Kollmorgen AKD series User Manual

SYNC telegram
COB-ID
080
Afterwards, both axes send back their incremental positions and the contents of their status registers when the
SYNC Object with the COB-ID for the 2
nd
TPDO is received.
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comment
181 23 01 00 00 00 00 03 44 position + manufacturer
status register for axis1
182 A5 02 00 00 00 00 03 44 position + manufacturer
status register for axis2
Ifanerroroccursduringoperation,theaxisconcernedtransmitsanEmergencymessage,whichcouldappearlikethis:
Emergency Object
COB-ID Emergency error Error register Category
Low High
081 10 43 08 01 00 00
00 00
motor temperature, temperature,
manufacturer-specific
081 00 00 08 00 00 00
00 00
AKD User Guide |
Kollmorgen | December 2010 150

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