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.
  • 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

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 actual value

No

MLAxisReadTq

 

IL.FB

 

0x20A5 - 0
or
0x2901 - 0

Latch status word

No

CAPx.STATE

0x20A6 - 0
or
0x2902 - 0

Latch position

No
  • 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

 

PL.ERR