PDOs for AKD, AKD2G, AKD-N, S300, or S700

The KAS Motion Engine interacts with the AKD, AKD2G, AKD-N, S300 "Servostar 300 drive" See Servo Drive in Glossary, or 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 PDOs.
• Defaults:
  • AKD, AKD2G, and AKD-N PDOs include all of the CANopen objects needed by the motion engine and function blocks.
  • S300 and S700 PDOs include only the minimal CANopen objects required by the KAS motion engine.

PDO Types

• RxPDO — From Controller to Drive (RxPDO)
  • Drive and Objects
    • RxPDO - AKD Drive CANopen Objects
    • RxPDO - AKD2G Drive CANopen Objects
    • RxPDO - AKD-N Drive CANopen Objects
    • RxPDO - S300 and S700 Drive CANopen Objects
• TxPDO — From Drive to Controller (TxPDO)
  • Drives and Objects
    • TxPDO - AKD Drive CANopen Objects
    • TxPDO - AKD2G Drive CANopen Objects
    • TxPDO - AKD-N Drive CANopen Objects
    • TxPDO - S300 and S700 Drive CANopen Objects

Examples

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

Example 1

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.

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.

See Also