Kollmorgen AKD series User Manual

Action
Do the RPDO2-mapping for both axis:
Axis 1:
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
601 2F 01 16 00h 00 00 00 00 RPDO2: delete mapping
581 60 01 16 00h 00 00 00 00
601 23 01 16 01h 20 01 C1 60 RPDO2, entry 1:
IP setpoint axis 1
581 60 01 16 01h 00 00 00 00
601 23 01 16 02h 20 00 00 21 RPDO2, entry 2:
Dummy entry 4 bytes
581 60 01 16 02h 00 00 00 00
601 2F 01 16 00h 02 00 00 00 RPDO2, enter number of
mapped objects
581 60 01 16 00h 00 00 00 00
Axis 2:
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
602 2F 01 16 00h 00 00 00 00 RPDO2: delete mapping
582 60 01 16 00h 00 00 00 00
602 23 01 16 02h 20 00 00 21 RPDO2, entry 1:
Dummy entry 4 bytes
582 60 01 16 02h 00 00 00 00
602 23 01 16 01h 20 01 C1 60 RPDO2, entry 2:
IP setpoint axis 2
582 60 01 16 01h 00 00 00 00
602 2F 01 16 00h 02 00 00 00 RPDO2, enter number of
mapped objects
582 60 01 16 00h 00 00 00 00
602 23 01 16 01h 01 03 00 00 RPDO2: Set COB-ID identical to
axis 1
582 60 01 16 01h 00 00 00 00
Now both axis react to the same COB-identifier 0x301, axis 1 takes byte 0 to 3 as IP setpoint, axis 2 takes byte
4 to 7. The second TPDOs shall contain the actual position in increments and the manufacturer status.
AKD User Guide |
Kollmorgen | December 2010 146

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