Kollmorgen AKD series User Manual

AKD User Guide |
Default RXPDO definition
RXPDO 1:
Subindex Value Meaning
0 1 One PDO-mapping entry
1 60 40 00 10 Control word
RXPDO 2:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Control word
2 60 60 00 08 Modes of Operation
RXPDO 3:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Control word
2 60 7A 00 20 Target Position (Mode PP)
RXPDO 4:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Control word
2 60 FF 00 20 Target Velocity (Mode PV)
83 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