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Dummy write position on CANopen bus.

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Hi there .

DO you know where the dummy write register is on the AKD CANopen bus.

It should be , ive guessed at x2100 sub 00 but it comes back with this error when I try to map it to a PDO.

 

I send a 601 message 8 bytes 23 01 16 01 02 01 C1 60  <- to map the interpolate position  and this works just fine. I have the servo moving just as expected.

and I get the reply 581 8 bytes 60 01 16 01 00 00 00 00 

 

I send a 601 message 8 bytes 23 01 16 02 20 00 00 21

and I get the reply 581 8 bytes 80 01 16 02 41 00 04 06  <- object could not be mapped.

 

 

So its just the Dummy position I cant get to work.

Do I have the right address as I cant find any mention of it in the CANopen manual.

 

First I disable the Rpdo2 , then delete the mapping , then start to assign new values as above.

 

 

Thanks

Adam.

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2 Answers

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These are data types defined in CiA 301:

0002h DEFTYPE INTEGER8

0003h DEFTYPE INTEGER16

0004h DEFTYPE INTEGER32

0005h DEFTYPE UNSIGNED8

0006h DEFTYPE UNSIGNED16

0007h DEFTYPE UNSIGNED32

They can only be used in write direction. It doesn't matter, if you take the signed or unsigned type as they are ignored anyway.

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Thank you so much for your reply.
It has really helped..
Wishing you well
Adam.

Adam Phipps - Tue, 12/22/2020 - 05:59

Shame I cant vote. I just get a 503 error.. may be that should be my next question :-)

Adam Phipps - Tue, 12/22/2020 - 06:00

Adam,

F503 Bus Capacitor Overload has to do with attempting aggressive moves and running the system on a single phase supply.
See the KDN article below that provides insight into this issue.
I don't know how your system was sized and selected.
Moving forward the KDN Community is useful for getting an answer to a specific question
but complete system commissioning is beyond its scope. I recommend you engage your Kollmorgen supplier to assist with
your system commissioning.
https://www.kollmorgen.com/en-us/developer-network/akd-single-phase-supp...

toddevans01 - Tue, 12/22/2020 - 06:22
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The dummy is index 4 subindex 0 for a INT32 ( 4 bytes ).

This is a documentation error in the manual.

601 message 8 bytes 23 01 16 02 20 00 04 00

I hope this helps!

 

 

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