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

The KAS Motion Engine interacts with the AKD, AKD2G, AKD-N, S300, or S700 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 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 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