Problems with CK3E and Kollmorgen AKD

[tecnico]

Kollmorgen looks a bit different on this side

I think they use the same "setpoint" address for all the modes and switch it internally.
In some ESI files some mappings are dedicated to a single operating mode so you can find the PDOs you cited

Here is a working mapping I'm using with Etherlab

#define Slave_23_6063_0_PositionActualIn ECAT[0].IO[474].Data
#define Slave_23_2050_0_SecondPositionFe ECAT[0].IO[475].Data
#define Slave_23_606C_0_Velocityactualval ECAT[0].IO[476].Data
#define Slave_23_60FD_0_DigitalInputs ECAT[0].IO[477].Data
#define Slave_23_60F4_0_FollowingErrorAc ECAT[0].IO[478].Data
#define Slave_23_20A0_0_Latch1P ECAT[0].IO[479].Data
#define Slave_23_6041_0_Statusword ECAT[0].IO[480].Data
#define Slave_23_6077_0_TorqueActualValu ECAT[0].IO[481].Data
#define Slave_23_20A5_0_LatchStatus ECAT[0].IO[482].Data
#define Slave_23_3470_4_AINVALUE ECAT[0].IO[483].Data
#define Slave_23_6040_0_Controlword ECAT[0].IO[484].Data
#define Slave_23_60C1_1_1stsetpoint ECAT[0].IO[485].Data
#define Slave_23_20A4_0_LatchControlword ECAT[0].IO[486].Data
#define Slave_23_60B2_0_TorqueFeedForwar ECAT[0].IO[487].Data
#define Slave_23_60FE_1_DigitalOutputs ECAT[0].IO[488].Data
#define Slave_23_6072_0_MaxTorque ECAT[0].IO[489].Data