PDOs for Kollmorgen Servo Drives

The KAS Motion Engine interacts with the these Kollmorgen Servo Drives through CANopen objects in the selected PDOs:

  • Kollmorgen Essentials Drive
  • KLD
  • AKD
  • AKD2G
  • AKD-N
  • S300
  • S700

Some of the ML and MC function blocks require specific CANopen objects in the PDOs.

  • Defaults:
    • AKD, AKD2G, AKD-N, KLD, and KED PDOs include all of the CANopen objects needed by the motion engine and function blocks.
    • S300 and S700 PDOs include only the minimal CANopen objects required by the KAS motion engine.

PDO Types

Examples

These are examples where the PDO 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 address for the first device.
  • 16#2050 (0x2050) is the object index and 0 is the subindex for the AKD’s “Position actual value 2” object.

Example 2

MLCNVConnectEx(PipeNetwork.CNV1, PipeNetwork.AXIS1, EC_ADDITIVE_TORQUE_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.