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AKD TwinCAT Position mode problem | 26 Jul 2023 | |

AKD TwinCAT Position mode problem

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.
From previous question(AKD Motor driver Output Mapping Issue | Kollmorgen), I attempted to manipulate the motor with the position mode (0x6060 map as 8 in SDO)

I had a assumption that if I successfully mapped 0x8080 := 8, then I would be able to manipulate the motor with 0x6063(1st set-point).

But even if I set the 0x8080 := 8 in SDO (corresponding png file is attached.), I couldn't manipulate the motor with 0x6063.
(I referred the document 'AKD EtherCAT Communication(903-200005-00), pp. 51-53)

Is there something I need to map for manipulation of motor with TwinCAT C++ ?

Thank you for your continued support and assistance.

SDO.PNG (62.18 KB)
Mapping Status.PNG (125.51 KB)

Comments & Answers

jcoleman02 | Wed, 07/26/2023 - 12:46

6060h = 8 is Cyclic Synchronous Position mode.  It uses object 607Ah for the target position.  Object 60C1h subindex 1 (1st setpoint) is used for Interpolated Position mode (6060h = 7).

6063h or 6064h are used for position feedback.  The difference between 6063h and 6064h is in how the position values are scaled.  See this article for info about scaling: Position Scaling for AKD drive with EtherCAT Communication | Kollmorgen

6060h can be set via SDO, but the CSP objects (6040h, 6041h, 607Ah, and 6063h or 6064h) must be mapped to PDO's.

Here is the help page for the AKD2G drive for CSP mode.  It will operate similar to the AKD drive.  There is more information in the AKD2G documentation which may be helpful.  Cyclic Synchronous Position Mode (

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