Kollmorgen AKD series User Manual

20.6.2.2 Manufacturer specific objects
Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO
In order to reduce the bus loading with event-triggered PDOs, masking can be used to switch off the monitoring
for individual bits in the PDO. In this way it can be arranged, for instance, that actual position values are only sig-
naled once per turn.
This Object masks the PDO-channels 1 to 4. If only two bytes have been defined in a PDO, then it masks just
two bytes, although 4 bytes of mask information have been transmitted.
An activated bit in the mask means that monitoring is active for the corresponding bit in the PDO.
Index 2014h
2015h
2016h
2017h
Name tx_mask 1 to 4
Object code ARRAY
Data type UNSIGNED32
Subindex 1
Description tx_mask1 to 4_low
Mode independent
Access R/W
PDO mapping not possible
Unit —
Value range UNSIGNED32
Default value FFFFFFFFh
Subindex 2
Description tx_mask1 to 4_high
Mode independent
Access R/W
PDO mapping not possible
Unit —
Value range UNSIGNED32
Default value FFFFFFFFh
AKD User Guide |
Kollmorgen | December 2010 70

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