Kollmorgen AKD series User Manual

AKD User Guide |
Transmission modes
The following PDO transmission modes are distinguished:
l Synchronous transmission
l Asynchronous transmission
The pre-defined SYNC Object is transmitted periodically (bus clock), to synchronize the drives. Synchronous
PDOs are transmitted within a pre-defined time window immediately following the SYNC Object.
The transmission modes are set up with the aid of the PDO communication parameters.
Trigger modes
Three different trigger modes are distinguished:
l Event driven: The transmission of the telegrams is triggered by an object-specific event.
l Time driven: If event driven signals put a high strain on the bus, you can determine the period of time
after which a PDO can be transmitted again via the inhibit time (Communication parameter, Subindex
03h)
l Event Timer driven: If a PDO shall be sent within a defined time interval, even if it doesn’t change, this
interval can be defined by a special SDO.
51 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