Kollmorgen AKD series User Manual

AKD User Guide |
21.4.11 Latch Control Word and Latch Status Word
Latch Control word (2 Byte)
Bit Value (bin) Value (hex) Description
0 00000000 00000001 zz01 Enable extern latch 1 (positive rise)
1 00000000 00000010 zz02 Enable extern latch 1 (negative rise)
2 00000000 00000100 zz04 Enable extern latch 2 (positive rise)
3 00000000 00001000 zz08 Enable extern latch 2 (negative rise)
4
5-7 Reserve
8-12 00000001 00000000 01zz Read external latch 1 (positive rise)
00000010 00000000 02zz Read external latch 1 (negative rise)
00000011 00000000 03zz Read external latch 2 (positive rise)
00000100 00000000 04zz Read external latch 2 (negative rise)
13-15 Reserve
Latch Status word (2 Byte)
Bit Value (bin) Value (hex) Description
0 00000000 00000001 zz01 External latch 1 valid (positive rise)
1 00000000 00000010 zz02 External latch 1 valid (negative rise)
2 00000000 00000100 zz04 External latch 2 valid (positive rise)
3 00000000 00001000 zz08 External latch 2 valid (negative rise)
4
5-7 Reserve
8-11 00000001 00000000 z1zz Acknowledge value external latch 1 (positive rise)
00000010 00000000 z2zz Acknowledge value external latch 1 (negative rise)
00000011 00000000 z3zz Acknowledge value external latch 2 (positive rise)
00000100 00000000 z4zz Acknowledge value external latch 2 (negative rise)
12-15 00010000 00000000 1zzz Zustand Digital Input 4
00100000 00000000 2zzz Zustand Digital Input 3
01000000 00000000 4zzz Zustand Digital Input 2
10000000 00000000 8zzz Zustand Digital Input 1
57 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