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File Description 
AKD2G Servo Drive Firmware for CANopen, EtherCAT, EtherNet/IP, PROFINET, and Analog devices. This firmware complies with recently revised U.S. and E.U. export regulations (E.U. Dual-Use Regulation 428/2009, and U.S. Dual-use regulation EAR Category 3 under ECCN3A225).
Language 
English
Release 
02.09.00.001
Release Date 
Monday, April 4, 2022
File Description 
AKD2G Servo Drive Firmware for CANopen, EtherCAT, EtherNet/IP, PROFINET, and Analog devices. This firmware complies with recently revised U.S. and E.U. export regulations (E.U. Dual-Use Regulation 428/2009, and U.S. Dual-use regulation EAR Category 3 under ECCN3A225).
Language 
English
Release 
02.09.00.000
Release Date 
Friday, April 1, 2022
NOTE

This landing page is under construction and is a work-in-progress.

Check for more content and application notes in the near future.

 

File Description 
AKD2G Servo Drive Firmware for CANopen, EtherCAT, EtherNet/IP, PROFINET, and Analog devices. This firmware complies with recently revised U.S. and E.U. export regulations (E.U. Dual-Use Regulation 428/2009, and U.S. Dual-use regulation EAR Category 3 under ECCN3A225).
Language 
English
Release 
02.08.00.000
Release Date 
Friday, October 22, 2021

The AKD command source (DRV.CMDSOURCE) is set automatically by the EtherCAT/CANopen master controller.  There is no need to set this in Workbench when using the fieldbus.  And there is no need to read DRV.CMDSOURCE to verify that it's set correctly as long as there is nothing configured in the drive that would change it, such as a digital input.  Set the fieldbus mode of operation with object 6060h and let that automatically set the correct command source.

File Description 
AKD2G EtherCAT and CANopen Communications Manual describes the installation, setup, range of functions, and software protocol for the AKD2G product series.
Language 
English
Release 
A
Release Date 
Monday, September 20, 2021

The attached Excel spreadsheet provides quick look up charts and explanations grouped by topics and tabs for AKD1G CANopen communications. 

The following summarizes the 2 types of torque scalings for AKD1G EtherCAT and CANopen.

See the attached document for a full application note.

Scaling

Profile Torque

AKD EtherCAT and CANopen Torque Scaling

Velocity Scaling

AKD EtherCAT Scaling for Velocity, Acceleration, Deceleration

Position Scaling (in multiple modes of operation ) 

I'm using an AKD-P01206-NBCC drive via CANopen.

In profile position mode, I'm commanding the drive to various positions, and then

watching the "Target Reached" bit of the status word to see when the drive gets there.

A problem occurs when the drive is at the last targeted position (Target Reached=1), and

I command it to a new position. After writing the command word to 0x003F to tell the drive to

accept the new target _immediately_, my code expects that any status word read it makes

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