Kollmorgen AKD series User Manual

AKD User Guide |
Index Sub-
index
Data
Type
Float
Scaling
Access PDO
mapp.
Description ASCII object
3440h 3 U32 RW no Sets the time value for the drive
velocity to be within
CS.VTHRESH.
CS.TO
3441h 0 U8 RO no Controlled stop state CS.STATE
3443h 0 U16 RO no Returns the possible reason for a
drive disable
DRV.DIS
3444h 0 U16 1000:1 RO no Maximum current for dynamic
braking
DRV.DBILIMIT
3445h 0 U32 RO no Emergency timeout for braking DRV.DISTO
3450h 0 U8 WO no Release or enable brake MOTOR.BRAKERLS
3451h 0 U8 RW no Determines which drive param-
eters are calculated auto-
matically.
MOTOR.AUTOSET
3452h 0 U16 RW no Sets the motor maximum voltage MOTOR.VOLTMAX
3453h 0 U32 RW no Sets the motor temperature warn-
ing level
MOTOR.TEMPWARN
3454h 0 U32 1000:1 RW no Sets the thermal constant of the
motor coil
MOTOR.CTF0
3455h 0 U32 1000:1 RW no Sets the line-to-line motor Lq MOTOR.LQLL
3456h 0 U32 1000:1 RW no Sets the stator winding resist-
ance phase-phase in ohms
MOTOR.R
3460h RECORD Capture engines parameters —
3460h 0 U8 RO no Number of entries —
3460h 1 U8 RW no Specifies the trigger source for
the position capture.
CAP0.TRIGGER
3460h 2 U8 RW no Specifies the trigger source for
the position capture.
CAP1.TRIGGER
3460h 3 U8 RW no Selects the captured value. CAP0.MODE
3460h 4 U8 RW no Selects the captured value. CAP1.MODE
3460h 5 U8 RW no Controls the precondition logic. CAP0.EVENT
3460h 6 U8 RW no Controls the precondition logic. CAP1.EVENT
3460h 7 U8 RW no Selects the capture precondition
edge.
CAP0.PREEDGE
3460h 8 U8 RW no Selects the capture precondition
edge.
CAP1.PREEDGE
3460h 9 U8 RW no Sets the precondition trigger. CAP0.PRESELECT
3460h A U8 RW no Sets the precondition trigger. CAP1.PRESELECT
3470h RECORD —
3470h 0 U8 RO no Number of entries —
3470h 1 INT8 RW no Sets the analog output mode. AOUT.MODE
3470h 2 INT16 1000:1 RW yes Reads the analog output value. AOUT.VALUE
3470h 3 INT16 1000:1 RW yes Reads and writes the analog out-
put value.
AOUT.VALUEU
3470h 4 INT16 1000:1 RO yes Reads the value of the analog
input signal.
AIN.VALUE
3470h 5 U32 1000:1 RW no Sets velocity scale factor for
analog output
AOUT.VSCALE
3471h 0 U32 1:1 RW no Sets the analog position scale fac-
tor
"AOUT.PSCALE" (=> p.
286)
125 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