Kollmorgen AKD User Manual

Mapping configuration for axis 1:
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
601 2F 01 1A 00h 00 00 00 00 TPDO2: delete mapping
581 60 01 1A 00h 00 00 00 00
601 23 01 1A 01h 20 00 63 60 TPDO2, entry 1:
actual position in increments
581 60 01 1A 01h 00 00 00 00
601 23 01 1A 02h 20 00 02 10 TPDO2, entry 2:
Dummy entry 4 bytes
581 60 01 1A 02h 00 00 00 00
601 2F 01 1A 00h 02 00 00 00 TPDO2, enter number of
mapped objects
581 60 01 1A 00h 00 00 00 00
The same must be done for axis 2.
Here it is assumed that both drives accept new trajectory values with every SYNC command, and must return
their incremen tal position and manufacturer status values. The communication parameters must be set accord-
ingly.
Axis 1:
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
601 2F 01 14 02h 01 00 00 00 RPDO2 axis 1, reaction on every
sync
581 60 01 14 02h 00 00 00 00
602 2F 01 14 02h 01 00 00 00 RPDO2 axis 2, reaction on every
sync
582 60 01 14 02h 00 00 00 00
601 2F 01 18 02h 01 00 00 00 TPDO2 axis 1, reaction on every
sync
581 60 01 18 02h 00 00 00 00
602 2F 01 18 02h 01 00 00 00 TPDO2 axis 2, reaction on every
sync
582 60 01 18 02h 00 00 00 00
The other Tx-PDOs 3 and 4 should be switched off to minimize bus-load:
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
601 23 02 18 01h 81 03 00 80 Switch off TPDO3
581 60 02 18 01h 00 00 00 00
601 23 03 18 01h 81 04 00 80 Switch off TPDO4
581 60 03 18 01h 00 00 00 00
The same must be done for axis 2.
AKD CANopen | 8 Appendix
Kollmorgen™ | November 2012 153

Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing