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Downloads >Setup of EtherCAT Master To Run An AKD In “DS402: Profile Torque Mode”
Revision: October 20, 2016
Valid with: AKD Firmware 1.15.0.1 and later
Objective
The ESI file for the AKD drive (AKD.XML) sets Interpolated Position as the default configuration. 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.
Although torque control of the drive doesn’t need them, the following settings includes the analog I/O and digital I/O objects to demonstrate the setup flexibility.
This setup requires that the EtherCAT Master has a flexible mapping function available; the ability to select what data is to be shared every update cycle.
Drive’s CoE Objects mapped to PDOs in this example
CoE Master to Drive (TXPDO):
- Control Word, 0x6040
- Target Torque, 0x6071
- Analog output, 0x3470sub3
- Digital outputs, 0x60FEsub1
Drive to CoE Master (RXPDO):
- Status Word, 0x6041
- Position feedback, 0x6064
- Analog Input, 0x3470sub4
- Digital Input, 0x60FDsub0
SDO Run-up script to configure the drive
| Step | Index | Data (Hex) | Description |
|---|---|---|---|
| 1 | 0x1C12 | 0x00 | Clear sm PDO |
| 2 | 0x1C13 | 0x00 | Clear sm PDO |
| 3 | 0x1A00:00 | 0x00 | Clear TX-PDO1 |
| 4 | 0x1A00:01 | 0x60410010 | Map status word to TX-PDO1 |
| 5 | 0x1A00:02 | 0x60640020 | Map position feedback to TX-PDO1 |
| 6 | 0x1A00:00 | 0x02 | Two items mapped to TX-PDO1 |
| 7 | 0x1A01:00 | 0x00 | Clear TX-PDO2 |
| 8 | 0x1A01:01 | 0x60FD0020 | Map digital I/O to TX-PDO2 |
| 9 | 0x1A01:02 | 0x34700410 | Map Analog I/O to TX-PDO2 |
| 10 | 0x1A01:00 | 0x02 | Two items mapped to TX-PDO2 |
| 11 | 0x1A02:00 | 0x00 | Disable TX-PDO3 |
| 12 | 0x1A03:00 | 0x00 | Disable TX-PDO4 |
| 13 | 0x1600:00 | 0x00 | Clear TX-PDO1 |
| 14 | 0x1600:01 | 0x60400010 | Map control word to RX-PDO1 |
| 15 | 0x1600:02 | 0x60710010 | Map Target Torque to RX-PDO1 |
| 16 | 0x1600:00 | 0x02 | Two items mapped to RX-PDO1 |
| 17 | 0x1601:00 | 0x00 | Clear RX-PDO2 |
| 18 | 0x1601:01 | 0x34700310 | Map Analog I/O to RX-PDO2 |
| 19 | 0x1601:02 | 0x60FE0120 | Map Digital I/O to RX-PDO2 |
| 20 | 0x1601:00 | 0x02 | Two items mapped to RX-PDO2 |
| 21 | 0x1602:00 | 0x00 | Clear RX-PDO3 |
| 22 | 0x1603:00 | 0x00 | Clear RX-PDO4 |
| 23 | 0x1C12:01 | 0x1600 | Register RX-PDO1 |
| 24 | 0x1C12:02 | 0x1601 | Register RX-PDO2 |
| 25 | 0x1C12:00 | 0x02 | Two RX-PDOs to be loaded |
| 26 | 0x1C13:01 | 0x1A00 | Register TX-PDO1 |
| 27 | 0x1C13:02 | 0x1A01 | Register TX-PDO2 |
| 28 | 0x1c13:00 | 0x02 | Two TX-PDOs to be loaded |
| 29 | 0x6060 | 0x04 | Profile torque mode |
| 30 | 0x60C2:01 | 0x01 | 1mS update rate |
| 31 | 0x60C2:02 | 0xFD | Update rate exponent (always 0xFD) |
| 32 | 0x60FE:02 | 0x00030001 | Digital output mask |
| 33 | 0x35CA:00 | 0x00100000 | UNIT.PIN |
| 34 | 0x35CB:00 | 0x00000001 | UNIT.POUT |
| 35 | 0x3660:00 | 0x00000003 | UNIT.PROTARY |
