Kollmorgen AKD series User Manual

20.6.9 Interpolated Position Mode (ip) (DS402)
20.6.9.1 General information
The interpolated position mode is implemented in a simple, straightforward way. Single position setpoints must
be transmitted in the interpolation time period and are taken over on every defined SYNC - telegram sent. A linear
interpolation is used between the setpoints.
Objects defined in this section
Index Object Name Type Access
60C0h VAR Interpolation sub mode select INTEGER16 R/W
60C1h ARRAY Interpolation data record INTEGER32 R/W
60C2h RECORD Interpolation time period Interpolation time period R/W
60C4h RECORD Interpolation data configuration record Interpolation data con-
figuration record
R/W
Objects defined in other sections
20.6.9.2 Object description
Object 60C0h: Interpolation sub mode select
In the AKD the linear interpolation between position setpoints is supported. The only allowed value is 0.
Index 60C0h
Name Interpolation sub mode select
Object code VAR
Data type INTEGER16
Category optional
Access R/W
PDO mapping possible
Value range 0
Default value 0
AKD User Guide |
Kollmorgen | December 2010 104

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