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Kollmorgen Support Network

AKD EtherCAT and CANopen Landing Page | 09 Sep 2021 | |

AKD EtherCAT and CANopen Landing Page

Scaling

Profile Torque

AKD EtherCAT and CANopen Torque Scaling

Velocity Scaling

AKD EtherCAT Scaling for Velocity, Acceleration, Deceleration

Position Scaling (in multiple modes of operation ) 

Position Scaling for AKD drive with EtherCAT Communication | Kollmorgen

AKD DS402 Position Scaling Setup | Kollmorgen

Application Notes

Interpolated Position Mode

CanOpen and Ethercat (CoE) Interpolated Position Notes | Kollmorgen

AKD CoE Interpolated Position Mapping | Kollmorgen

Cyclic Synchronous Position Mode

Setup of EtherCAT master to run an AKD in “DS402: Cyclic Synchronous Position Mode” | Kollmorgen

Touch Probes

Touch Probe with the AKD EtherCAT drive | Kollmorgen

Touch Probe Examples with AKD EtherCAT drive

CANopen Cheat Sheet

CanOpen Cheat Sheet

Command Source (DRV.CMDSOURCE)

AKD Command Source for EtherCAT/CANopen

PDO Mapping

AKD EtherCAT Flexible PDO Mapping Size Limitations and Padding

TwinCAT 3

TwinCAT 3 Setup Instructions For AKD

XML (ESI) files

XML (ESI) filenames, and directories in TwinCAT

 

Videos

The following link provides PowerPoint presentations which may be used in tandem with its respective video covers using TwinCAT3 and the defaults from the ESI file (Interpolated Position mode) and additionally changing the default setup for Cyclic Synchronous Position mode. It is recommended to follow the default setup first and then, if applicable, follow the setup for CSP mode.

AKD1G EtherCAT Default Interpolated Position Mode and CSP Presentations and Videos 

Troubleshooting

AKD EtherCAT Troubleshooting List - a list of data to gather for efficient troubleshooting of common EtherCAT issues

AKD EtherCAT Troubleshooting List

Wireshark Training EtherCAT

How to Capture and Use Ethercat Wireshark Trace Data

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