Object Dictionary AKD-C

The following tables describe all objects reachable via SDO or PDO.

Abbreviations:

U

= UNSIGNED

RO

= Read only

INT

= INTEGER

RW

= Read and Write

VisStr

= Visible String

WO

= Write only
   

const

= Constant

.

Index Sub-index Data Type Access PDO map. Description Drive Parameter Note
1000h 0 U32 RO No Device Type - Returns 0x0083 0191 => Profile 401 and supports DIN, DOUT and AIN.
1001h 0 U8 RO No Error Register - bit 0: Generic error Set if DRV.FAULTS or DRV.WARNINGS are reporting anything. Bits 1 to 7: always return zero
1002h 0 U32 RO Yes Manufacturer
status register		 -

32 bit with following info:

Bit 4, 5 and 6 for CPS.ACTIVE

Bit 8: Warning active on AKD-C

Bit 15: fault active on AKD-C

Bit 13, 14: STRINGS.STOSTATUS

Bit 29: state of hardware-enable

Bits are reserved and return zero

1003h - ARRAY - - Pre-defined error field -  
1003h 0 U8 RO No Number of errors DRV.FAULTS
DRV.WARNINGS		 Sum of Emergency messages, faults and warnings.
1003h 1..n U32 RO No Standard error field x (x=1..n) DRV.FAULTS The emergency error code
1008h - String RO No Device Name - Returns the full model number as printed on the sticker on side of the unit.
100Ah 0 String RO No Manufacturer
Software Version		 - Returns the firmware version string. For example “M-01-10-00-000”
1018h - RECORD - - Identity object -  
1018h 0 U8 RO No Highest sub-index supported - Returns 4
1018h 1 U32 RO No Vendor ID - Returns 6Ah (Kollmorgen)
1018h 2 U32 RO No Product Code -

Returns 02h

Will be consistent with the EtherCAT EEEPORM emulation.

1018h 3 U32 RO No Revision Number -

Returns 0x0002 0000

Will be consistent with the EtherCAT EEEPORM emulation.

1018h 4 U32 RO No Serial Number - Returns the serial number as printed on the sticker on side of the unit.
1400h 0..2 U8/32 RW No R1-PDO communication parameters -  
1401h 0..2 U8/32 RW No R2-PDO communication parameters -  
1402h 0..2 U8/32 RW No R3-PDO communication parameters -  
1403h 0..2 U8/32 RW No R4-PDO communication parameters -  
1600h 0..8 U8/32 RW No R1-PDO mapping parameters -  
1601h 0..8 U8/32 RW No R2-PDO mapping parameters -  
1602h 0..8 U8/32 RW No R3-PDO mapping parameters -  
1603h 0..8 U8/32 RW No R4-PDO mapping parameters -  
1800h 0..5 U8/16/32 RW No T1-PDO communication parameters -  
1801h 0..5 U8/16/32 RW No T2-PDO communication parameters -  
1802h 0..5 U8/16/32 RW No T3-PDO communication parameters -  
1803h 0..5 U8/16/32 RW No T4-PDO communication parameters -  
1A00h 0..8 U8/32 RW No T1-PDO mapping parameters -  
1A01h 0..8 U8/32 RW No T2-PDO mapping parameters -  
1A02h 0..8 U8/32 RW No T3-PDO mapping parameters -  
1A03h 0..8 U8/32 RW No T4-PDO mapping parameters -  
2031h 0 VisStr RW No Drive Name, length 10 bits DRV.NAME  

2032h

 		 0 VisStr RW No Drive custom identifier string, length 32 byte DRV.CUSTOMIDENTIFIER  
3000h 0 U16 RW Yes Clear faults (with rising edge on bit 0) DRV.CLRFAULTS Bit 0: Rising edge clear faults
Bits 1 to 15: reserved
3001h 0 S32 RO Yes Bus Voltage VBUS.VALUE 1 bit per millivolt
3002h 0 S32 RO Yes String Voltage STRINGS.VVALUE 1 bit per millivolt
3003h - Array - - String Currents -  
3003h 0 U8 RO No Highest sub-index supported -  
3003h 1 U32 RO Yes Sum of string currents. STRINGS.IVALUE Sum of string currents, 1 bit per mA
3004h - Array - - String I2t values -  
3004h 0 U8 RO No Highest sub-index supported -  
3004h 1 U32 RO Yes Overall string I2T's STRINGS.I2TVALUE Overall string I2T’s , 0 – 100 % (* 1000)
3005h - Array - - Strings current thresholds -  
3005h 0 U8 RO No Highest sub-index supported -  
3005h 1 U32 RW No STRINGS.IWTHRESH STRINGS.IWTHRESH Current warning threshold for both NSD-strings in mA
3005h 2 U32 RO No STRINGS.IFTHRESH STRINGS.IFTHRESH Current fault threshold for both NSD-strings in mA
3006h - Array - - Strings I2t thresholds -  
3006h 0 U8 RO No Highest sub-index supported -  
3006h 1 U32 RW No STRINGS.I2TWTHRESH STRINGS.I2TWTHRESH Current warning threshold for both NSD-strings in % (* 1000)
3006h 2 U32 RO No STRINGS.I2TFTHRESH STRINGS.I2TFTHRESH Current fault threshold for both NSD-strings in % (* 1000)
3007h - Array - - Strings safe torque off states -  
3007h 0 U8 RO No Highest sub-index supported -  
3007h 1 U16 RO Yes STO states of axes on AKD-C string 1 STRING1.DRIVESSTOSTATE  
3007h 2 U16 RO Yes STO states of axes on AKD-C string 2 STRING2.DRIVESSTOSTATE  
3009h 0 U8 RO Yes Global STO-state of AKD-C strings STRINGS.STOSTATE  
3020h - Array - - Strings number of nodes -  
3020h 0 U8 RO No Highest sub-index supported -  
3020h 1 U8 RO No STRING1.NODECOUNT STRING1.NODECOUNT Number of AKD-Ns found on string 1
3020h 2 U8 RO No STRING2.NODECOUNT STRING2.NODECOUNT Number of AKD-Ns found on string 1
3021h - Array - - Strings number of nodes. -  
3021h 0 U8 RO No Highest sub-index supported. -  
3021h 1 U16 RO No STRING1.DRIVESENABLED STRING1.DRIVESENABLED Bit information of enable state of AKD-N on string 1.
3021h 2 U16 RO No STRING2.DRIVESENABLED STRING2.DRIVESENABLED Bit information of enable state of AKD-N on string 2.
541Ah 0 U32 RW No Fault reaction on Fault 706 FAULT706.ACTION  
541Dh 0 U8 RW No EtherCAT legacy mode switch (with or without EoE) ECAT.LEGACYREV  
5425h 0 U8 RW No Fault reaction on Fault 564 FAULT564.ACTION  
5426h 0 U8 RW No Fault reaction on Fault 565 FAULT565.ACTION  
6100h - Array - - Number of Inputs 16-bit -  
6100h 0 U8 RO No Highest sub-index supported. - Returns 2
6100h 1 U16 RO Yes Read input. STRINGS.ENABLE Bit 0: Digital Input on X15, HW-Enable
6300h - Array - - Number of Outputs 16-bit -  
6300h 0 U8 RO No Highest sub-index supported - Returns 1
6300h 1 U16 RW Yes Write output DOUT1.STATEU Bit 0: Digital output on X15, Fault relay
6308h - Array - - Filter mask digital outputs -  
6308h 0 U8 RO No Highest sub-index supported -  
6308h 1 U16 RW Yes Filter mask output 01h to 10h - Only bit 0 is used, default = 0xFFFF