RxPDO - AKD Drive CANopen Objects

This table identifies:

Review the table to verify the objects needed by the features the application uses are included in the PDO selection.

Index - subindex	Object Name	Required	Associated ML FB	Associated MC FB	Associated Drive Parameter
0x20A4 - 0 or 0x2802 - 0	Latch The 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	No	MLAxisCfgFastIn MLAxisTimeStamp All Trigger MLTrig FB	MC_AbortTrigger MC_TouchProbe	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 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 value 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 Feed Forward	No	MLAxisAddTq	N/A	IL.BUSFF
0x60C1 - 1 or 0x6062 - 0	Position demand value	Yes	Related to the Axis MLAxisCmdPos pipe block positions. See Associated Data on Positions for more information.	MC_ReadParam ID-1 in Non-Boolean Parameters	PL.CMD
0x60FE - 1	Digital outputs Used by Onboard I/O mappings	No	N/A	N/A	DOUT.STATES