Kollmorgen AKD series User Manual

AKD User Guide |
Subindex 1
Description physical outputs
Category mandatory
Access R/W
PDO mapping possible
Value range UNSIGNED32
Default value 0
Subindex 2
Description bit mask
Category optional
Access R/W
PDO mapping possible
Value range UNSIGNED32
Default value 0
31 18 17 16 15 1 0
manufacturer specific DOUT2 DOUT1 reserved set brake
MSB LSB
Object 6502h: Supported drive modes (DS402)
A drive can support more then one and several distinct modes of operation. This object gives an overview of the
implemented operating modes in the device. This object is read only.
Index 6502h
Name supported drive modes
Object code VAR
Data type UNSIGNED32
Category optional
Access R/O
PDO mapping possible
Value range UNSIGNED32
Default value 0x65 (ip hm pv pp)
31 16 15 7
6 5 4 3 2 1 0
manufacturer specific reserved ip hm reserved tq pv vl pp
MSB LSB
79 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