Kollmorgen AKD series User Manual

Object 6099h: homing speeds (DS402)
Index 6099h
Name homing speeds
Object code ARRAY
Data type UNSIGNED32
Subindex 1
Description speed during search for switch, HOME.V
Mode hm
Access R/W
PDO mapping possible
Unit velocity units
Value range 0 to (2
32
-1)
Default value equivalent 60 rpm
Subindex 2
Description speed during search for zero, HOME.FEEDRATE
Mode hm
Access R/W
PDO mapping not possible
Unit velocity units
Value range 0 to (2
32
-1)
Default value 1/8 * Object 6099 sub 1
Object 609Ah: homing acceleration (DS402)
Index 609Ah
Name homing acceleration
Object code VAR
Data type UNSIGNED32
Mode hm
Access R/W
PDO mapping possible
Unit acceleration units
Value range 0 to (2
32
-1)
Default value 0
AKD User Guide |
Kollmorgen | December 2010 112

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