Kollmorgen AKD series User Manual

AKD User Guide |
Index Sub-
index
Data
Type
Float
Scaling
Access PDO
mapp.
Description ASCII object
34A1h 8 INT32 1:1 RW no Sets Limit Switch 8 Width PLS.WIDTH8
34A2h ARRAY PLS Time —
34A2h 0 U8 RO no Number of entries —
34A2h 1 U16 RW no Sets limit switch 1 time PLS.T1
34A2h 2 U16 RW no Sets limit switch 2 time PLS.T2
34A2h 3 U16 RW no Sets limit switch 3 time PLS.T3
34A2h 4 U16 RW no Sets limit switch 4 time PLS.T4
34A2h 5 U16 RW no Sets limit switch 5 time PLS.T5
34A2h 6 U16 RW no Sets limit switch 6 time PLS.T6
34A2h 7 U16 RW no Sets limit switch 7 time PLS.T7
34A2h 8 U16 RW no Sets limit switch 8 time PLS.T8
34A3h ARRAY PLS Configuration —
34A3h 0 U8 RO no Number of entries —
34A3h 1 U16 RW no Enables the limit switches PLS.EN
34A3h 2 U16 RW no Resets limit switches PLS.RESET
34A3h 3 U16 RW no Selects limit switch mode PLS.MODE
34A3h 4 U16 RW no Reads the limit switch state PLS.STATE
34A4h 0 U8 RW no Sets limit switch units PLS.UNITS
3501h 0 INT32 1:1 RW no Acceleration ramp DRV.ACC
3502h 0 INT32 1:1 RW no Acceleration ramp for homing/jog
modes
HOME.ACC
3506h 0 INTEGER no Action that hardware enable dig-
ital input will perform.
DRV.HWENMODE
3509h 0 INT32 1000:1 RO no Analog input voltage AIN.VALUE
3522h 0 INT32 1:1 RW no Deceleration rate DRV.DEC
3524h 0 INT32 1:1 RW no Deceleration ramp for homing/jog
modes
HOME.DEC
352Ah 0 INT32 RW no Direction of movements DRV.DIR
3533h 0 U32 RO no Resolution of motor encoder FB1.ENCRES
3534h 0 U32 RO no Mode of EEO connector DRV.EMUEMODE
3535h 0 U32 RO no Resolution of EEO DRV.EMUERES
3537h 0 U32 RO no Location of EEO index pulse DRV.EMUEZOFFSET
353Bh 0 INT32 RO no Selection of the feedback type FB1.SELECT
3542h 0 U32 1000:1 RW no Position Control Loop: Pro-
portional Gain
PL.KP
3548h 0 U32 1000:1 RW no Velocity Control Loop: Pro-
portional Gain
VL.KP
354Bh 0 INT32 1000:1 RW no Sets the velocity loop velocity
feedforward gain value
VL.KVFF
354Dh 0 INT32 1000:1 RW no Velocity Control Loop: I-Inte-
gration Time
VL.KI
3558h 0 INT32 1000:1 RO no Current Monitor IL.FB
3559h 0 INT32 1000:1 RO no Drive Ifold IL.DIFOLD
355Ah 0 INT32 1000:1 RW no I2T Warning IL.FOLDWTHRESH
3562h 0 INT32 RW no Function of Digital Input 1 DIN1.MODE
3565h 0 INT32 RW no Function of Digital Input 2 DIN2.MODE
3568h 0 INT32 RW no Function of Digital Input 3 DIN3.MODE
356Bh 0 INT32 RW no Function of Digital Input 4 DIN4.MODE
127 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