Test For Sync Telegrams - Kollmorgen AKD User Manual
Can-bus communication
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AKD CANopen | 8 Appendix
8.2.1.10 Test for SYNC telegrams
Configuration
Assign Target Position and Profile Velocity to a PDO (2nd receive-PDO)
l
Assign Actual Position to a PDO (1st transmit-PDO), generated with every 2nd SYNC.
l
Assign Status word and Manufacturer Status to a PDO (2nd transmit-PDO), generated with every 3rd SYNC.
l
Telegrams with the corresponding responses:
COB-ID
Control
byte
603
2F
583
60
603
23
583
60
603
23
583
60
603
2F
583
60
603
2F
583
60
603
23
583
60
603
2F
583
60
603
2F
583
60
603
2F
583
60
603
23
583
60
603
23
583
60
603
2F
583
60
603
2F
583
60
SYNC-Object
COB-ID Comment
080
Object 181 (TPDO 1) appears at every 2
Object 281 (TPDO 2) appears at every 3
150
Kollmorgen™ | November 2012
Index
Sub-
index
Low byte High byte
01
16
00h
01
16
00h
01
16
01h
01
16
01h
01
16
02h
01
16
02h
01
16
00h
01
16
00h
00
1A
00h
00
1A
00h
00
1A
01h
00
1A
01h
00
1A
00h
00
1A
00h
00
18
02h
00
18
02h
01
1A
00h
01
1A
00h
01
1A
01h
01
1A
01h
01
1A
02h
01
1A
02h
01
16
00h
01
16
00h
01
18
02h
01
18
02h
Data
Comment
00 00 00 00 RPDO2: delete mapping
00 00 00 00
20 00 7A 60 RPDO2, entry 1: target position
00 00 00 00
20 00 81 60 RPDO2, entry 2: profile velocity
00 00 00 00
02 00 00 00 RPDO2: enter number of mapped objects
00 00 00 00
00 00 00 00 TPDO1: delete mapping
00 00 00 00
20 00 64 60 TPDO1: entry 1: Actual Position
00 00 00 00
01 00 00 00 TPDO1: enter number of mapped objects
00 00 00 00
02 00 00 00 TPDO1: send with every 2nd SYNC
00 00 00 00
00 00 00 00 TPDO2: delete mapping
00 00 00 00
10 00 41 60 TPDO2: entry 1: Status word
00 00 00 00
20 00 02 10 TPDO2: entry 2: Manufacturer Status
00 00 00 00
02 00 00 00 TPDO2: enter number of mapped objects
00 00 00 00
03 00 00 00 TPDO2: send with every 3rd SYNC
00 00 00 00
nd
SYNC
rd
SYNC
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