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

The KAS Motion Engine interacts with the AKD, AKD-N, and S300Closed "Servostar 300 drive" See Servo Drive in Glossary/S700Closed "Servostar 700 drive" See Servo Drive in Glossary drives through CANopen objects in the selected PDOs.

These tables identify the CANopen objects 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.

The types of PDOs are:


  • Review these tables to verify the objects needed by the features the application uses are included in the AKD, AKD-N, and S300/S700 PDO selection.

From Controller to Drive (RxPDO)

These Controller to Drive objects are available in the default PDO.

RxPDO - AKD Drive CANopen Objects

AKD 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
  • 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

 

  
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

PL.CMD

 
0x60FE - 1

Digital outputs

Used by Onboard I/O mappings

No

N/A

N/A

DOUT.STATES

 

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RxPDO - AKD2G Drive CANopen Objects

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.STATES

0x3800:2

AOUT1.FieldbusClosed 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.

 
0x6070A:0 / 0x6870:0

Target Position

Axis 1 / 2

Yes  
0x60B8:0 / 0x68B8:0

Touchprobe function

Axis 1 / 2

 No  

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

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RxPDO - AKD-N Drive CANopen Objects

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
  • CAP0.EN
  • CAP1.EN
  • CAP0.MODE
  • CAP1.MODE
0x6040 - 0

CANopen Control Word

 

 Yes    
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

PL.CMD

 
0x60FE - 1

Digital outputs

Used by Onboard I/O mappings

 No

N/A

N/A

DOUT.STATES

 

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RxPDO - S300 and S700 Drive CANopen Objects

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
  • CAP0.EN
  • CAP1.EN
  • CAP0.MODE
  • CAP1.MODE
0x6040 - 0

CANopen Control Word

 

Yes

 

  
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

PL.CMD

 

 

 

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From Drive to Controller (TxPDO)

These Drive to Controller objects are available in the default PDO.

TxPDO - AKD Drive CANopen Objects

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 Control Word

 

 Yes N/A N/A N/A
0x6063 - 0
or
0x6064 - 0

Position actual value

No

MC_ReadActPos

 

PL.FB

 
0x2050 - 0
or
0x35C9 - 0

Position actual value 2

 No

MLAxisRead2ndFB

 


  • This FB is deprecated.
    The recommended method for accessing feedback 1-5 on an AKD2G, or a third-party device's position feedback, is to use the Sampler block and MLSmpConECAT.

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 had a servo axis already assigned.

PL.FB

 

(If DRV.CMDSOURCE = 1)

0x606C - 0

Velocity actual value

No

MLAxisReadVel

 

MC_ReadActVel

 

VL.FB

 
0x6077 - 0

TorqueClosed 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

 

IL.FB

 
0x20A5 - 0
or
0x2901 - 0		 Latch status word No

CAPx.STATE

0x20A6 - 0
or
0x2902 - 0		 Latch position No
  • 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

 

PL.ERR

 

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TxPDO - AKD2G Drive CANopen Objects

AKD2G Drive CANopen Objects Available in the Default PDO
Index - subindex Object Name Required Associated ML FB Associated MC FB Associated
AKD
Parameter
0x3780:1 AIN1.VALUE No N/A N/A  
0x3781:1 AIN2.VALUE No N/A N/A  
0x6041:0 / 0x6841:0

Status word -

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

 

  
0x60B9:0 / 0x68B9:0

Touch Probe Status

Axis 1 / 2

 No  
0x60D1:0 / 0x68D1:0

Touch Probe 1 Time Stamp positive value

Axis 1 / 2

 No  
0x60D4:0 / 0x68D4:0

Touch Probe 2 Time Stamp positive value

Axis 1 / 2

 No  
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

 

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

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TxPDO - AKD-N Drive CANopen Objects

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 Control Word

 

 Yes

N/A

N/A

N/A
0x6063 - 0
or
0x6064 - 0

Position actual value

 No

MC_ReadActPos

 

PL.FB

 
0x606C - 0

Velocity actual value

 No

MLAxisReadVel

 

MC_ReadActVel

 

VL.FB

 
0x6077 - 0

Torque actual value

No

MLAxisReadTq

 

IL.FB

 
0x20A5 - 0
or
0x2901 - 0		 Latch status word No

CAPx.STATE

0x20A6 - 0
or
0x2902 - 0		 Latch position No
  • 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

 

PL.ERR

 

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TxPDO - S300 and S700 Drive CANopen Objects

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 Control Word

 

Yes

N/A

N/A

N/A
0x6063 - 0
or
0x6064 - 0

Position actual value

 No

MC_ReadActPos

 

PL.FB

 
0x2050 - 0
or
0x35C9 - 0

Position actual value 2

 No

MLAxisRead2ndFB


  • This FB is deprecated.
    The recommended method for accessing feedback 1-5 on an AKD2G, or a third-party device's position feedback, is to use the Sampler block and MLSmpConECAT.

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

 

IL.FB

 
0x20A5 - 0
or
0x2901 - 0		 Latch status word No

CAPx.STATE

0x20A6 - 0

or

0x2902 - 0

Latch position

No

CAPx.T - for time

CAPx.PLFB - for position

0x60F4

Following error

No

MLAxisReadFEUU

 

PL.ERR

 

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Examples

These are examples where the PDO object is passed as an argument in the function block.

Example 1

MLSmpConECAT( PipeNetwork.SMP1, 1001, 16#2050, 0);

Where:

Example 2

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

The argument is a constant based on the object index.

Example 3

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

Where:

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


  • 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.

Concept Link IconSee Also