Kollmorgen AKD User Manual

AKD CANopen | 8 Appendix
8.2.2.2 Example: PVT Interpolation
This example shows the possible application for PVT. The PVT feature is cubic polynomial interpolation using tar-
get position, velocity and time from CAN bus. All data in this example is hexadecimal. Make sure that the firm-
ware in your drive supports the PVT feature.
Step 1: Do the PDO mapping
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
601 23 01 14 01 01 03 00 80 Stop possible transmit of the RPDO2
601 2F 01 16 00 00 00 00 00 Delete actual mapping of the RPDO2
601 23 01 16 01 20 01 C1 60 Build the mapping for 60C1 sub1
601 23 01 16 02 20 02 C1 60 Build the mapping for 60C1 sub2
601 2F 01 16 00 02 00 00 00 Enter number of mapped object
601 23 01 14 01 01 03 00 00 Enable transmit of RPDO2
601 23 02 14 01 01 04 00 80 Stop possible transmit of the RPDO3
601 2F 02 16 00 00 00 00 00 Delete actual mapping of the RPDO3
601 23 02 16 01 20 03 C1 60 Build the mapping for 60C1 sub2
601 2F 02 16 00 01 00 00 00 Enter number of mapped object
601 23 02 14 01 01 04 00 00 Enable transmit of RPDO3
Step 2: Set PDO transmission type
Assuming the drive accepts new trajectory values with every SYNC command, the communication parameters
must be set accordingly.
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
601 23 01 14 02 01 00 00 00 RPDO2 transmit with every sync
601 23 02 14 02 01 00 00 00 RPDO3 transmit with every sync
Step 3: Switch off unused TxPDO
TxPDO which is not used, should be switch off to minimize bus-load. In this example, all TxPDO are not used,
and all are switched off.
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
601 23 00 18 01 81 02 00 80 Switch off TPDO1
601 23 01 18 01 81 02 00 80 Switch off TPDO2
601 23 02 18 01 81 03 00 80 Switch off TPDO3
601 23 03 18 01 81 04 00 80 Switch off TPDO4
Step 4: Set interpolation mode
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
601 2B C0 60 00 00 00 FE FF Set PVT interpolation mode
601 2F 60 60 00 07 00 00 00 Set IP mode
156 Kollmorgen™ | November 2012

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