Kollmorgen AKD User Manual

7.3.2 Transmit PDOs (TXPDO)
Four Transmit PDOs can be configured in the drive:
l - configuration of the communication (Objects 1800-1803h)
l - configuration of the PDO-contents (mapping, Objects 1A00-1A03h)
7.3.2.1 Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301)
Index 1800h to 1803h for TXPDO 1 to 4
Name transmit PDO parameter
Object code RECORD
Data type PDO CommPar
Category mandatory
Subindex 0
Name number of entries
Data type UNSIGNED8
Category mandatory
Access R/O
PDO Mapping not possible
Value Range 5
Default Value 5
Subindex 1
Name COB-ID used by PDO
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED32
Default Value Index 1800h: 180h + Node-IDIndex 1801h: 280h + Node-ID
Index 1802h: 380h + Node-ID Index 1803h: 480h + Node-ID
Subindex 2
Name transmission type
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED8
Default Value FFh
Subindex 3
Name inhibit time
Category optional
Access R/W
PDO Mapping not possible
Value Range UNSIGNED16 (n*1/10ms)
Default Value 0h
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 83

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