Kollmorgen AKD series Manual

Ethernet/IP Communications | 9 EIP Parameters
9.3 EIP.POSUNIT
General Information
Type
R/W
Description
Unit scaling for Position values over EtherNet/IP.
Units
N/A
Range
0 to 4,294,967,295
Default
Value
65536
Data Type
Integer
Start Ver-
sion
M_01-05-00-000
Variants Supported
Variant Supported
AKD Base No
AKD with Position Indexer No
AKD EtherCAT No
AKD CANopen No
AKD BASIC No
AKD SynqNet No
AKD EtherNet/IP Yes
AKD Profinet No
AKD sercos
®
III No
AKD-N No
AKD-C No
Fieldbus Information
Fieldbus Index/Subindex
Is 64 bit? Attributes Signed?
Object Start Version
Modbus 1590
No 32-bits No
M_01-06-03-000
Description
Position values are scaled according to the Ethernet/IP Position Controller Device standard. One “Position
Units” scaling value is defined, which gives the number of actual position feedback counts (at 32 bits per
revolution) equal to one position unit.
From Workbench, this scaling parameter is visible in the Ethernet/IP screen or as EIP.POSUNIT in the ter-
minal. From Ethernet/IP, this value can be accessed at attribute 0x04 Position Units of the Position Con-
troller object.
The default value is 2^16 = 65536, which provides 2^32 / 2^16 = 2^16 counts per revolution. A value of 1
would provide 2^32 / 1 = 2^32 counts per revolution.
Related Topics
EIP.PROFUNIT (➜ p. 33)
32 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