Kollmorgen AKD series User Manual

AKD User Guide |
20.6.3.1 Receive PDOs (RXPDO)
Four Receive PDOs can be configured in the drive:
l - configuration of the communication (Objects 1400-1403h)
l - configuration of the PDO-contents (mapping, Objects 1600-1603h)
Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301)
Index 1400h to 1403h for RXPDO 1 to 4
Name receive PDO parameter
Object code RECORD
Data type PDO CommPar
Category mandatory
Defined sub-indices
Subindex 0
Name number of entries
Data type UNSIGNED8
Category mandatory
Access R/O
PDO Mapping not possible
Value Range 2
Default Value 2
Subindex 1
Name COB-ID used by PDO
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED32
Default Value
Index 1400h: 200h + Node-ID Index 1401h: 300h + Node-ID
Index 1402h: 400h + Node-ID Index 1403h: 500h + Node-ID
Subindex 1 contains the COB-Id of the PDO as a bit coded information:
Bit Value Meaning
31 0 PDO exists/is valid
1 PDO does not exist/is not valid
30 0 RTR allowed on this PDO, not to be used (Can in Automation organisation)
1 RTR not allowed on this PDO
29 0 11 bit-ID (CAN 2.0A)
1 29 bit-ID (CAN 2.0B), not supported
28 to 11 X Identifier-bits with 29 bit-ID, not relevant
10 to 0 X Bits 10-0 of COB-ID
81 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