Kollmorgen AKD series User Manual

Object 607Ch: homing offset (DS402) 109
Object 6098h: homing method (DS402) 109
Object 6099h: homing speeds (DS402) 112
Object 609Ah: homing acceleration (DS402) 112
Homing Mode Sequence 113
20.6.11 Profile Position Mode (pp) 114
20.6.11.1 General Information 114
Objects that are defined in this section 114
Objects that are defined in other sections 114
20.6.11.2 Object Description 115
Object 607Ah: target position (DS402) 115
Object 607Dh: Software position limit (DS402) 115
Object 6081h: profile velocity (DS402) 116
Object 6083h: profile acceleration (DS402) 116
Object 6084h: profile deceleration (DS402) 116
Functional Description 117
20.7 Appendix 119
20.7.1 Object Dictionary 119
20.7.1.1 Float Scaling 119
20.7.1.2 Communication SDOs 119
20.7.1.3 Manufacturer specific SDOs 122
20.7.1.4 Profile specific SDOs 130
20.7.2 Examples 132
20.7.2.1 Examples, setup 132
Basic testing of the connection to the AKD controls 132
Example: Operating the Status Machine 133
Example: Jog Mode via SDO 134
Example: Torque Mode via SDO 134
Example: Jog Mode via PDO 135
Example: Torque Mode via PDO 137
Example: Homing via SDO 138
Example: Using the Profile Position Mode 140
Example: ASCII Communication 143
Test for SYNC telegrams 144
20.7.2.2 Examples, special applications 145
Example: External Trajectory with Interpolated Position Mode 145
AKD User Guide | Table of Contents
Kollmorgen | December 2010 26

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