TxPDO - AKD-N Drive CANopen Objects

This table identifies:

  • The CANopen objects required by the motion engine and function blocks.
  • Whether the objects are available in the default PDO.
  • Their corresponding drive parameter.

  • Review the table to verify the objects needed by the features the application uses are included in the PDO selection.

Index - subindex

Object Name

Required

Associated ML FB

Associated MC FB

Associated Drive Parameter

0x6041:0

CANopen Control Word

 

Yes

N/A

N/A

N/A

0x6063:0
or
0x6064:0

Position Actual Value

No

MC_ReadActPos

 

PL.FB

 

0x606C:0

Velocity actual value

No

MLAxisReadVel

 

MC_ReadActVel

 

VL.FB

 

0x6077:0

Torque actual value

No

MLAxisReadTq

 

IL.FB

 

0x20A5:0
or
0x2901:0

Latch status word

No

CAPx.STATE

0x20A6:0
or
0x2902:0

Latch position

No
  • CAPx.T - for time
  • CAPx.PLFB - for position

0x60FD:0

Digital inputs

Used by Onboard I/O mappings

No

N/A

N/A

DIN.STATES

 

0x60F4

Following error

No

MLAxisReadFEUU

 

PL.ERR