Back to top

Hi,

I am using AKD Basic controlled through a Beckhoff TwinCAT2 PLC over EtherCAT. I have used AKD_TwinCAT.xml version 2.23 to configure the drives in TwinCAT2.

The default TxPDO (Inputs) use PDO 0x1B0 which sends the following values over...

0x6064:00 Position Actual Value

0x6041:00 Statusword

The PDO Ethercat channel provides deterministic, fast update of parameters between the KAS controller and drives (through Ethercat). The PDO Selection Mapping tab provides an method to link PDO parameters to variables in the application code. The following example shows mapping the Drive Status word bits  to (bool) variables in the project.

The drive Status Word bit definitions are as follows:

image

 

The attached demo project shows how to control a servo axis with a KAS controller in Velocity Mode instead fo the default Position Mode.

Some EtherCAT devices require padding data (empty data) inside their PDO content.  Some of these devices must have their PDO configuration entered or edited manually.  Here is an example of the PDO mapping for one of these devices as it shows up in another application’s PDO viewer:

image

The padding is highlighted in red.  Padding typically shows up in editors as  “…” or “---”.

The PDO parameters are not saved. An example of a sequence of actions in attachment. How save PDO parameters right? What mistake in my action? Attachment contains example of changing parameter 1403.02, from value 0xFF to 0x01.Parameters changed using USB-CAN converter. CANopen communication.

The attached demo project shows how to control a servo axis with a KAS controller in Torque Mode instead fo the default Position Mode. This project requires a 2.9 release of KAS software and PDMM firmware, which is currently only available in beta form if you have a customer that requires this feature.