Kollmorgen AKD series User Manual

AKD User Guide |
Object 1010h: Store Parameters (DS301)
This object supports the saving of parameters to a flash EEPROM. Only the subindex 1 for saving of all param-
eters, which can also be saved in the parameter files via the GUI, is supported.
Index 1010h
Name store parameters (DRV.NVSAVE)
Object code ARRAY
Data type UNSIGNED32
Category optional
Subindex 0
Name number of entries
Object code VAR
Data type UNSIGNED8
Category mandatory
Access R/O
PDO Mapping not possible
Value range 1
Default value 1
Subindex 1
Name save all parameters
Object code VAR
Data type UNSIGNED32
Category mandatory
Access R/W
PDO Mapping not possible
Value range UNSIGNED32
Default value 1
Data definition:
Bit Value Meaning
31 to 2 0 reserved (=0)
1 0 Device does not save parameters autonomously
1 Device does save parameters autonomously
0 0 Device does not save parameters on command
1 Device does not save parameters on command
By read access to subindex 1 the drive provides information about its storage functionality.
This drive provides a constant value of 1 by read access, i.e. all parameters can be saved by writing to Object
1010 sub 1. In general the drive does not save parameters autonomously with the exception of e.g. the special
treatment of the homing of multiturn absolute encoders.
Storing of parameters is only done if a special signature ("save") is written to subindex 1. "save" is equivalent to
the unsigned32 - number 65766173h.
65 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