Kollmorgen AKD series Manual

Ethernet/IP Communications | 7 Drive Objects
Attribute 0x19: Torque
Description Set a new torque command (IL.CMDU) in torque mode or read the current torque command.
The Trajectory Start attribute is used to begin motion.
Access
Rule
Get / Set
Data Type Double Integer
Range -3280 to 3280 (3280 = peak torque)
Default 0
Non-Volat-
ile
No
See Also N/A
Attribute 0x64: Home Mode
Description Set the desired homing mode.
Access Rule Get / Set
Data Type U16
Range N/A
Default 0
Non-Volatile Yes
See Also N/A
Attribute 0x65: Start Home Move
Description Start homing.
Access Rule Get / Set
Data Type Boolean
Range 0 = Do not move home
1 = Initiate a home move
Default 0
Non-Volatile No
See Also N/A
7.2 Position Controller Supervisor Class 0x24
Attribute 0x05: General Fault
Description When active, this indicates that an amplifier related failure has occured (short circuit, over-
voltage, ect).
Access Rule Get
Data Type U32
Range 1 = Fault condition exists
0 = No fault exists
See Also DRV.FAULTS
24 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