PDOs for AKD, AKD2G, AKD-N, and S300/S700

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 PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices.(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:

RxPDO — from Controller to Drive
TxPDO — from Drive to Controller

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.

From Controller to Drive (RxPDO)

AKD Drive CANOpen CANopen is a communication protocol and device profile specification for embedded systems used in automation for fieldbuses working in real time Objects Available in the Default PDO
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	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

AKD2G Drive CANOpen Objects Available in the Default PDO
Index - subindex	Object Name	Required	Associated ML FB	Associated MC FB	Associated AKD Parameter
0x3601:1	Physical Outputs (used by Onboard I/O mappings)	No	N/A	N/A	DOUT#.STATE
0x3800:2	AOUT1.Fieldbus A Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design Value (used by Onboard I/O mappings)	No	N/A	N/A	AOUT#.VALUE
0x3801:2	AOUT2.Fieldbus Value (used by Onboard I/O mappings)	No	N/A	N/A	AOUT#.VALUE
0x6040:0 / 0x6840:0	CANopen Control Word	Yes	Needed for motion engine axis to work properly	Needed for motion engine axis to work properly: MC_ClearFaults, MC_Power
0x6070A:0 / 0x6870:0	Target Position Axis 1 / 2	Yes	Needed for motion engine to work properly; Related to Axis pipe block positions. For more details see About Associated Data on Positions	Needed for motion engine axis to work properly: MC_ReadParam (ID 1)
0x60B8:0 / 0x68B8:0	Touchprobe function Axis 1 / 2	No	MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB	MC_TouchProbe, MC_AbortTrigger, MC_Reference, MC_MachRegist, MC_MarkRegist, MC_StopRegist

Axis 1 objects begin with 0x60, Axis 2 objects begin with 0x68.

AKD-N Drive CANOpen Objects Available in the Default PDO
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	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

S300 and S700 Drive CANOpen Objects Available in the Default PDO
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	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

From Drive to Controller (TxPDO)

AKD Drive CANOpen Objects Available in the Default PDO
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 This FB is deprecated. We recommend reading the actual position of the axis which is assigned to the Sampler with this CoE object.	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	Torque Torque 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

AKD2G Drive CANOpen Objects Available in the Default PDO
Index - subindex	Object Name	Required	Associated ML FB	Associated MC FB
0x3780:1	AIN1.VALUE	No	N/A	N/A
0x3781:1	AIN2.VALUE	No	N/A	N/A
0x6041:0 / 0x6841:0	Statusword - Axis 1 / 2	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 / 0x6864:0	Position Actual Value - Axis 1 / 2	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 / 0x6877:0	Torque Actual Value - Axis 1 / 2	No	MLAxisReadTq	MC_ReadParam (ID 1016)
0x60B9:0 / 0x68B9:0	Touch Probe Status Axis 1 / 2	No	MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB	MC_TouchProbe, MC_AbortTrigger, MC_Reference. MC_MachRegist, MC_MarkRegist, MC_StopRegist
0x60D1:0 / 0x68D1:0	Touch Probe 1 Time Stamp positive value Axis 1 / 2	No	MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB	MC_TouchProbe, MC_AbortTrigger, MC_Reference. MC_MachRegist, MC_MarkRegist, MC_StopRegist
0x60D4:0 / 0x68D4:0	Touch Probe 2 Time Stamp positive value Axis 1 / 2	No	MLAxisCfgFastIn, MLAxisTimeStamp, all Trigger MLTrig FB	MC_TouchProbe, MC_AbortTrigger, MC_Reference. MC_MachRegist, MC_MarkRegist, MC_StopRegist
0x60E4:3	3rd additional position actual Value Axis 1	No	MLSmpConECAT	For a digitizing axis
0x60E4:4	4th additional position actual Value Axis 1		MLSmpConECAT	For a digitizing axis
0x60E4:5	5th additional position actual Value Axis 1		MLSmpConECAT	For a digitizing axis
0x60F4:0 / 0x68F4:0	Following error actual value Axis 1 / 2	No	MLAxisReadFEUU	MC_ReadParam (ID 1006)

Axis 1 objects begin with 0x60, Axis 2 objects begin with 0x68.

AKD-N Drive CANOpen Objects Available in the Default PDO
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

S300 and S700 Drive CANOpen Objects Available in the Default PDO
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 This FB is deprecated. We recommend reading the actual position of the axis which is assigned to the Sampler with this CoE object.	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

Examples

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 EtherCAT ***EtherCAT 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 device
16#2050 (0x2050) is the object index and 0 is the subindex for the AKD’s “Position actual value 2” object.

MLCNVConnectEx(PipeNetwork.CNV1, PipeNetwork.AXIS1, EC_ADDITIVE_TORQUE_VALUE, 0 ) ;

The argument is a constant based on the object index.

MLSmpConPNAxis(PipeNetwork.SMP1, PipeNetwork.AXIS1, ML_SECOND_FEEDBACK_POSITION);

Where:

ML_SECOND_FEEDBACK_POSITION specifies the secondary actual position from the Pipe Network Axis.

Please note that the ML_SECOND_FEEDBACL_POSITION constant has been deprecated and only AKD devices supported it. It is deprecated because the AKD2G supports more than one secondary feedback.