Kollmorgen AKD series User Manual

DRV.TYPE
General Information
Type
R/O on analog, EtherCAT and CANopen models
R/W on the CC drive model.
Description Selects the operational fieldbus on CC drive models.
Units N/A
Range 0 to 3
Default Value 2
Data Type Integer
See Also FBUS.TYPE, DRV.INFO
Start Version M_01-03-00-000
Fieldbus Index/Subindex Object Start Version
Modbus 276 M_01-03-00-000
Description
DRV.TYPE allows you to select the operational fieldbus for your drive. This parameter is read-write on the CC
drive models and read-only on the analog, EtherCAT, and CANopen drive models. To change the operational
fieldbus of your drive:
1. Set DRV.TYPE to one of the following values:
0 = Analog (no EtherCAT or CANopen) with no position indexer functionality.
1 = Analog (no EtherCAT or CANopen) with position indexer functionality.
2 = EtherCAT
3 = CANopen
2. Save the parameters to the NV memory on the drive by issuing the DRV.NVSAVE command
3. Power cycle the 24 V supply to the drive. When the drive has finished powering up, it will be working with
the new selection.
Changing DRV.TYPE does not immediately change the type of the drive fieldbus selection. You must power
cycle the drive to start the drive with the selected functionality.
You cannot use EtherCAT and CANopen at the same time. Use FBUS.TYPE or DRV.INFO to identify the field-
bus currently in use.
Related Topics
2 AKD Models
AKD User Guide | DRV Parameters and Commands
Kollmorgen | December 2010 393

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