Kollmorgen AKD series User Manual

AKD User Guide | 23 Modbus Parameter Table
Kollmorgen | December 2010 74
23 Modbus Parameter
Table
The parameters with an entry in the last column
have a 64- size. All others are 32-bit.
Modbus
Register
Address
Parameter 64-bit
0 AIN.CUTOFF
2 AIN.DEADBAND
4 AIN.ISCALE
6 AIN.OFFSET
8 AIN.PSCALE 64-bit
12 AIN.VALUE
14 AIN.VSCALE
16 AIN.ZERO
18 AOUT.ISCALE
20 AOUT.MODE
22 AOUT.OFFSET
24 AOUT.PSCALE 64-bit
28 AOUT.VALUE 64-bit
32 AOUT.VALUEU 64-bit
36 AOUT.VSCALE
38 BODE.EXCITEGAP
40 BODE.FREQ
42 BODE.IAMP
44 BODE.INJECTPOINT
46 BODE.MODE
48 BODE.MODETIMER
50 BODE.PRBDEPTH
52 BODE.VAMP
54 CAP0.EDGE
56 CAP0.ENABLE
58 CAP0.EVENT
60 CAP0.FILTER
62 CAP0.MODE
64 CAP0.POSITION 64-bit
68 CAP0.PREEDGE
70 CAP0.PREFILTER
72 CAP0.PRESELECT
74 CAP0.STATE
76 CAP0.T
78 CAP0.TRIGGER
Modbus
Register
Address
Parameter 64-bit
80 CAP1.EDGE
82 CAP1.ENABLE
84 CAP1.EVENT
86 CAP1.FILTER
88 CAP1.MODE
90 CAP1.POSITION 64-bit
94 CAP1.PREEDGE
96 CAP1.PREFILTER
98 CAP1.PRESELECT
100 CAP1.STATE
102 CAP1.T
104 CAP1.TRIGGER
106 CS.DEC 64-bit
110 CS.STATE
112 CS.TO
114 CS.VTHRESH
116 DIN.ROTARY
118 DIN.STATES
120 DIN1.INV
122 DIN1.MODE
124 DIN1.PARAM 64-bit
128 DIN1.STATE
130 DIN2.INV
132 DIN2.MODE
134 DIN2.PARAM 64-bit
138 DIN2.STATE
140 DIN3.INV
142 DIN3.MODE
144 DIN3.PARAM 64-bit
148 DIN3.STATE
150 DIN4.INV
152 DIN4.MODE
154 DIN4.PARAM 64-bit
158 DIN4.STATE
160 DIN5.INV
162 DIN5.MODE
164 DIN5.PARAM 64-bit
168 DIN5.STATE
170 DIN6.INV
172 DIN6.MODE
174 DIN6.PARAM 64-bit

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