Kollmorgen AKD series User Manual

21.4.10.1 Synchronization behavior with distributed clocks (DC) enabled 56
21.4.10.2 Synchronization behavior with distributed clocks (DC) disabled 56
21.4.11 Latch Control Word and Latch Status Word 57
21.4.12 Mailbox Handling 58
21.4.12.1 Mailbox Output 59
21.4.12.2 Mailbox Input 60
21.4.12.3 Example: Mailbox Access 61
21.4.13 Fieldbus Parameters 62
21.5 Index 64
22 Modbus 70
22.1 Overview 70
22.2 Modbus Installation and Setup 70
22.3 Overview of Messaging 70
22.4 Supported Functions 70
22.5 Read Holding Registers (0x03) 70
22.6 Write Multiple Registers (0x10) 72
22.7 Exception Response Codes 73
23 Modbus Parameter Table 74
24 Index 80
AKD User Guide | Table of Contents
Kollmorgen | December 2010 28

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