AKD Motor driver Output Mapping Issue
Hello, I'm currently working on controlling the AKM24D motor using the AKD P00307 Motor driver with EtherCAT, using a C++ based code in TwinCAT.
I succeeded to control the motor with
'Setup Instructions for TwinCAT3 with the AKD (kollmorgen.com)'
However, I'm facing some difficulties with the output mapping.
Specifically, I need to implement a non-linear control scheme in TwinCAT C++, and for that, I need to output a Target current to the motor driver.
According to the AKD EtherCAT Communication document, the location for the Target current is 0x2071. However, I would like to know if there are any other parameters or mappings that I need to consider to manipulate the AKD motor driver effectively.
Thank you in advance for any assistance or guidance you can provide.