Kollmorgen AKD series User Manual

20.6.11 Profile Position Mode (pp)
20.6.11.1 General Information
The overall structure for this mode is shown in this figure:
The special handshake procedure for the control word and status word is described in "Functional Description"
(=> p. 117)
Objects that are defined in this section
Index Object Name Type Access
607Ah VAR target position INTEGER32 R/W
607Dh ARRAY software position limit INTEGER32 R/W
6081h VAR profile velocity UNSIGNED32 R/W
6083h VAR profile acceleration UNSIGNED32 R/W
6084h VAR profile deceleration UNSIGNED32 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)
AKD User Guide |
Kollmorgen | December 2010 114

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