Supported Cyclical Setpoint And Actual Values; Supported Operation Modes - Kollmorgen AKD PDMM series User Manual

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
Position command value
Velocity command value
CANopen control-word
Latch Control word
Torque feed forward
Digital outputs
Supported cyclical actual values
Name
Position actual internal value 0x6063 sub 0
Velocity actual value
CANopen status-word
Second position feedback
Digital inputs
Following error actual value 60F4 sub 0
Latch position positive edge 20a0 sub 0
Torque actual value
Latch status
Analog input value

50.8 Supported Operation Modes

CANopen mode of oper-
ation
Profile velocity
Interpolated position
Homing mode
CANopen object
number
0x60C1 sub 1
0x60FF sub 0
0x6040 sub 0
0x20a4 sub 0
0x60B2 sub 0
0x60FE sub 1
CANopen object
number
0x606c sub 0
0x6041 sub 0
2050 sub 0
60FD sub 0
6077 sub 0
20A5 sub 0
3470 sub 0
AKD PDMM mode of Description
operation
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
PDMM.
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
PDMM. These command values are interpolated
by the AKD PDMM according to the fieldbus sam-
ple rate.
DRV.OPMODE 2 0x6060 sub 0 data : 6
DRV.CMDSOURCE 0 In this mode an AKD PDMM-internal homing can
be done.
Data Description
type
INT32 Interpolation data record in IP-
mode
INT32
UINT16 CANopen control word.
UINT16
INT16
UINT32
Data Description
type
INT32
INT32
UINT16 CANopen status word.
INT32
UINT32
INT32
INT32
INT16
UINT16
INT16
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