RxPDO - 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.
  • 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

0x20A4 - 0

or

0x2802 - 0

Latch control word

No
  • 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

 

 

0x60B2 - 0
or
0x60F6 - 1

Additive torque value

Torque Feed Forward

No

MLAxisAddTq

 

N/A

IL.BUSFF

 

0x60C1 - 1
or
0x6062 - 0

Position demand value

Yes

PL.CMD

 

0x60FE - 1

Digital outputs

Used by Onboard I/O mappings

No

N/A

N/A

DOUT.STATES