TxPDO - AKD-N 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
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
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
0x60F4	Following error	No	MLAxisReadFEUU	MC_ReadParam ID-1006 in Non-Boolean Parameters	PL.ERR