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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

This powerpoint slides are getting started notes on our AKD drive. It includes general overview of CANopen and wiring of the AKD's

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.

Please ask you master,

Index Subindex Profile Data Type Access PDO mappable Description ASCII Object
6040h 00h DS402 INTEGER16 wo yes DS402 control word
6041h 00h
Index Subindex Data Type Access PDO mappable Description ASCII
6040h 0 UNSIGNED16 w yes control word
6041h 0 UNSIGNED16 ro yes status word
CAN Object Number (hex) ASCII 
Command
ASCII 
Type
Description
3890 CSSTAT Variable ro Status (see SDO 2401h)
3891 CSIOSTAT Variable ro Status (see SDO 2402h)
3892 CSERR Variable ro
CAN Object Number (hex) ASCII 
Command
Data format Weighting Status EEPROM
3600 SWCNFG UNSIGNED16 Disabled + Reset yes
3601 SWCNFG2 UNSIGNED16 Disabled + Reset
AN Object Number (hex) ASCII 
Command
ASCII 
Type
Description
3600 SWCNFG Variable rw Configuration of software limit switches
3604 SWE1 Variable rw SW limit switch (smalest position)
3606 SWE2 Variable rw
CAN Object Number (hex) ASCII 
Command
Data format Weighting Status EEPROM
3500 MAXSDO INTEGER32
3501 ACC INTEGER16 yes
3502

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