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Example for Kollmorgen AKD with IgH EtherCAT Master library

AKD are CoE (Can over EtherCAT) servodrives manufactured by Kollmorgen.
Before using PDO on these devices, you have to configure them by sending a set of SDO commands at the startup.
This list of commands is long and error-prone, so the following example may help you to understand how it works.

It is easier to start sending SDO commands from the shell:
When you are ready, you can write the equivalent C program: When you have understood enough how free PDO works, you can try more serious examples:
Updated on March 18th, 2015 by Sebastien BLANCHET