Kollmorgen AKD series Manual

Ethernet/IP Communications | 7 Drive Objects
7 Drive Objects
7.1 Position Controller Class 0x25
The following attributes are supported in the Position Controller class. The instance number always equals 1
in the class/instance/attribute mappings for the Position Controller.
Attribute 0x01: Number of Attributes
Description The total number of attributes supported by the unit in the Position Controller class.
Access Rule Get
Data Type Unsigned Short Integer
Range N/A
Default N/A
Non-Volatile N/A
See Also DRV.FAULTS
Attribute 0x02: Attribute List
Description Returns an array with a list of the attributes supported by this unit in the Position Controller
Class. The length of this list is specified in Number of Attributes.
Access
Rule
Get
Data Type Array of Unsigned Short Integer
Range Array size is defined by Attribute 1
Default N/A
Non-Volat-
ile
N/A
See Also N/A
Attribute 0x03: Operation Mode
Description This attribute is used to get or set the operating mode. 0=Position (DRV.OPMODE2). 1= velo-
city (DRV.OPMODE 1). 2=Torque (DRV.OPMODE 0). This attribute must be set before any
move is attempted.
Access
Rule
Get / Set
Data Type Unsigned Short Integer
Range 0 = Position Mode
1 = Velocity Mode
2 = Torque Mode
3 = Other (read only)
Default 0
Non-Volat-
ile
No
See Also N/A
20 Kollmorgen | December 2014

Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing