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Setup of EtherCAT master to run an AKD in “DS402: Cyclic Synchronous Position Mode”

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.

I have added the analog I/O and digital I/O control CoE objects for use by the CoE Master.  The actual control of the drive doesn’t need them.

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 you setup your master.

Drive’s CanOpen Objects mapped to PDOs in this example:

Fixed PDO mapping:

0x1724, predefined mapping of position actual and status word
0x1B24, predefined mapping of position command, control word, and torque feed forward command
0x6060 = 8


Drive parameter setup:
FBUS.PARAM05 = 16
UNIT.PROTOTY = 3
UNIT.PIN = 65536
UNIT.POUT = 1

Free PDO mapping:

TX-PDO:
Control Word, 0x6040
Target Position, 0x607A
Analog output, 0x3470sub3   
Digital outputs, 0x60FEsub1

RX-PDO
Status Word, 0x6041
Position feedback, 0x6064
Analog Input, 0x3470sub4
Digital Input, 0x60FDsub0

0x6060 = 8

Drive parameter setup:
FBUS.PARAM05 = 16
UNIT.PROTOTY = 3
UNIT.PIN = 65536
UNIT.POUT = 1

Free mapping SDO Run-up script to configure the drive (Units will be 65536 counts/rev of the motor):

Index

Data

Comment

0x1C12:00

0x00

clear sm PDOs (0x1C12)

0x1C13:00

0x00

clear sm PDOs (0x1C13)

0x1A00:00

0x00

Clear RX-PDO1

0x1A00:01

0x60410010

Map status word to RX-PDO1

0x1A00:02

0x60640020

Map position feedback to RX-PDO1

0x1A00:00

0x02

Set RX-PDO1 count to 2

0x1A01:00

0x00

Clear RX-PDO2

0x1A01:01

0x34700410

Map analog input to RX-PDO2

0x1A01:02

0x60FD0020

Map digital inputs to RX-PDO2

0x1A01:00

0x02

Set RX-PDO2 count to 2

0x1A02:00

0x00

Clear RX-PDO3

0x1A03:00

0x00

Clear RX-PDO4

0x1600:00

0x00

Clear TX-PDO1

0x1600:01

0x60400010

Map control word to TX-PDO1

0x1600:02

0x607A0020

Map position command to TX-PDO1

0x1600:00

0x02

Set TX-PDO1 count to 2

0x1601:00

0x00

Clear TX-PDO2

0x1601:01

0x34700310

Map analog out to TX-PDO2

0x1601:02

0x60FE0120

Map digital out to TX-PDO2

0x1601:00

0x02

Set TX-PDO2 count to 2

0x1602:00

0x00

Clear TX-PDO3

0x1603:00

0x00

Clear TX-PDO4

0x1C12:01

0x1600

Download PDO 0x1C12:01 index

0x1C12:02

0x1601

Download PDO 0x1C12:02 index

0x1C12:00

0x02

Download PDO 0x1C12 count

0x1C13:01

0x1A00

Download PDO 0x1C13:01 index

0x1C13:02

0x1A01

Download PDO 0x1C13:02 index

0x1C13:00

0x02

Download PDO 0x1C13 count

0x6060:00

0x08

Set OpMode to Cyclic Synchronous Position

0x60C2:01

0x02

Cycle time

0x60C2:02

0xDF

Cycle exp.

0x60FE:02

0x00030001

Digital output mask

0x36E9:00

0x00000010

FBUS.PARAM05, enable DS402 scaling

0x6091:01

0x00000001

Motor revolutions

0x6091:02

0x00000001

Shaft revolutions

0x6092:01

0x00100000

Feed (65536 counts/rev)

0x6092:02

0x00000001

Shaft revolutions