PDOs for AKD, AKD2G, AKD-N, S300, or S700

The KAS Kollmorgen Automation Suite Motion Engine interacts with the AKD, AKD2G, AKD-N, S300 Servostar 300 drive, or S700 Servostar 700 drive drives In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils. through CANopen CANopen® is a communication protocol and device profile specification for embedded systems used in automation for fieldbuses working in real time. objects in the selected PDOs.

• Some of the ML and MC function blocks A function block groups an algorithm and a set of private data. It has inputs and outputs. require specific CANopen objects in the PDOs.
• Defaults:
  • AKD, AKD2G, and AKD-N PDOs include all of the CANopen objects needed by the motion engine and function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. blocks.
  • S300 and S700 PDOs include only the minimal CANopen objects required by the KAS motion engine.

PDO Types

• RxPDO — From Controller to Drive (RxPDO)
  • Drive and Objects
    • RxPDO - AKD Drive CANopen Objects
    • RxPDO - AKD2G Drive CANopen Objects
    • RxPDO - AKD-N Drive CANopen Objects
    • RxPDO - S300 and S700 Drive CANopen Objects
• TxPDO — From Drive to Controller (TxPDO)
  • Drives and Objects
    • TxPDO - AKD Drive CANopen Objects
    • TxPDO - AKD2G Drive CANopen Objects
    • TxPDO - AKD-N Drive CANopen Objects
    • TxPDO - S300 and S700 Drive CANopen Objects

Examples

These are examples where the PDO Process Data Opjects - A type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. object is passed as an argument in the function block.

Example 1

MLSmpConECAT( PipeNetwork.SMP1, 1001, 16#2050, 0);

Where:

• PipeNetwork.SMP1 is a Sampler block ID.
• 1001 is the EtherCAT Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. address for the first device.
• 16#2050 (0x2050) is the object index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin. and 0 is the subindex for the AKD’s “Position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. actual value 2” object.

Example 2

MLCNVConnectEx(PipeNetwork.CNV1, PipeNetwork.AXIS1, EC_ADDITIVE_TORQUE The tendency of a force to rotate an object about an axis. 
A force is a push or a pull; a torque is a twist._VALUE, 0 ) ;

The argument is a constant based on the object index.

Example 3

MLSmpConPNAxis(PipeNetwork.SMP1, PipeNetwork.AXIS1, ML_SECOND_FEEDBACK_POSITION);

Where:

ML_SECOND_FEEDBACK_POSITION specifies the secondary actual position from the Pipe Network Axis.

• 
  
• The ML_SECOND_FEEDBACL_POSITION constant has been deprecated and only AKD devices supported it.
  It is deprecated because the AKD2G supports more than one secondary feedback.

See Also