AKD User Guide |
21.4.5 Fixed PDO Mappings
Various ready-to-use mappings can be selected for cyclic data exchange via SDO’s of the object 0x1C12 and
0x1C13. Using object 0x1C12 subindex 1 (Sync Manager 2 assignment), a fixed mapping for the cyclic com-
mand values can be set with the values 0x1701, 0x1702, 0x1720 and 0x1721. Using object 0x1C13 subindex 1
(Sync Manager 3 assignment), a fixed mapping for the cyclic actual values can be set via the data 0x1B01,
0x1B02, 0x1B20 and 0x1B21.
The following sequence describes how to select the fixed command value mapping 0x1701 via SDO’s:
1. SDO write access to object 0x1C12Sub0 Data:0x00
2. SDO write access to object 0x1C12Sub1 Data:0x1701
3. SDO write access to object 0x1C12Sub0 Data:0x01
The following fixed mappings are supported:
Position interface:
0x1701 Position command value (4 bytes), Control word (2 bytes), total (6 bytes)
0x1720 Control Word (2 bytes), Interpolated position command value (4 bytes),
Latch control word (2 bytes), Torque feed forward (2 bytes), Digital outputs (2 bytes)
0x1721 Interpolated position command value (4 bytes), Control Word (2 bytes),
Torque feed forward (2 bytes)
0x1B01 Position actual value (4 bytes), Status word (2 bytes), total (6 bytes)
0x1B21 Position Actual Internal Value (4 bytes), Status word (2 bytes)
Velocity interface:
0x1702 Velocity command value (4 bytes), Control word (2 bytes), total (6 bytes)
0x1B02 Position actual value (4 bytes), Status word (2 bytes), total (6 bytes)
53 Kollmorgen | December 2010
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