AKD Command Source for EtherCAT/CANopen

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.

The correct command source to use for AKD EtherCAT or CANopen communication depends on the mode of operation that is being used.

For object 6060h = 7 (Interpolated Position mode), DRV.OPMODE is set to 2 (Position mode) and DRV.CMDSOURCE is set to 1 (Fieldbus).  This is because the source of the position command is coming directly from the fieldbus (not from the AKD’s internal profile generator as it does for motion tasks or homing).

For object 6060h = 6 (Homing mode), DRV.OPMODE is set to 2 (Position mode) and DRV.CMDSOURCE is set to 0 (Service).  This is because the source of the position command is coming from the AKD’s internal profile generator (not directly from the fieldbus).  This is true for Homing mode (homing in the drive) and Profile Position mode (motion tasking).

So, don’t worry about reading DVR.CMDSOURCE.  It will automatically be set correctly when you write to object 6060h to select your mode of operation.  Don’t change DRV.CMDSOURCE in Workbench while using the fieldbus.  Let the master controller set it with object 6060h.