Kollmorgen AKD series User Manual

20.7.1.4 Profile specific SDOs
Index Sub-
index
DataType Float
Scaling
Access PDO
mapp.
Description ASCII object
6040h 0 U16 WO yes Control word —
6041h 0 U16 RO yes Status word —
6060h 0 INT8 RW yes Modes of Operation —
6061h 0 INT8 RO yes Modes of Operation Display —
6063h 0 INT32 RO yes Position actual value (increments) —
6064h
6064h
0 INT32 1:1 RO yes Position actual value (position units) PL.FB
6065h 0 U32 1:1 RW no Following error window PL.ERRFTHRESH
606Bh 0 INT32 1:1 RO yes Velocity demand value VL.CMD
606Ch 0 INT32 1000:1 RO yes Velocity actual value (PDO in RPM) VL.FB
606Dh 0 U16 RW yes Velocity window
606Eh 0 U16 RW yes Velocity window time
6071h 0 INT16 RW yes Target torque —
6072h 0 U16 RW yes Max torque —
6073h 0 U16 RW no Max current
6077h 0 INT16 RO yes Torque actual value —
607Ah 0 INT32 1:1 RW yes Target position MT.P
607Ch 0 INT32 1:1 RW no Reference offset HOME.P
607Dh ARRAY Software position limit
607Dh 0 U8 RO no Number of entries
607Dh 1 INT32 1:1 RW no Software position limit 1 SWLS.LIMIT0
607Dh 2 INT32 1:1 RW no Software position limit 2 SWLS.LIMIT1
6081h
6081h
0 U32 1:1 RW yes Profile Velocity MT.V
6083h 0 U32 1:1 RW yes Profile Acceleration MT.ACC
6084h 0 U32 1:1 RW yes Profile Deceleration MT.DEC
6086h 0 INT16 RW yes Motion profile type MT.CNTL
608Fh ARRAY Position encoder resolution —
608Fh 0 U8 RO no Number of entries —
608Fh 1 U32 RW no Encoder increments —
608Fh 2 U32 RW no Motor revolutions
6092h ARRAY Feed constant —
6092h 0 U8 RO no Number of entries —
6092h 1 U32 RW no Feed UNIT.PIN
6092h 2 U32 RW no Shaft revolutions UNIT.POUT
6098h
6098h
0 INT8 RW no Homing type HOME.MODE
HOME.DIR
6099h ARRAY Homing velocity —
6099h 0 U8 RO no Number of entries —
6099h 1 U32 1:1 RW no Speed while searching for limit
switch
HOME.V
6099h 2 U32 RW no Speed while searching for zero mark HOME.FEEDRATE
609Ah 0 U32 1:1 RW no Homing acceleration HOME.ACC
HOME.DEC
60B1h 0 INT32 1:1 RW yes Velocity offset "VL.BUSFF" (=> p. 629)
60B2h 0 INT16 RW yes Torque offset (PDO only)
AKD User Guide |
Kollmorgen | December 2010 130

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