TxPDO - KED 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 |
Status word Axis |
Yes |
Needed for the servo axis mapped to the drive to work properly. |
Needed for the servo axis mapped to the drive to work properly. |
|
|
0x6064:0 |
Position Actual Value Axis |
Yes |
Needed for the servo axis mapped to the drive to work properly. |
Needed for the servo axis mapped to the drive to work properly. |
|
|
0x6077:0 |
Torque actual value Axis |
No |
|
|
|
|
0x60B9:0 |
Touch Probe Status |
No |
|
|
|
|
0x60D1:0 |
Touch Probe 1 Time Stamp Positive Value |
No |
|
|
|
|
0x60D4:0 |
Touch Probe 2 Time Stamp Positive Value |
No |
|
|
|
|
0x60E4:3 |
3rd Additional Position Actual Value |
No |
For a digitizing axis |
|
|
|
0x60E4:4 |
4th Additional Position Actual Value |
No |
For a digitizing axis |
|
|
|
0x60E4:5 |
5th Additional Position Actual Value |
No |
For a digitizing axis |
|
|
|
0x60F4:0 |
Following error Actual value |
No |
|
|
