RxPDO - 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

0x3601:1

Physical Outputs

Used by Onboard I/O mappings

No

N/A

N/A

DOUT.STATES

0x3800:2

AOUT1.Fieldbus Value

Used by Onboard I/O mappings

No

N/A

N/A

AOUT.VALUE

0x3801:2

AOUT2.Fieldbus Value

Used by Onboard I/O mappings

No

N/A

N/A

AOUT.VALUE

0x6040:0
or
0x6840:0

CANopen Control Word

 

Yes

Needed for motion engine axis to work properly.

 

0x6070A:0
or
0x6870:0

Target Position

Axis 1 / 2

Yes

 

0x60B8:0
or
0x68B8:0

Touchprobe function

Axis 1 / 2

No