Kollmorgen AKD series User Manual

AKD User Guide | CAP Parameters
CAP0.EVENT, CAP1.EVENT
General Information
Type R/W Parameter
Description Controls the precondition logic.
Units N/A
Range 0 to 3
Default Value 0
Data Type U8
See Also N/A
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3460h/5 CAP0.EVENT
3460h/6 CAP1.EVENT
M_01-00-00-000
Modbus
58 CAP0.EVENT
84 CAP1.EVENT
M_01-03-00-000
Description
The event mode controls use of the precondition logic. The four event modes are listed below.
Event Description
0 Trigger Event = Trigger edge (ignore precondition)
1 Trigger Event = Trigger edge after precondition edge
2 Trigger Event = Trigger edge while precondition = 1
3 Trigger Event = Trigger edge while precondition = 0
Example
Event 0
The following diagram shows an example of Event = 0 (trigger on edge, trigger edge = rising). In this mode, the
precondition logic is ignored.
Figure 1: Trigger Edge Mode
Events 2 and 3 (Trigger edge while precondition = 0 or 1)
308 Kollmorgen | December 2010

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