Kollmorgen AKD series User Manual

Object 100Ch: Guard Time (DS301)Response monitoring
The arithmetical product of the Objects 100Ch Guard Time and 100Dh Lifetime Factor is the response monitoring
time. The Guard Time is given in milliseconds. The response monitoring is activated with the first Nodeguard
object. If the value of the object Guard Time is set to zero, then the response monitoring is inactive.
Index 100Ch
Name Guard Time
Object code VAR
Data type UNSIGNED16
Category conditional;
mandatory, if heartbeat not supported
Access R/W
PDO mapping not possible
Value range UNSIGNED16
Default value 0
Object 100Dh: Lifetime Factor (DS301)
The product of Guard Time and Life Time Factor gives the life time for the nodeguarding protocol. If it’s 0, the pro-
tocol is not used.
Index 100Dh
Name Lifetime Factor
Object code VAR
Data type UNSIGNED8
Category conditional; (mandatory, if heartbeat not supported)
Access R/W
PDO mapping not possible
Value range UNSIGNED8
Default value 0
AKD User Guide |
Kollmorgen | December 2010 64

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