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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 com-
mand values can be set with the values 0x1701 ... 0x1702. Using object 0x1C13 subindex 1 (Sync Manager 3
assignment), a fixed mapping for the cyclic actual values can be set via the data 0x1B01 ... 0x1B02.
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)
0x1B01: Position actual value (4 bytes), Status word (2 bytes), total (6 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)
4.6 Supported Cyclical Setpoint- and Actual Values
Supported cyclical setpoint values
Name
Position command value
Velocity command value
CANopen control-word
Supported cyclical actual values
Name
Position actual value
Velocity actual value
CANopen status-word
4.7 Supported Operation Modes
CANopen mode of operation AKD mode of operation Description
Profile velocity
Interpolated position
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Kollmorgen | December 2009
CANopen object number Data type Description
0x60C1 sub 1
INT32
0x60FF sub 0
INT32
0x6040 Sub 0
UINT16 CANopen control word.
CANopen object number Data type Description
0x6063 sub 0
INT32
0x606c sub 0
INT32
0x6041 Sub 0
UINT16 CANopen status word.
DRV.OPMODE 2
0x6060Sub0 Data: 3
DRC.CMDSOURCE 1
In this mode of operation the EtherCAT master
sends cyclic velocity command values to the AKD.
DRV.OPMODE 2
0x6060Sub0 Data: 7
DRV.CMDSOURCE 1
In this mode of operation the EtherCAT master
sends cyclic position command values to the AKD.
These command values are interpolated by the AKD
according to the fieldbus sample rate.
interpolation data record in IP-mode
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