TxPDO - AKD2G 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.
-
- Axis 1 objects begin with 0x60.
Axis 2 objects begin with 0x68.
|
Index - subindex |
Object Name |
Required |
Associated ML FB |
Associated MC FB |
Associated Drive Parameter |
|---|---|---|---|---|---|
|
0x3780:1 |
AIN1.VALUE |
No |
N/A |
N/A |
|
|
0x3781:1 |
AIN2.VALUE |
No |
N/A |
N/A |
|
|
0x6041:0 |
Status word Axis 1 / 2 |
Yes |
Needed for the servo axis mapped to the drive to work properly. |
Needed for the servo axis mapped to the drive to work properly. |
|
|
0x6064:0 |
Position actual value Axis 1 / 2 |
Yes |
Needed for the servo axis mapped to the drive to work properly. |
Needed for the servo axis mapped to the drive to work properly. |
|
|
0x6077:0 |
Torque actual value Axis 1 / 2 |
No |
|
|
|
|
0x60B9:0 |
Touch Probe Status Axis 1 / 2 |
No |
|
|
|
|
0x60D1:0 |
Touch Probe 1 Time Stamp positive value Axis 1 / 2 |
No |
|
|
|
|
0x60D4:0 |
Touch Probe 2 Time Stamp positive value Axis 1 / 2 |
No |
|
|
|
|
0x60E4:3 |
3rd additional Position actual value Axis 1 |
No |
For a digitizing axis |
|
|
|
0x60E4:4 |
4th additional Position actual value Axis 1 |
|
For a digitizing axis |
|
|
|
0x60E4:5 |
5th additional Position actual value Axis 1 |
|
For a digitizing axis |
|
|
|
0x60F4:0 |
Following error Actual value: Axis 1 / 2 |
No |
|
|
