Kollmorgen AKD series User Manual

AKD User Guide |
Object 1017h: Producer Heartbeat Time
The producer heartbeat time defines the cycle time of the heartbeat in ms. If it’s 0, it is not used.
Index 1017h
Name Producer heartbeat time
Object code VAR
Data type UNSIGNED16
Category conditional;
mandatory, if guarding is not supported
Access R/W
PDO mapping not possible
Value range UNSIGNED16
Default value 0
Object 1018h: Identity Object (DS301)
The Identity Object contains general device information.
Index 1018h
Name Identity Object
Object code RECORD
Data type Identity
Category mandatory
Subindex 0
Description Number of entries
Data type UNSIGNED8
Category mandatory
Access R/O
PDO mapping not possible
Value range 1 to 4
Default value 4
Subindex 1 is a unique number for a device manufacturer.
Subindex 1
Description Vendor ID
Category mandatory
Access R/O
PDO mapping not possible
Value range UNSIGNED32
Default value 0x6Ah (Danaher Motion)
Subindex 2 contains four ASCII - characters, which determine the voltage range and current class of the device.
The voltage range is one character L, M or H for low, medium and high voltage. The next three characters are
showing the continuos current of the drive.
67 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