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
or
0x6841:0

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
or
0x6864:0

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
or
0x6877:0

Torque actual value Axis 1 / 2

No

MLAxisReadTq

 

 

0x60B9:0
or
0x68B9:0

Touch Probe Status

Axis 1 / 2

No

 

0x60D1:0
or
0x68D1:0

Touch Probe 1

Time Stamp positive value

Axis 1 / 2

No

 

0x60D4:0
or
0x68D4:0

Touch Probe 2

Time Stamp positive value

Axis 1 / 2

No

 

0x60E4:3

3rd additional

Position actual value Axis 1

No

MLSmpConECAT

For a digitizing axis

 

0x60E4:4

4th additional

Position actual value Axis 1

 

MLSmpConECAT

For a digitizing axis

 

0x60E4:5

5th additional

Position actual value Axis 1

 

MLSmpConECAT

For a digitizing axis

 

0x60F4:0
or
0x68F4:0

Following error

Actual value: Axis 1 / 2

No

MLAxisReadFEUU