Kollmorgen AKD series User Manual

AKD User Guide |
Initiate SDO Download Protocol
The Initiate SDO Download protocol is used for write access to objects with up to 4 bytes of user data (expedited
transfer) or to initiate a segment transfer (normal transfer).
Download SDO Segment Protocol
The Download SDO Segment protocol is used for write access to objects with more than 4 bytes of user data
(normal transfer).
Initiate SDO Upload Protocol
The SDO Upload protocol is used for read access to objects with up to 4 bytes of user data (expedited transfer)
or to initiate a segment transfer (normal transfer).
Upload SDO Segment Protocol
The Upload SDO Segment protocol is used for read access to objects with more than 4 bytes of user data (nor-
mal transfer).
Abort SDO Protocol
The Abort SDO protocol breaks off SDO transmission, and indicates the error that caused the break in trans-
mission through an abort code (error code). The error code is in the format of an UNSIGNED32 value. The fol-
lowing table shows possible reasons for an abort SDO.
Abort Code Description
0504 0000h SDO timeout
0504 0001h Command specifier invalid
0504 0002h SDO segmented: invalid blocksize
0504 0004h SDO segmented: invalid block CRC
0504 0005h SDO segmented: out of memory
0601 0001h Attempted read access to a write-only object
0601 0002h Attempted write access to a read-only object
0602 0000h Object does not exist in Object Dictionary
0604 0041h Object cannot be mapped to a PDO
0604 0042h Size and number of mapped objects exceed permissible PDO length
0604 0043h General parameter incompatibility
0606 0000h SDO hardware fault
0607 0010h Data type incompatible, length of service parameter is incompatible
0609 0011h Subindex does not exist
0609 0030h Outside value range for the parameter (only for write access)
0609 0031h Parameter value too high
0609 0032h Parameter value too low
0800 0020h Data cannot be transmitted or saved
0800 0022h Data cannot be transmitted or saved because of device status
Abort Codes not listed above are reserved.
49 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