Kollmorgen AKD series Manual

Instance Parameter DataSize Data Type
579 VM.START Command None
580 VM.STATE 1 Byte Integer
581 VM.STOP Command None
582 VM.ERR 4 Byte Integer
583 WHEN.FB1MECHPOS 4 Byte Integer
584 WHEN.FB3P 8 Byte Signed Integer
586 WHEN.DRVHANDWHEEL 4 Byte Integer
587 WHEN.DRVTIME 4 Byte Integer
588 WHEN.PLCMD 8 Byte Signed Integer
590 WHEN.PLFB 8 Byte Signed Integer
592 MOVE.DWELLTIME 4 Byte Integer
593 IL.MI2T 2 Byte Float
594 AIN.DEADBANDMODE 2 Byte Integer
595 AIN.MODE 1 Byte Integer
596 DIO10.DIR 1 Byte Integer
597 DIO10.INV 1 Byte Integer
598 DIO11.DIR 1 Byte Integer
599 DIO11.INV 1 Byte Integer
600 DIO9.DIR 1 Byte Integer
601 DIO9.INV 1 Byte Integer
602 FAULT130.ACTION 1 Byte Integer
603 FAULT131.ACTION 1 Byte Integer
604 FAULT132.ACTION 1 Byte Integer
605 FAULT134.ACTION 1 Byte Integer
606 FAULT702.ACTION 1 Byte Integer
607 IP.MODE 2 Byte Integer
608 LOAD.INERTIA 4 Byte Float
609 MOTOR.KE 4 Byte Float
610 VBUS.HALFVOLT 1 Byte Integer
611 FB2.DIR 1 Byte Integer
612 FAULT451.ACTION 1 Byte Integer
613 DRV.HWENDELAY 1 Byte Integer
614 DRV.HANDWHEELSRC 1 Byte Integer
615 IL.KPLOOKUPINDEX 2 Byte Integer
616 IL.KPLOOKUPVALUE 4 Byte Float
617 MOTOR.BRAKEIMM 1 Byte Integer
618 AIN2.CUTOFF 4 Byte Float
619 AIN2.DEADBAND 2 Byte Float
Ethernet/IP Communications | 12 Appendix B: Parameter Listing
Kollmorgen | December 2014 51

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