Kollmorgen AKD series

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20.7.1.3 Manufacturer specific SDOs

Index Sub-

index

Data

Type

Float

Scaling

Access PDO

mapp.

Description ASCII object

2014h ARRAY Mask TxPDO Channel 1 —

2014h 1 U32 RW no Mask (Byte 0..3) —

2014h 2 U32 RW no Mask (Byte 4..7) —

2015h ARRAY Mask TxPDO Channel 2 —

2015h 1 U32 RW no Mask (Byte 0..3) —

2015h 2 U32 RW no Mask (Byte 4..7) —

2016h ARRAY Mask TxPDO Channel 3 —

2016h 1 U32 RW no Mask (Byte 0..3) —

2016h 2 U32 RW no Mask (Byte 4..7) —

2017h ARRAY Mask TxPDO Channel 4 —

2017h 1 U32 RW no Mask (Byte 0..3) —

2017h 2 U32 RW no Mask (Byte 4..7) —

2018h ARRAY Firmware version —

2018h 0 U16 const no Number of entries —

2018h 1 U16 const no Major version —

2018h 2 U16 const no Minor version —

2018h 3 U16 const no Revision —

2018h 4 U16 const no Branch version —

2050h 0 INT32 1:1 RO no Position, secondary feedback DRV.HANDWHEEL

20A0h 0 INT32 var RO yes Latch position 1, positive edge CAP0.PLFB, CAP0.T

20A1h 0 INT32 var RO yes Latch position 1, negative edge CAP0.PLFB, CAP0.T

20A2h 0 INT32 var RO yes Latch position 2, positive edge CAP1.PLFB, CAP1.T

20A3h 0 INT32 var RO yes Latch position 2, negative edge CAP1.PLFB, CAP1.T

20A4h 0 U16 RW yes Latch control register —

20A5h 0 U16 RW yes Latch status register —

20A6h 0 INT32 var RO yes Sets captured position value CAP0.PLFB

20B8h 0 U16 RW no Clear changed digital input infor-

mation

—

3405h ARRAY VL.ARTYPE —

3405h 0 U8 RO no Number of entries —

3405h 1 U8 RW no Calculation method for BiQuad

filter 1

VL.ARTYPE1

3405h 2 U8 RW no Calculation method for BiQuad

filter 2

VL.ARTYPE2

3405h 3 U8 RW no Calculation method for BiQuad

filter 3

VL.ARTYPE3

3405h 4 U8 RW no Calculation method for BiQuad

filter 4

VL.ARTYPE4

3406h ARRAY VL BiQuad —

3406h 0 U8 RO no Number of entries —

3406h 1 U32 1000:1 RW no Natural frequency of pole of anti-

resonance (AR) filter 1

VL.ARPF1

3406h 2 U32 1000:1 RW no Natural frequency of pole of anti-

resonance (AR) filter 2

VL.ARPF2

3406h 3 U32 1000:1 RW no Natural frequency of pole of anti-

resonance (AR) filter 3

VL.ARPF3

AKD User Guide |

Kollmorgen | December 2010 122

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