Kollmorgen AKD series User Manual

Subindex 2
Name transmission type
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED8
Default Value FFh
Subindex 2 contains the transmission type of the PDO. There are two ways of setting:
l the value FFh or 255 for event-triggered PDO, which is directly interpreted by reception and taken into
actions,
l values from 0 to 240, which cause a SYNC-telegram-controlled interpretation of the PDO
contents. Values of 1 to 240 mean, that 0 to 239 SYNC-telegrams are ignored, before one is interpreted.
The value 0 means, that only the next SYNC-telegram is interpreted.
Objects 1600-1603h: 1st - 4th RXPDO mapping parameter (DS301)
Index 1600h - 1603h for RXPDO 1 .. 4
Name receive PDO mapping
Object Code RECORD
Data Type PDO Mapping
Category mandatory
Subindex 0
Name number of entries
Data type UNSIGNED8
Category mandatory
Access R/W
PDO Mapping not possible
Value Range 0: PDO is not active
1 - 8: PDO activated, mappings are taken only byte-wise
Default Value PDO1: 1
PDO2: 2
PDO3: 2
PDO4: 2
Subindex 1 - 8
Name PDO - mapping for the n-th application object
Category Conditional, depends on number and size of object be mapped
Access R/W
PDO Mapping not possible
Value Range UNSIGNED32
Default Value See below
AKD User Guide |
Kollmorgen | December 2010 82

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