Kollmorgen AKD series

Index Sub-
index
Data
Type
Float
Scaling
Access PDO
mapp.
Description ASCII object
3472h 0 U32 1:1 RW no Sets analog pscale factor "AIN.PSCALE" (=> p.
272)
3480h 0 U32 1000:1 RW no Integral gain of position regulator
PID loop
PL.KI
3481h ARRAY PL.INTMAX —
3481h 0 U8 RO no Number of entries —
3481h 1 U32 1:1 RW no Input saturation PL.INTINMAX
3481h 2 U32 1:1 RW no Output saturation PL.INTOUTMAX
3482h 0 INT32 1:1 RO no Maximum value of following error
in homing
HOME.PERRTHRESH
3483h 0 INT32 1:1 RW no Sets the position error warning
level
PL.ERRWTHRESH
3490h 0 INT32 1:1 RO no Position feedback offset FB1.OFFSET
3491h 0 U32 RO no Location of index pulse on EEO DRV.EMUEMTURN
3492h 0 U32 RO no Motion status of the drive DRV.MOTIONSTAT
3493h 0 U8 RO no Direction of EEO (emulated
encoder output)
DRV.EMUEDIR
DRV.EMUEDIR
3494h RECORD WS parameters —
3494h 0 U8 RO no Number of entries —
3494h 1 INT16 1000:1 RW no Sets maximum current used for
wake and shake
WS.IMAX
3494h 2 INT32 1:1 RW no Sets the maximum movement
required for wake and shake
WS.DISTMAX
3494h 3 U16 RW no Sets the delay for wake and
shake between loops in mode 0
WS.TDELAY3
3494h 4 INT32 1:1 RW no Defines the maximum allowed
velocity for Wake & Shake
WS.VTHRESH
3494h 5 U8 RO no Reads wake and shake status WS.STATE
3494h 6 U8 RW no Arm Wake and Shake to start WS.ARM
34A0h ARRAY PLS Position
34A0h 0 U8 RO no Number of entries —
34A0h 1 INT32 1:1 RW no Limit switch 1 compare value PLS.P1
34A0h 2 INT32 1:1 RW no Limit switch 2 compare value PLS.P2
34A0h 3 INT32 1:1 RW no Limit switch 3 compare value PLS.P3
34A0h 4 INT32 1:1 RW no Limit switch 4 compare value PLS.P4
34A0h 5 INT32 1:1 RW no Limit switch 5 compare value PLS.P5
34A0h 6 INT32 1:1 RW no Limit switch 6 compare value PLS.P6
34A0h 7 INT32 1:1 RW no Limit switch 7 compare value PLS.P7
34A0h 8 INT32 1:1 RW no Limit switch 8 compare value PLS.P8
34A1h ARRAY PLS Width —
34A1h 0 U8 RO no Number of entries —
34A1h 1 INT32 1:1 RW no Sets Limit Switch1 Width PLS.WIDTH1
34A1h 2 INT32 1:1 RW no Sets Limit Switch 2 Width PLS.WIDTH2
34A1h 3 INT32 1:1 RW no Sets Limit Switch 3 Width PLS.WIDTH3
34A1h 4 INT32 1:1 RW no Sets Limit Switch 4 Width PLS.WIDTH4
34A1h 5 INT32 1:1 RW no Sets Limit Switch 5 Width PLS.WIDTH5
34A1h 6 INT32 1:1 RW no Sets Limit Switch 6 Width PLS.WIDTH6
34A1h 7 INT32 1:1 RW no Sets Limit Switch 7 Width PLS.WIDTH7
AKD User Guide |
Kollmorgen | December 2010 126