Kollmorgen AKD series User Manual

20.6.3.2 Transmit PDOs (TXPDO)
Four Transmit PDOs can be configured in the drive:
l - configuration of the communication (Objects 1800-1803h)
l - configuration of the PDO-contents (mapping, Objects 1A00-1A03h)
Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301)
Index 1800h to 1803h for TXPDO 1 to 4
Name transmit PDO parameter
Object code RECORD
Data type PDO CommPar
Category mandatory
Subindex 0
Name number of entries
Data type UNSIGNED8
Category mandatory
Access R/O
PDO Mapping not possible
Value Range 5
Default Value 5
Subindex 1
Name COB-ID used by PDO
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED32
Default Value Index 1800h: 180h + Node-IDIndex 1801h: 280h + Node-ID
Index 1802h: 380h + Node-ID Index 1803h: 480h + Node-ID
Subindex 2
Name transmission type
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED8
Default Value FFh
AKD User Guide |
Kollmorgen | December 2010 84

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