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AKD Motor driver Output Mapping Issue | 21 Jul 2023 | |

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.

 

 

Comments & Answers

jcoleman02 | Fri, 07/21/2023 - 12:52

Your question is very application specific, so there is not a definite answer.  If you want to control commanded current, the AKD drive will need to be in torque mode, specifically Profile Torque mode over EtherCAT (0x6060 = 4).  I would guess that you would map PDO's with target current (0x2071) and current actual value (0x2077), or alternatively 0x6071 and 0x6077.  Anything else would be dependent on whatever you need to command or read.

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