See Also
The KAS Motion Engine interacts with the AKD, AKD-N, and S300"Servostar 300 drive" See Servo Drive in Glossary/S700"Servostar 700 drive" See Servo Drive in Glossary drives through CANopen objects in the selected PDOs. Some of the ML and MC function blocks require specific CANopen objects in the PDO(s).
The default AKD and AKD-N PDO selection includes all of the CANopen objects needed by the motion engine and function blocks. The default S300/S700 PDOs include only the minimal CANopen objects required by the KAS motion engine.
The following tables identify which CANopen objects are required by the motion engine and function blocks, and whether they are available in the default PDO for AKD, AKD-N, or S300/S700, and their corresponding AKD drive parameter There are two types of PDOs:
Check these tables to make sure the objects needed by the features your application uses are included in the AKD, AKD-N, and S300/S700 PDO selection.
| Index - subindex | Object Name | Required | Associated ML FB | Associated MC FB | Associated AKD parameter |
|---|---|---|---|---|---|
| 0x20A4 - 0 or 0x2802 - 0 |
Latch control word | No | MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB | MC_TouchProbe, MC_AbortTrigger | CAP0.EN, CAP1.EN, CAP0.MODE, CAP1.MODE |
| 0x3470 - 3 | AOUT.VALUE (used by Onboard I/O mappings) | No | n/a | n/a | AOUT.VALUEU |
| 0x6040 - 0 | CANopen Control Word | Yes | MC_ClearFaults, MC_Power | ||
| 0x60B2 - 0 or 0x60F6 - 1 |
Additive torque value (Torque Feed Forward) |
No | MLAxisAddTq | n/a 1 means Not Applicable | IL.BUSFF |
| 0x60C1 - 1 or 0x6062 - 0 |
Position demand value | Yes | Related to Axis pipe block positions (for more details, About Associated Data on Positions) | MC_ReadParam (ID 1) | PL.CMD |
| 0x60FE - 1 | Digital outputs (used by Onboard I/O mappings) | No | n/a | n/a | DOUTx.STATE |
| Index - subindex | Object Name | Required | Associated ML FB | Associated MC FB | Associated AKD parameter |
|---|---|---|---|---|---|
| 0x20A4 - 0 | Latch control word | No | MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB | MC_TouchProbe, MC_AbortTrigger | CAP0.EN, CAP1.EN, CAP0.MODE, CAP1.MODE |
| 0x3470 - 3 | AOUT.VALUE (used by Onboard I/O mappings) | No | n/a | n/a | AOUT.VALUEU |
| 0x6040 - 0 | 0x6840 - 0 | CANopen Control Word | Yes | MC_ClearFaults, MC_Power | ||
| 0x60C1 - 1 | 0x68C1 - 1 | Position demand value | Yes | Related to Axis pipe block positions (for more details, About Associated Data on Positions) | MC_ReadParam (ID 1) | PL.CMD |
| Index - subindex | Object Name | Required | Associated ML FB | Associated MC FB | Associated AKD parameter |
|---|---|---|---|---|---|
| 0x20A4 - 0 or 0x2802 - 0 |
Latch control word | No | MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB | MC_TouchProbe, MC_AbortTrigger | CAP0.EN, CAP1.EN, CAP0.MODE, CAP1.MODE |
| 0x6040 - 0 | CANopen Control Word | Yes | MC_ClearFaults, MC_Power | ||
| 0x60B2 - 0 or 0x60F6 - 1 |
Additive torque value (Torque Feed Forward) |
No | MLAxisAddTq | n/a 2 means Not Applicable | IL.BUSFF |
| 0x60C1 - 1 or 0x6062 - 0 |
Position demand value | Yes | Related to Axis pipe block positions (for more details, About Associated Data on Positions) | MC_ReadParam (ID 1) | PL.CMD |
| 0x60FE - 1 | Digital outputs (used by Onboard I/O mappings) | No | n/a | n/a | DOUTx.STATE |
| Index - subindex | Object Name | Required | Associated ML FB | Associated MC FB | Associated AKD parameter |
|---|---|---|---|---|---|
| 0x20A4 - 0 or 0x2802 - 0 |
Latch control word | No | MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB | MC_TouchProbe, MC_AbortTrigger | CAP0.EN, CAP1.EN, CAP0.MODE, CAP1.MODE |
| 0x6040 - 0 | CANopen Control Word | Yes | MC_ClearFaults, MC_Power | ||
| 0x60B2 - 0 or 0x60F6 - 1 |
Additive torque value (Torque Feed Forward) |
No | MLAxisAddTq | n/a 3 means Not Applicable | IL.BUSFF |
| 0x60C1 - 1 or 0x6062 - 0 |
Position demand value | Yes | Related to Axis pipe block positions (for more details, About Associated Data on Positions) | MC_ReadParam (ID 1) | PL.CMD |
| Index - subindex | Object Name | Required | Associated ML FB | Associated MC FB | Associated AKD parameter |
|---|---|---|---|---|---|
| 0x6041 - 0 | CANopen Status Word | Yes | n/a | n/a | n/a |
| 0x6063 - 0 or 0x6064 - 0 |
Position actual value | No | MLAxisFBackPos, MLAxisReadActPos | MC_ReadActPos | PL.FB |
| 0x2050 - 0 or 0x35C9 - 0 |
Position actual value 2 | No | MLAxisRead2ndFB | For a Digitizing axis: Secondary feedback can be read by reading the actual position of the axis which is assigned to the secondary feedback. Digitizing axes always use the second feedback for the Drive. KAS does not allow a digitizing axis on a drive which has not a servo axis already assigned |
PL.FB
(if DRV.CMDSOURCE = 1) |
| 0x606C - 0 | Velocity actual value | No | MLAxisReadVel | MC_ReadActVel | VL.FB |
| 0x6077 - 0 | TorqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist actual value | No | MLAxisReadTq | MC_ReadParam (ID 1016) | IL.FB |
| 0x20A5 - 0 or 0x2901 - 0 |
Latch status word | No | MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB | MC_TouchProbe, MC_AbortTrigger | CAPx.STATE |
| 0x20A6 - 0 or 0x2902 - 0 |
Latch position | No | MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB | MC_TouchProbe, MC_AbortTrigger | 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 |
| 0x3470-4 | AIN.VALUE (used by Onboard I/O mappings) | No | n/a | n/a | AIN.VALUE |
| 0x60F4 | Following error | No | MLAxisReadFEUU | MC_ReadParam (ID 1006) | PL.ERR |
| Index - subindex | Object Name | Required | Associated ML FB | Associated MC FB | Associated AKD parameter |
|---|---|---|---|---|---|
| 0x20A5 - 0 | Latch status word | No | MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB | MC_TouchProbe, MC_AbortTrigger | CAPx.STATE |
| 0x20A6 - 0 | Latch position | No | MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB | MC_TouchProbe, MC_AbortTrigger | CAPx.T (for time) CAPx.PLFB (for position) |
| 0x3470-4 | AIN.VALUE (used by Onboard I/O mappings) | No | n/a | n/a | AIN.VALUE |
| 0x6041 - 0 | 0x6841 - 0 | CANopen Status Word | Yes | n/a | n/a | n/a |
| 0x6063 - 0 | 0x6863 - 0 | Position actual value | No | MLAxisFBackPos, MLAxisReadActPos | MC_ReadActPos | PL.FB |
| 0x60F4 | 0x68F4 | Following error | No | MLAxisReadFEUU | MC_ReadParam (ID 1006) | PL.ERR |
| 0x60FD - 0 | Digital inputs (used by Onboard I/O mappings) | No | n/a | n/a | DIN.STATES |
| Index - subindex | Object Name | Required | Associated ML FB | Associated MC FB | Associated AKD parameter |
|---|---|---|---|---|---|
| 0x6041 - 0 | CANopen Status Word | Yes | n/a | n/a | n/a |
| 0x6063 - 0 or 0x6064 - 0 |
Position actual value | No | MLAxisFBackPos, MLAxisReadActPos | MC_ReadActPos | PL.FB |
| 0x606C - 0 | Velocity actual value | No | MLAxisReadVel | MC_ReadActVel | VL.FB |
| 0x6077 - 0 | Torque actual value | No | MLAxisReadTq | MC_ReadParam (ID 1016) | IL.FB |
| 0x20A5 - 0 or 0x2901 - 0 |
Latch status word | No | MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB | MC_TouchProbe, MC_AbortTrigger | CAPx.STATE |
| 0x20A6 - 0 or 0x2902 - 0 |
Latch position | No | MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB | MC_TouchProbe, MC_AbortTrigger | 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 | MC_ReadParam (ID 1006) | PL.ERR |
| Index - subindex | Object Name | Required | Associated ML FB | Associated MC FB | Associated AKD parameter |
|---|---|---|---|---|---|
| 0x6041 - 0 | CANopen Status Word | Yes | n/a | n/a | n/a |
| 0x6063 - 0 or 0x6064 - 0 |
Position actual value | No | MLAxisFBackPos, MLAxisReadActPos | MC_ReadActPos | PL.FB |
| 0x2050 - 0 or 0x35C9 - 0 |
Position actual value 2 | No | MLAxisRead2ndFB | For a Digitizing axis: Secondary feedback can be read by reading the actual position of the axis which is assigned to the secondary feedback. Digitizing axes always use the second feedback for the Drive. KAS does not allow a digitizing axis on a drive which has not a servo axis already assigned |
PL.FB
(if DRV.CMDSOURCE = 1) |
| 0x6077 - 0 | Torque actual value | No | MLAxisReadTq | MC_ReadParam (ID 1016) | IL.FB |
| 0x20A5 - 0 or 0x2901 - 0 |
Latch status word | No | MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB | MC_TouchProbe, MC_AbortTrigger | CAPx.STATE |
| 0x20A6 - 0 or 0x2902 - 0 |
Latch position | No | MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB | MC_TouchProbe, MC_AbortTrigger | CAPx.T (for time) CAPx.PLFB (for position) |
| 0x60F4 | Following error | No | MLAxisReadFEUU | MC_ReadParam (ID 1006) | PL.ERR |
Below are three examples where the PDO object is passed as an argument in the function block.
MLSmpConECAT( PipeNetwork.SMP1, 1001, 16#2050, 0);
Where:
PipeNetwork.SMP1 is a Sampler block ID.1001 is the EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was 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 device16#2050 (0x2050) is the object index and 0 is the subindex for the AKD’s “Position actual value 2” object.MLSmpConPNAxis(PipeNetwork.SMP1, PipeNetwork.AXIS1, ML_SECOND_FEEDBACK_POSITION);
Where:
ML_SECOND_FEEDBACK_POSITION specifies the secondary actual position from the Pipe Network Axis.
MLCNVConnectEx(PipeNetwork.CNV1, PipeNetwork.AXIS1, EC_ADDITIVE_TORQUE_VALUE, 0 ) ;
The argument is a constant based on the object index.
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