Kollmorgen AKD series Manual

Attribute 0x0A: Move Type
Default 1
Non-Volatile No
See Also N/A
Attribute 0x0B: Trajectory Start/Complete
Description Set high (1) to start a trajectory move. Reads high (1) while in motion and low (0) when
motion is complete
Access Rule Get / Set
Data Type Boolean
Range 0 = Move Complete
1 = Start Trajectory (In Motion)
Default 0
Non-Volatile No
See Also N/A
Attribute 0x3A: Load Data Complete
Description Indicated the drive has successfully loaded the previous command value. It is used in com-
bination with attribute 0x0B Trajectory Start/Complete to handshake motion starts between
the AKD and controller.
Access
Rule
Get
Data Type Boolean
Range 0 = Load not complete
1 = Load complete
Default 0
Non-Volat-
ile
No
See Also N/A
Attribute 0x11: Enable
Description This flag is used to control the enable output. Clearing this bit sets the enable output inactive
and the currently executing motion profile is aborted.
Access
Rule
Get / Set
Data Type Boolean
Range 0 = Disable
1 = Enable
Default 0
Non-Volat-
ile
N/A
See Also N/A
Ethernet/IP Communications | 7 Drive Objects
Kollmorgen | December 2014 23

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