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…
When using torque mode in an AKD Basic program, you must set DRV.CMDSOURCE=0 (Service) in the program.
If the program executes an IL.CMDU command while DRV.CMDSOURCE=5, it will throw an F825 Runtime error. The runtime error message…
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