Kollmorgen AKD series User Manual

AKD User Guide |
Object 60C4h: Interpolation data configuration
Only a single position setpoint is supported in the AKD. Therefore only the value 1 in Subindex 5 is possible. All
other subindices are set to 0.
Index 60C4h
Name Interpolation data configuration
Object code RECORD
Data type Interpolation data configuration record (0081h)
Category optional
Subindex 0
Description number of entries
Category mandatory
Access R/O
PDO mapping not possible
Value range 6
Default value 6
Subindex 1
Description Maximum buffer size
Category mandatory
Access R/O
PDO mapping not possible
Value range UNSIGNED32
Default value 0
Subindex 2
Description Actual buffer size
Category mandatory
Access R/W
PDO mapping possible
Value range UNSIGNED32
Default value 0
Subindex 3
Description Buffer organization
Category mandatory
Access R/W
PDO mapping possible
Value range UNSIGND8
Default value 0
107 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