Kollmorgen AKD series User Manual

AKD User Guide |
Object 60C1h: Interpolation data record
In the AKD a single setpoint is supported for the interpolated position mode. For the linear interpolation mode
each interpolation data record simply can be regarded as a new position setpoint.
After the last item of an interpolation data record is written to the devices input buffer, the pointer of the buffer is
automatically incremented to the next buffer position.
Index 60C1h
Name Interpolation data record
Object code ARRAY
Data type INTEGER32
Category optional
Subindex 0
Description number of entries
Data type UNSIGNED8
Category mandatory
Access R/O
PDO mapping not possible
Value range 1
Default value no
Subindex 1
Description x1the first parameter of ip function fip(x1, .. xN)
Category mandatory
Access R/W
PDO mapping possible
Value range INTEGER32
Default value no
105 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