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

November 4, 2016
AKD Firmware 1.15.0.1

Objective:
We, Kollmorgen, supply an AKD.XML file to be used with the EtherCAT CoE Master.  It has one default configuration, “Interpolated Position”.  Many Customers want to use different configurations from the default.  It’s impossible to give instruction how to setup every EtherCAT master available on the market but the actual setup data will be almost the same every time.

I have added the analog I/O and digital I/O control CoE objects for use by the CoE Master.  The actual control of the drive doesn’t need them.

This document assumes the EtherCAT Master has “free mapping” function available.  The ability to select what data is to be shard every update cycle.  This information may not make sense to you but (hopefully) it will make sense to the person helping you setup your master.

Drive’s CanOpen Objects mapped to PDOs in this example:

Fixed PDO mapping:

0x1724, predefined mapping of position actual and status word
0x1B24, predefined mapping of position command, control word, and torque feed forward command
0x6060 = 8

Drive parameter setup:
FB1.PSCALE = 16
UNIT.PROTOTY = 3
UNIT.PIN = 65536
UNIT.POUT = 1

Free PDO mapping:

TX-PDO:
Control Word, 0x6040
Target Position, 0x607A
Analog output, 0x3470sub3   
Digital outputs, 0x60FEsub1

RX-PDO
Status Word, 0x6041
Position feedback, 0x6064
Analog Input, 0x3470sub4
Digital Input, 0x60FDsub0

0x6060 = 8

Drive parameter setup:
FBUS.PARAM05 = 16
UNIT.PROTOTY = 3
UNIT.PIN = 65536
UNIT.POUT = 1

Free mapping SDO Run-up script to configure the drive (Units will be 65536 counts/rev of the motor):