TxPDO - AKD Drive CANopen Objects

This table identifies:

The CANopen objects required by the motion engine and function blocks.
Whether the objects are available in the default 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..
Their corresponding drive parameter.

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
0x6041 - 0	CANopen Control 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. 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	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 in Non-Boolean Parameters	IL.FB
0x20A5 - 0 or 0x2901 - 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 status word	No	MLAxisCfgFastIn MLAxisTimeStamp All Trigger MLTrig FB	MC_AbortTrigger MC_TouchProbe	CAPx.STATE
0x20A6 - 0 or 0x2902 - 0	Latch position	No	MLAxisCfgFastIn MLAxisTimeStamp All Trigger MLTrig FB	MC_AbortTrigger MC_TouchProbe	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 in Non-Boolean Parameters	PL.ERR