AKD2G Firmware AKD2G_01-90-13-000
Objective:
We, Kollmorgen, supply an AKD2G XML files to be used with the EtherCAT CoE Master. It has one default configuration, “cyclic Synchronous Position” mode. Many Customers want to use EtherCAT…
With this EtherCAT Opmode, the trajectory generator is located in the control device, not in the AKD drive. In cyclic synchronous manner, the EtherCAT master provides a target velocity to the drive, which performs velocity control and…
Some History: We have been making EtherCAT drives since ~1998. That was before EtherCAT.org and before the EtherCAT standard. We don’t want to “break” our existing Customers' applications so we kept the same original scaling in the AKD. But the rest…
I have attached two screen shots of typical CoE (CanOpen over EtherCAT) mapping for position control using 0x6060 Interpolated position mode (7). scale is set by FBUS.PSCALE in units of the power of 2. Default is 2^20 counts/rev of the…
Interpolated Position Mode Notes (Ethercat and/or CanOpen):
Update message rate is set in drive parameter FBUS.SAMPLEPERIOD, Object 0X60C2 sub 1. It is set in increments of 62.5uS. Example: I wanted 8mS so I set 0X60C2 sub 1 to “8”…
For reading the Input status, State, for the Digital Inputs 1 – 7 on the AKD drive the object is 60FDh for digital inputs. This is defined by the standard DS402.
The manufacturer bits 16 to 22 display the state of digital inputs 1 to 7, bits 24 to…
Home >
Knowledge Base >
Community >
Downloads >