Kollmorgen AKD series User Manual

AKD User Guide |
20.5.4.8 Heartbeat
The Heartbeat Protocol defines an Error Control Service without need for remote frames. A Heartbeat Producer
transmits a Heartbeat message cyclically. One or more Heartbeat Consumer receive the indication. The rela-
tionship between producer and consumer is configurable via Object 1016h/1017h. The Heartbeat Consumer
guards the reception of the Heartbeat within the Heartbeat Consumer Time. If the Heartbeat is not received
within the Heartbeat Consumer Time a Heartbeat Event will be generated.
Heartbeat protocol:
53 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