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Setup of EtherCAT master to run an AKD2G in DS402: Profile Velocity Mode

AKD2G Firmware AKD2G_01-90-13-000

 

Objective:

Help setup the AKD2G in DS402 Profile Velocity mode. 

 

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 set up your master.

 

I added the analog and digital I/O to the mapping. That is optional. The position units in my example are 65536 counts/rev. The velocity units in my example are in RPM.

 

AKD2G Single Axis Mapping example:

CoE Master to Drive (RXPDO)

  • Control Word, 0x6040
  • Target Velocity, 0x60FF
  • AOUT1, 0x3800sub02
  • AOUT2, 0x3801sub02           
  • Digital Outputs, 0x3601sub01

Drive to CoE Master (TXPDO)

  • Status Word, 0x6041
  • Position feedback, 0x6064
  • AIN1, 0x3780sub01
  • AIN2, 0x3781sub01
  • Digital Input, 0x60FDsub0

 

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

 

Index

Data

Comment

0x1C12:00

0x00

clear sm PDOs (0x1C12)

0x1C13:00

0x00

clear sm PDOs (0x1C13)

0x1A00:00

0x00

Clear RX-PDO1

0x1A00:01

0x60410010

Map Axis1.status word

0x1A00:02

0x60640020

Map Axis1.position feedback

0x1A00:03

0x37800110

Map AIN1

0x1A00:04

0x37810110

Map AIN2

0x1A00:05

0x60FD0020

Map Digital Input

0x1A00:00

0x05

Set count to 5

0x1A01:00

0x00

Clear RX-PDO2

0x1A02:00

0x00

Clear RX-PDO3

0x1A03:00

0x00

Clear RX-PDO4

0x1600:00

0x00

Clear TX-PDO1

0x1600:01

0x60400010

Map control word

0x1600:02

0x60FF0020

Map velocity command

0x1600:03

0x38000210

Map AOUT1

0x1600:04

0x38010210

Map AOUT2

0x1600:05

0x36010120

Map DOUT

0x1600:00

0x05

Set count to 5

0x1601:00

0x00

Clear TX-PDO2

0x1602:00

0x00

Clear TX-PDO3

0x1603:00

0x00

Clear TX-PDO4

0x1C12:01

0x1600

Download PDO 0x1C12:01 index

0x1C12:00

0x01

Download PDO 0x1C12 count

0x1C13:01

0x1A00

Download PDO 0x1C13:01 index

0x1C13:00

0x01

Download PDO 0x1C13 count

0x3601:02

0xFFFFFFFF

Output mask

0x6060:00

0x08

Set OpMode to Cyclic Synchronous Position

0x60C2:01

0x02

Cycle time 2mS

0x60C2:02

0xDF

Cycle exp.

0x6096:01

0x0000003C

Vel Numerator (60 counts/rev)

0x6096:02

0x00010000

Vel Devisor (65536 counts/rev)

0x6092:01

0x00010000

Pos Feed (65536 counts)

0x6092:02

0x00000001

Pos Shaft Rotation (1 Rotation)

 

AKD2G Dual Axis Mapping example:

CoE Master to Drive (RXPDO)

  • Axis1.Control Word, 0x6040
  • Axis1.Target Velocity, 0x60FF
  • Axis2.Control Word, 0x6840
  • Axis2.Target Position, 0x68FF
  • AOUT1, 0x3800sub02
  • AOUT2, 0x3801sub02           
  • Digital Outputs, 0x3601sub01

Drive to CoE Master (TXPDO)

  • Axis2.Status Word, 0x6041
  • Axis2.Position feedback, 0x6064
  • Axis2.Status Word, 0x6841
  • Axis2.Position feedback, 0x6864
  • AIN1, 0x3780sub01
  • AIN2, 0x3781sub01
  • Digital Input, 0x60FDsub0

 

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

 

Index

Data

Comment

0x1C12:00

0x00

clear sm PDOs (0x1C12)

0x1C13:00

0x00

clear sm PDOs (0x1C13)

0x1A00:00

0x00

Clear RX-PDO1

0x1A00:01

0x60410010

Map Axis1.status word

0x1A00:02

0x60640020

Map Axis1 position feedback

0x1A00:03

0x68410010

Map Axis2.status word

0x1A00:04

0x68640020

Map Axis1 potision feedback

0x1A00:05

0x37800110

Map AIN1

0x1A00:06

0x37810110

Map AIN2

0x1A00:07

0x60FD0020

Map Digital Input

0x1A00:00

0x07

Set count to 7

0x1A01:00

0x00

Clear RX-PDO2

0x1A02:00

0x00

Clear RX-PDO3

0x1A03:00

0x00

Clear RX-PDO4

0x1600:00

0x00

Clear TX-PDO1

0x1600:01

0x60400010

Map control word

0x1600:02

0x60FF0020

Map velocity command

0x1600:03

0x68400010

Map control word

0x1600:04

0x68FF0020

Map velocity command

0x1600:05

0x38000210

Map AOUT1

0x1600:06

0x38010210

Map AOUT2

0x1600:07

0x36010120

Map DOUT

0x1600:00

0x07

Set count to 7

0x1601:00

0x00

Clear TX-PDO2

0x1602:00

0x00

Clear TX-PDO3

0x1603:00

0x00

Clear TX-PDO4

0x1C12:01

0x1600

Download PDO 0x1C12:01 index

0x1C12:00

0x01

Download PDO 0x1C12 count

0x1C13:01

0x1A00

Download PDO 0x1C13:01 index

0x1C13:00

0x01

Download PDO 0x1C13 count

0x3601:02

0xFFFFFFFF

Output mask

0x6060:00

0x08

Axis1.Set OpMode to Cyclic Synchronous Position

0x60C2:01

0x02

Axis1.Set Cycle time 2mS

0x60C2:02

0xDF

Axis1.Set Cycle exp.

0x6096:01

0x0000003C

Axis1 Vel Numerator (60)

0x6096:02

0x00010000

Axis1 Vel Devisor (65536)

0x6092:01

0x00010000

Axis1 Feed (65536 counts)

0x6092:02

0x00000001

Axis1 Shaft revolutions (1 revolution)

0x6860:00

0x08

Axis2.Set OpMode to Cyclic Synchronous Position

0x68C2:01

0x02

Axis2.Set Cycle time 2mS

0x68C2:02

0xDF

Axis2.Set Cycle exp.

0x6896:01

0x00000001

Axis2 Numerator (60)

0x6892:02

0x00010000

Axis2 Devisor (65536)

0x6892:01

0x00010000

Axis2 Feed (65536 counts)

0x6892:02

0x00000001

Axis2 Shaft revolutions (1 revolution)