Kollmorgen AKD

AKD CANopen | 8 Appendix
8.2.1.10 Test for SYNC telegrams
Configuration
l Assign Target Position and Profile Velocity to a PDO (2nd receive-PDO)
l Assign Actual Position to a PDO (1st transmit-PDO), generated with every 2nd SYNC.
l Assign Status word and Manufacturer Status to a PDO (2nd transmit-PDO), generated with every 3rd SYNC.
Telegrams with the corresponding responses:
COB-ID Control
byte
Index Sub-
index
Data Comment
Low byte High byte
603 2F 01 16 00h 00 00 00 00 RPDO2: delete mapping
583 60 01 16 00h 00 00 00 00
603 23 01 16 01h 20 00 7A 60 RPDO2, entry 1: target position
583 60 01 16 01h 00 00 00 00
603 23 01 16 02h 20 00 81 60 RPDO2, entry 2: profile velocity
583 60 01 16 02h 00 00 00 00
603 2F 01 16 00h 02 00 00 00 RPDO2: enter number of mapped objects
583 60 01 16 00h 00 00 00 00
603 2F 00 1A 00h 00 00 00 00 TPDO1: delete mapping
583 60 00 1A 00h 00 00 00 00
603 23 00 1A 01h 20 00 64 60 TPDO1: entry 1: Actual Position
583 60 00 1A 01h 00 00 00 00
603 2F 00 1A 00h 01 00 00 00 TPDO1: enter number of mapped objects
583 60 00 1A 00h 00 00 00 00
603 2F 00 18 02h 02 00 00 00 TPDO1: send with every 2nd SYNC
583 60 00 18 02h 00 00 00 00
603 2F 01 1A 00h 00 00 00 00 TPDO2: delete mapping
583 60 01 1A 00h 00 00 00 00
603 23 01 1A 01h 10 00 41 60 TPDO2: entry 1: Status word
583 60 01 1A 01h 00 00 00 00
603 23 01 1A 02h 20 00 02 10 TPDO2: entry 2: Manufacturer Status
583 60 01 1A 02h 00 00 00 00
603 2F 01 16 00h 02 00 00 00 TPDO2: enter number of mapped objects
583 60 01 16 00h 00 00 00 00
603 2F 01 18 02h 03 00 00 00 TPDO2: send with every 3rd SYNC
583 60 01 18 02h 00 00 00 00
SYNC-Object
COB-ID Comment
080 Object 181 (TPDO 1) appears at every 2
nd
SYNC
Object 281 (TPDO 2) appears at every 3
rd
SYNC
150 Kollmorgen™ | November 2012