Fixed PDO Mappings

Various ready-to-use mappings can be selected for cyclic data exchange via SDOs of the object 0x1C12 and 0x1C13. Using object 0x1C12 subindex 1 (Sync Manager 2 assignment), a fixed mapping for the cyclic command values can be set with the values 0x1701, 0x1702,0x1720 to 0x1725. Using object 0x1C13 subindex 1 (Sync Manager 3 assignment), a fixed mapping for the cyclic actual values can be set via the data 0x1B01, 0x1B20 to 0x1B26.

Use the sequence below to select the fixed command value mapping 0x1701 via SDOs:

SDO write access to object 0x1C12Sub0 Data:0x00
SDO write access to object 0x1C12Sub1 Data:0x1701
SDO write access to object 0x1C12Sub0 Data:0x01

Up to firmware version 1.8.x.x AKD.XML"Extensible Markup Language " XML is a general-purpose markup language. It is classified as an extensible language because it allows its users to define their own tags file, fixed mapping 0x1701 called out 0x6062sub0 as the “Position Command”. From AKD firmware release 1.8.5.0, the AKD.XML will be changed to call out 0x60C1sub1 as the “Position Command” and an additional XML file called “AKD_TwinCAT.XML” will be added to support TwinCat 2x and older. SDO 0x6062sub0 is not supported in the AKD firmware but was called in the fixed mapping to support a TwinCat issue.

Position interface, supported fixed mappings:

0x1701	Position command value (4 bytes), Controlword (2 bytes), total (6 bytes)
0x1720	Controlword (2 bytes), Interpolated position command value (4 bytes), LatchThe control word is used to activate the drive's latch status machine. The latch control word is processed independently of the EtherCAT bus cycle. The status word is used to return the drive's latch status control word (2 bytes), 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 feed forward (2 bytes), Digital outputs (2 bytes)
0x1721	Interpolated position command value (4 bytes), Controlword (2 bytes), Torque feed forward (2 bytes)
0x1722	Controlword (2 byte), Interpolated position command value (4 bytes), Latch control word (2 bytes), Torque feed forward (2 bytes), Digital outputs (2 bytes), max. 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 (2 bytes)
0x1723	Controlword (2 bytes), Interpolated position command value (4 bytes), Latch control word (2 bytes), Torque feed forward (2 bytes), Digital outputs (2 bytes), Reset of changed input information (2 bytes)
0x1724	Target position for cyclic synchronous position mode (4 bytes), Control word (2 byte), Torque feed forward (2 bytes)
0x1725	Controlword (2 bytes), Target position for cyclic synchronous position mode (4 bytes), Digital outputs (4 bytes), Torque feed forward (2 bytes), Analog output value (2 bytes), Max torque (2 bytes)
0x1B01	Position actual value (4 bytes), Statusword (2 bytes), total (6 bytes)
0x1B20	Position actual internal value ( 4 bytes), 2nd position feedback position (4 bytes), velocity actual value (4 bytes), digital inputs (4 bytes), following error (4 bytes), latch position positive (4 bytes), statusword (2 bytes), torque actual value (2 bytes), latch status (2 bytes), analog input value (2 bytes)
0x1B21	Position Actual Internal Value (4 bytes), Statusword (2 bytes)
0x1B22	Position actual internal value ( 4 bytes), 2nd position feedback position (4 bytes), velocity actual value (4 bytes), digital inputs (4 bytes), following error (4 bytes), latch position negative (4 bytes), statusword (2 bytes), torque actual value (2 bytes), latch status (2 bytes), analog input value (2 bytes)
0x1B23	Position actual internal value ( 4 bytes), 2nd position feedback position (4 bytes), velocity actual value (4 bytes), digital inputs (4 bytes), following error (4 bytes), latch position positive / negative (4 bytes), statusword (2 bytes), torque actual value (2 bytes), latch status (2 bytes), analog input value (2 bytes)
0x1B24	Position actual value (4 bytes), statusword (2 bytes)
0x1B25	Position actual internal value (4 bytes), 2nd position feedback position (4 bytes), latch position 2 positive / negative (4 bytes), digital inputs (4 bytes), following error (4 bytes), latch position 1 positive / negative (4 bytes), statusword (2 bytes), torque actual value (2 bytes), latch status (2 bytes), analog input value (2 bytes)
0x1B26	Statusword (2 bytes), Position actual value (4 bytes), Analog input value (2 bytes), Digital inputs (4 bytes), Following error actual value (4 bytes)

Velocity interface, supported fixed mappings:

0x1702

Velocity command value (4 bytes), Controlword (2 bytes), total (6 bytes)

The objects, which are mapped into the fixed PDOs can be read via the subindices 1 to n of the above indices. The number of mapped entries is available by reading subindex 0 of the above indices.

Example:

A read access to object 1702 sub 0 gives a value of 2, a read on subindex 1 gives 0x60ff0020, on subindex 2 0x60400010.