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 | Manufacurer 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 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 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 | DRV.CLRFAULTS |
Bit 0: Rising edge clears 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 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 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 |
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