Kollmorgen AKD series User Manual

AKD User Guide |
21.4.12.3 Example: Mailbox Access
In the example below, PDOs 0x1704 are mapped (see Chapter # “Fixed PDO Mappings”):
The master sends this mailbox output message:
Byte 0 0x0A The next 10 Bytes contain data (Byte 2 to Byte 11)
Byte 1 0x00 The next 10 Bytes contain data (Byte 2 to Byte 11)
Byte 2 0x00 Address 0
Byte 3 0x00 Address 0
Byte 4 0x00 Channel 0 and Priority 0
Byte 5 0x03 CoE Object
Byte 6 0x00 PDO Number 0
Byte 7 0x20 PDO Number 0 and SDO-Request
Byte 8 0x2B 2 Byte write access
Byte 9 0x12 SDO-Object 0x1C12
Byte 10 0x1C SDO-Object 0x1C12
Byte 11 0x01 Subindex 1
Byte 12 0x04 Data value 0x00001704
Byte 13 0x17 Data value 0x00001704
Byte 14 0x00 Data value 0x00001704
Byte 15 0x00 Data value 0x00001704
The drive returns the following message:
Byte 0 0x0E The next 14 Bytes contain data (Byte 2 to Byte 15)
Byte 1 0x00 The next 14 Bytes contain data (Byte 2 to Byte 15)
Byte 2 0x00 Address 0
Byte 3 0x00 Address 0
Byte 4 0x00 Channel 0 and Priority 0
Byte 5 0x03 CoE Object
Byte 6 0x00 PDO Number 0
Byte 7 0x20 PDO Number 0 and SDO-Answer
Byte 8 0x60 Successful write access
Byte 9 0x12 SDO-Object 0x1C12
Byte 10 0x1C SDO-Object 0x1C12
Byte 11 0x01 Subindex 1
Byte 12 0x00 Data value 0x00000000
Byte 13 0x00 Data value 0x00000000
Byte 14 0x00 Data value 0x00000000
Byte 15 0x00 Data value 0x00000000
61 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