥ 250 µs)
Torque
AKD mode of oper-
ation
DRV.OPMODE 1
DRV.CMDSOURCE 1
DRV.CMDSOURCE 1
DRV.OPMODE 2
DRV.CMDSOURCE 0
DRV.OPMODE 2
DRV.CMDSOURCE 0
DRV.OPMODE 0
DRV.CMDSOURCE 1
DRV.OPMODE 2
DRV.CMDSOURCE 1
≥ 0.25 ms (≥ 250 µs)
AKD EtherCAT | 4 EtherCAT Profile
Description
0x6060Sub0 Data: 3
In this mode, the EtherCAT master sends
cyclic velocity command values to the
AKD.
0x6060Sub0 Data: 7
In this mode of operation the EtherCAT mas-
ter sends cyclic position command values
to the AKD. These command values are
interpolated by the AKD according to the
fieldbus sample rate.
0x6060 sub 0 data : 6
In this mode an AKD-internal homing can be
done.
0x6060sub0 Data: 1
Uses motion task 0 to execute a point to
point move
0x6060sub0 Data: 4
Commands torque in % of drive peak torque
0x6060sub0 Data: 8
Master calculates move profile and com-
mands motion with position points
Kollmorgen | kdn.kollmorgen.com | October 2017
51
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