Kollmorgen AKD series User Manual

20.6.6 Profile Velocity Mode (pv) (DS402)
20.6.6.1 General Information
The profile velocity mode enables the processing of velocity setpoints and the associated accelerations.
Objects that are defined in this section
Index Object Name Type Access
606Ch VAR velocity actual value INTEGER32 R/O
60FFh VAR target velocity INTEGER32 R/W
Objects that are defined in other sections
Index Object Name Type Section
6040h VAR control word INTEGER16 dc (=> p. 91)
6041h VAR status word UNSIGNED16 dc (=> p. 92)
6063h VAR position actual value* INTEGER32 pc (=> p. 102)
6083h VAR profile acceleration UNSIGNED32 pp (=> p. 116)
6084h VAR profile deceleration UNSIGNED32 pp (=> p. 116)
20.6.6.2 Object description
Object 606Ch: velocity actual value (DS402)
The object velocity actual value represents the actual speed.
Index 606Ch
Name velocity actual value, VL.FB
Object code VAR
Data type INTEGER32
Mode pv
Access R/O
PDO mapping possible
Unit velocity units (SDO is in user units and the PDO is in RPM
Value range (-2
31
) to (2
31
-1)
Default value —
EEPROM no
AKD User Guide |
Kollmorgen | December 2010 98

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