Kollmorgen AKD series User Manual

AKD User Guide | CAP Parameters
CAP0.T, CAP1.T
General Information
Type R/O Parameter
Description Reads time capture (if time capture was configured).
Units ns
Range N/A
Default Value N/A
Data Type U32
See Also CAP0.MODE, CAP1.MODE
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
20A0h/0 CAP0.T
20A1h CAP0.T
20A2h/0 CAP1.T
20A3h/0 CAP1.T
M_01-00-00-000
Modbus
76 CAP0.T
102 CAP1.T
M_01-03-00-000
Description
If time capture was configured, the captured time is stored in this parameter. The reference time is the occur-
rence of the last MTS signal (recurring every 62.5 µs), so this is a purely drive internal time.
Related Topics
8.11 Using Position Capture
318 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