Kollmorgen AKD series User Manual

AKD User Guide |
Setpoint
COB-ID Data Comment
303 20 4E 00 00 Pos 8CA0 =36000µm ; V= 20000 µm/s
080 send a SYNC
283 BB F8 FF FF response telegram
Set controlword with „new setpoint“ by bit (bit 4)
COB-ID Data Comment
203 1F 00
Wait
COB-ID Data Comment
183 37 12 setpoint acknowledge
Reset controlword with „new setpoint“ by bit (bit 4) reset
COB-ID Data Comment
203 0F 00
183 37 02 reset Setpoint acknowledge
Wait
COB-ID Data Comment
183 37 06 response: target reached
080 SYNC
283 92 FC FF FF response: 92 FC position , FF FF speed
Example: ASCII Communication
This example sets P gain of the velocity controller to 6. The ASCII command for this is "GV 6".
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
603 2F 26 10 01h 47 00 00 00 send ASCII code "G"
583 60 26 10 01h 00 00 00 00 response telegram
603 2F 26 10 01h 56 00 00 00 send ASCII code "V"
583 60 26 10 01h 00 00 00 00 response telegram
603 2F 26 10 01h 20 00 00 00 send ASCII code "SP" (space)
583 60 26 10 01h 00 00 00 00 response telegram
603 2F 26 10 01h 36 00 00 00 send ASCII code "6"
583 60 26 10 01h 00 00 00 00 response telegram
603 2F 26 10 01h 0D 00 00 00 send ASCII code "CR"
583 60 26 10 01h 00 00 00 00 response telegram
603 2F 26 10 01h 0A 00 00 00 send ASCII code "LF"
583 60 26 10 01h 00 00 00 00 response telegram
143 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