Kollmorgen AKD series User Manual

CAP0.PLFB, CAP1.PLFB
General Information
Type R/O Parameter
Description Reads captured position value.
Units
Depends on UNIT.PROTARY or UNIT.PLINEAR
Rotary: counts, rad, deg, PIN/POUT, 16-bit counts
Linear: counts, mm, µm, PIN/POUT, 16-bit counts
Range Full range of a signed 64 bit variable
Default Value 0
Data Type S64
See Also UNIT.PROTARY, UNIT.PLINEAR
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
20A0h/0 CAP0.PLFB
20A1h/0 CAP0.PLFB
20A2h/0 CAP1.PLFB
20A3h/0 CAP1.PLFB
M_01-00-00-000
Modbus
64 (64-bit) CAP0.PLFB
90 (64-bit) CAP1.PLFB
M_01-03-00-000
Description
This parameter reads the captured position value scaled to actual set units. See UNIT.PROTARY or UNIT.PIN
for these units.
Related Topics
8.11 Using Position Capture
AKD User Guide | CAP Parameters
Kollmorgen | December 2010 313

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