Kollmorgen AKD series User Manual

AKD User Guide |
The configuration above now enables a cyclical sequence, as shown in the diagram:
RPDO 2 can now be used to supply trajectory data for both axes, e.g.:
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
301 F4 01 00 00 E8 03 00 00
In this example, the first axis receives a trajectory value of 500 increments (Bytes 0 to 3) and the second axis
receives a trajectory value of 1000 increments.
The axes accept these values, and the positioning is made when the next SYNC telegram is received.
149 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