Kollmorgen AKD series User Manual

Object 1002h: Manufacturer Status Register (DS301)
The manufacturer status register contains important drive informations.
Index 1002h
Name Manufacturer Status Register
Object code VAR
Data type UNSIGNED32
Category optional
Access R/O
PDO mapping possible
Value range UNSIGNED32
Default value no
The following table shows the bit assignment for the status register:
Bit Description Bit Description
0 1 = Movement (positioning, homing) active 16 1 = Homing move active
1 reserved 17 reserved
2 1 = reference switch high (home-position) 18 reserved
3 1 = In Position 19 1 = Emergency stop active
4 reserved 20 reserved
5 reserved 21 reserved
6 reserved 22 reserved
7 reserved 23 1 = Homing move finished
8 Warning active 24 reserved
9 1 = target velocity reached (profile position mode) 25 1 = digital input 1 set
10 reserved 26 1 = digital input 2 set
11 1 = Homing error 27 1 = digital input 3 set
12 reserved 28 1 = digital input 4 set
13 1 = Safety selected 29 1 = digital input hardware enable set
14 1 = Power stage enabled 30 reserved
15 1 = Error state 31 reserved
AKD User Guide |
Kollmorgen | December 2010 60

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