Kollmorgen AKD series Manual

Attribute 0x04: Position Units
Description This ratio value is the number of 32-bit actual position feedback counts equal to one position
unit.
Access Rule Get / Set
Data Type U32
Range 0 to 2
31
Default 65536 (16 bits/revolution)
Non-Volatile Yes
See Also N/A
Attribute 0x05: Profile Units
Description This ratio value is the number of 32-bit actual position feedback counts per second (velocity) or
second squared (acceleration) equal to one velocity or acceleration unit.
Access
Rule
Get / Set
Data Type U32
Range 0 to 2
31
Default 65536 (16 bits/revolution)
Non-Volat-
ile
Yes
See Also N/A
Attribute 0x06: Target Position
Description This attribute specifies the target position in counts. Set Start Trajectory=1 (attribute 11) or the
Polled I/O Start Trajectory/Load Data bit to initiate the positioning move.
Access
Rule
Get / Set
Data Type Double Integer
Range -2
31
to 2
31
Default 0
Non-Volat-
ile
No
See Also N/A
Attribute 0x07: Target Velocity
Description This attribute specifies the target velocity in counts per second. Use target velocity for pos-
ition opmode and jog velocity (attribute 22) for velocity opmode. Units are determined by the
amplifier setup (VUNIT, Position controller attributes 40-41)
Access
Rule
Get / Set
Data Type Double Integer
Range Set to a positive number
Default According to setup
Ethernet/IP Communications | 7 Drive Objects
Kollmorgen | December 2014 21

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