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When migrating from AKD EtherCAT IP mode (Interpolated Position) to AKD2G EtherCAT CSP mode (Cyclic Synchronous Position), the only thing that needs to be changed is the target position object (change from 60C1h sub1 to 607Ah).

IP mode is supposed to use a buffer to store many subindexes of 60C1h. Sub1, sub2, sub3...  All of the data points of a motion profile can be set to the drive (to the buffer) at the beginning of the move.  Then the buffer executes each position data point at the appropriate time with interpolation, much like running a motion task.

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 master CNC/PLC that don’t use the AKD2G XML files and need information how to manually setup the EtherCAT CoE mapping.  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.

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.

Hi,

I am using an AKD in Cyclic synchronous position mode over Ethercat, but I don't understand why is peculiar target position (PL.CMD) ?,  also I can observe that control loop has a bad behavior, like the picture. 

Target position is 20 degree.

image