Kollmorgen AKD series User Manual

Object 1005h: COB-ID of the SYNC Message (DS301)
This object defines the COB-Id of the synchronisation object (SYNC).
Index 1005h
Name COB-ID for the SYNC message
Object code VAR
Data type UNSIGNED32
Category conditional
Access R/W
PDO mapping not possible
Value range UNSIGNED32
Default value no
Bit coded information:
Bit Value Meaning
31 (MSB) X —
30 0 Device not generate SYNC message
1 Device generates SYNC message
29 0 11 Bit ID (CAN 2.0A)
1 29 Bit ID (CAN 2.0B)
28 to 11 X —
0 if Bit 29=0
10 to 0 (LSB) X Bit 0 to 10 of SYNC COB-ID
ThedevicedoesnotsupportthegenerationofSYNC-messagesandonlythe11-bitIDs.Sothebits11to30arealways0.
Object 1006h: Communication Cycle Period (DS301)
This object can be used to define the period (in µs) for the transmission of the SYNC telegram.
Index 1006h
Name Period of the communication cycle
Object code VAR
Data type UNSIGNED32
Category O
Access R/W
PDO mapping not possible
Value range UNSIGNED32
Default value 00h
AKD User Guide |
Kollmorgen | December 2010 62

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