Kollmorgen AKD series Manual

Ethernet/IP Communications | 1 Table of Contents
6.5 Torque 18
6.5.1 Setup Torque Mode 18
6.5.2 Torque Moves 19
6.6 Handling Faults 19
6.7 Saving to Non-volatile Memory 19
7 Drive Objects 20
7.1 Position Controller Class 0x25 20
7.2 Position Controller Supervisor Class 0x24 24
7.3 Parameter Class 0x0F 25
7.3.1 Supported Attributes 25
7.3.2 Read a Parameter Value 26
7.3.3 Write a Parameter Value 26
7.3.4 Execute a Command Parameter 26
8 Units 27
8.1 Position Units 27
8.2 Velocity and Acceleration Units 27
8.3 Torque Units 27
8.4 Other Floating Point Values 27
9 EIP Parameters 28
9.1 EIP.CMDMAP 29
9.2 EIP.CONNECTED 31
9.3 EIP.POSUNIT 32
9.4 EIP.PROFUNIT 33
9.5 EIP.RSPMAP 34
10 RS Logix Sample Projects 36
10.1 Add On Instructions 36
10.2 AKD Sample Project 36
10.3 "Registration Example" Project 36
11 Appendix A: Supported EtherNet/IP Objects and Attributes 37
11.1 Position Controller Object 0x25 37
12 Appendix B: Parameter Listing 38
13 Appendix C: Software Distribution License 58
4 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