Kollmorgen AKD series User Manual

Example: Jog Mode via SDO
The motor shall work with constant velocity.
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
603 2F 60 60 00h 03 00 00 00 Mode of operation “Profile Velocity”
583 60 60 60 00h 00 00 00 00 response telegram
603 23 FF 60 00h 00 00 00 00 setpoint=0
583 60 FF 60 00h 00 00 00 00 response telegram
603 2B 40 60 00h 06 00 00 00 shutdown
583 60 40 60 00h 00 00 00 00 response telegram
603 2B 40 60 00h 07 00 00 00 switch on
583 60 40 60 00h 00 00 00 00 response telegram
603 2B 40 60 00h 0F 00 00 00 enable operation
583 60 40 60 00h 00 00 00 00 response telegram
603 23 FF 60 00h 00 41 00 00 velocity setpoint
583 60 FF 60 00h 00 00 00 00 response telegram
603 2B 40 60 00h 0F 01 00 00 Intermediate Stop
583 60 40 60 00h 00 00 00 00 response telegram
Example: Torque Mode via SDO
The motor shall work with constant torque. CAN data:
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
603 2F 60 60 00h 04 00 00 00 Mode of operation “Torque”
583 60 60 60 00h 00 00 00 00 response telegram
603 2B 71 60 00h 00 00 00 00 setpoint=0
583 60 71 60 00h 00 00 00 00 response telegram
603 2B 40 60 00h 06 00 00 00 shutdown
583 60 40 60 00h 00 00 00 00 response telegram
603 2B 40 60 00h 07 00 00 00 switch on
583 60 40 60 00h 00 00 00 00 response telegram
603 2B 40 60 00h 0F 00 00 00 enable operation
583 60 40 60 00h 00 00 00 00 response telegram
603 2B 71 60 00h 90 01 00 00 setpoint 400 mA
583 60 71 60 00h 00 00 00 00 response telegram
603 2B 40 60 00h 0F 01 00 00 intermediate Stop
583 60 40 60 00h 00 00 00 00 response telegram
AKD User Guide |
Kollmorgen | December 2010 134

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