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Latest Posts

jcoleman02's picture
1 week 3 days ago

This article discusses AKD EtherCAT scaling for velocity, acceleration, and deceleration commands and actual velocity.  For the position modes, FBUS.PARAM05 applies to position scaling and the scaling for velocity, acceleration, and deceleration.

PP = Profile Position

IP = Interpolated Position

CSP = Cyclic Synchronous Position

PV = Profile Velocity

jcoleman02's picture
1 month 5 hours ago

The AKD drive supports flexible EtherCAT PDO mapping.  The 4 available flexible RxPDO’s (PDO data for receive direction, commands from master to drive) are mapped using objects 1600h, 1601h, 1602h, and 1603h.  Each one of these RxPDOs is limited to a maximum size of 8 bytes, but historically the sum total size for all four RxPDOs was limited to 20 bytes.  This sum total size for all four RxPDOs was changed in firmware version 1-16-00-002 to 32 bytes, dependent on setting ECAT.LEGACYREV=0.

TxPDO’s have always supported 32 byte of data

toddevans01's picture
1 month 4 days ago

The following chart demonstrates the differences in byte allocation for the command and response assemblies for the AKD1G and AKD2G EtherNet/IP drives.

jcoleman02's picture
1 month 1 week ago

PN.ACCSCALING sets the scaling factor for acceleration rates related to PROFINET motion commands.

The AKD PROFINET manual states that it applies to Jog Acc (PNU 1006), Jog Dec (PNU 1007), DRV_ACC (Telegram Signal 108), and DRV_DEC (Telegram Signal 109), and no other parameters.

However, it also applies to MDI_ACC (Telegram Signal 36), and MDI_DEC (Telegram Signal 37) for use in Telegrams 9 and 400.