Kollmorgen AKD series User Manual

Object 1014h: COB-ID for Emergency Message (DS301)
This object defines the COB-ID of the Emergency message.
Index 1014h
Name COB-ID emergency message
Object code VAR
Data type UNSIGNED32
Category conditional; mandatory, if Emergency is supported
Access R/O
PDO mapping not possible
Value range UNSIGNED32
Default value 80h + Node - ID
Object 1016h: Consumer Heartbeat Time
The consumer heartbeat time defines the expected heartbeat cycle time (ms) and must be higher than the cor-
responding producer heartbeat time configured on the device producing this heartbeat. Monitoring starts after the
reception of the first heartbeat. If the consumer heartbeat time is 0 ms the corresponding entry is not used.
Index 1016h
Name consumer heartbeat time
Object code ARRAY
Data type UNSIGNED32
Category optional
Subindex 0
Description number of entries
Data type UNSIGNED8
Category mandatory
Access R/O
PDO Mapping not possible
Value range 1
Default value 1
Subindex 1
Description Consumer heartbeat time
Category mandatory
Access R/W
PDO Mapping not possible
Value range unsigned 32
Default value no
Definition of the entry value of Subindex 1
MSB LSB
Value reserved (value: 00) Node-ID heartbeat time
Encoded as - UNSIGNED8 UNSIGNED16
Bit
31 24 23 16 15 0
AKD User Guide |
Kollmorgen | December 2010 66

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