Kollmorgen AKD User Manual

7.2.2 Manufacturer specific objects
7.2.2.1 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO
In order to reduce the bus loading with event-triggered PDOs, masking can be used to switch off the monitoring
for individual bits in the PDO. In this way it can be arranged, for instance, that actual position values are only sig-
naled once per turn.
This Object masks the PDO-channels 1 to 4. If only two bytes have been defined in a PDO, then it masks just
two bytes, although 4 bytes of mask information have been transmitted.
An activated bit in the mask means that monitoring is active for the corresponding bit in the PDO.
Index 2014h
2015h
2016h
2017h
Name tx_mask 1 to 4
Object code ARRAY
Data type UNSIGNED32
Subindex 1
Description tx_mask1 to 4_low
Mode independent
Access R/W
PDO mapping not possible
Unit —
Value range UNSIGNED32
Default value FFFFFFFFh
Subindex 2
Description tx_mask1 to 4_high
Mode independent
Access R/W
PDO mapping not possible
Unit —
Value range UNSIGNED32
Default value FFFFFFFFh
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 59

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