Kollmorgen AKD series User Manual

AKD User Guide |
Object 20A0h: Latch position 1, positive edge
This object is used to output the position or a time, depending on CAP0.MODE, at which the first positive edge
occurred on a signal, which can be configured with the command CAP0.TRIGGER. The latch enable must be
active for that purpose(see object 20A4 and 20A5). With CAP0.MODE = 3 the latched position of the encoder
index pulse is transferred via this object.
Index 20A0h
Name Latch position 1, positive edge,
CAP0.PLFB
Time capture, CAP0.T
Object code VAR
Data type INTEGER32
Category optional
Access R/O
PDO mapping possible
Value range INTEGER32
Default value 0
Object 20A1h: Latch position 1, negative edge
This object is used to output the position or a time, depending on CAP0.MODE, at which the first negative edge
occurred on a signal, which can be configured with the command CAP0.TRIGGER. The latch enable must be
active for that purpose(see object 20A4 and 20A5).
Index 20A1h
Name Latch position 1, negative edge,
CAP0.PLFB
Time capture, CAP0.T
Object code VAR
Data type INTEGER32
Category optional
Access R/O
PDO mapping possible
Value range INTEGER32
Default value 0
Object 20A2h: Latch position 2, positive edge
This object is used to output the position or a time, depending on CAP1.MODE, at which the first positive edge
occurred on a signal, which can be configured with the command CAP1.TRIGGER. The latch enable must be
active for that purpose(see object 20A4 and 20A5).
Index 20A2h
Name Latch position 2, positive edge,
CAP1.PLFB
Time capture, CAP1.T
Object code VAR
Data type INTEGER32
Category optional
Access R/O
PDO mapping possible
Value range INTEGER32
73 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