Step 5: Configure parameters for PVT segments
This step is optional depending on the application. It serves to modify the resolution or range of the PVT seg-
ments. AKD have default values for these two objects. The following example sets the default values.
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
601 2B 8F 60 01 00 00 10 00 Default value 2
20
601 2F 4C 20 01 01 00 00 00 Default value 1
601 2F 4C 20 02 01 00 00 00 Default value 1
Step 6: Switch NMT
The network management functions enable the application of the Process Data Objects (PDOs).
COB_ID Command specifier (CS) Node-ID Comment
0 1 1 NMT enable
Step 7: Enable the drive
This assumes that default TPDO1 map is not changed. Execute the following steps, waiting for the appropriate
reaction of the drive.
COB_ID Data Comment
201 06 00 Shutdown command
201 07 00 Switch on command
201 0F 00 Enable command
201 1F 00 Enable IP-mode
Step 8: Check the actual buffer size
Always check the actual buffer size before transmitting a PVT segment and make sure the usable buffer size is
not 0..
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
601 40 C4 60 02 00 00 00 00
Step 9: Transmit PVT segment
RPDO2 and RPDO3 can now be used to supply trajectory data, set the PVT segment value as required and
transmit it.
The target position is absolute. Make sure that the first segment is based on the current position. The trajectory
is a move from current position to the first set point.
COB_ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Comment
301 00 00 00 00 00 00 00 00 Position and velocity command
401 00 00 00 00 Time
80 sync
AKD CANopen | 8 Appendix
Kollmorgen™ | November 2012 157
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