Kollmorgen AKD series User Manual

AKD User Guide | 23 Modbus Parameter Table
Modbus
Register
Address
Parameter 64-bit
178 DIN6.STATE
180 DIN7.INV
182 DIN7.MODE
184 DIN7.PARAM 64-bit
188 DIN7.STATE
190 DOUT.CTRL
192 DOUT.RELAYMODE
194 DOUT.STATES
196 DOUT1.MODE
198 DOUT1.PARAM 64-bit
202 DOUT1.STATE
204 DOUT1.STATEU
206 DOUT2.MODE
208 DOUT2.PARAM 64-bit
212 DOUT2.STATE
214 DOUT2.STATEU
216 DRV.ACC 64-bit
220 DRV.ACTIVE
222 DRV.CLRFAULTHIST
224 DRV.CLRFAULTS
226 DRV.CMDSOURCE
228 DRV.DBILIMIT
230 DRV.DEC 64-bit
234 DRV.DIR
236 DRV.DIS
238 DRV.DISMODE
240 DRV.DISSOURCES
242 DRV.DISTO
244 DRV.EMUEDIR
246 DRV.EMUEMODE
248 DRV.EMUEMTURN
250 DRV.EMUERES
252 DRV.EMUEZOFFSET
254 DRV.EN
256 DRV.ENDEFAULT
258 DRV.HANDWHEEL
260 DRV.HWENMODE
262 DRV.ICONT
264 DRV.IPEAK
266 DRV.IZERO
268 DRV.MOTIONSTAT
75 Kollmorgen | December 2010
Modbus
Register
Address
Parameter 64-bit
270 DRV.OPMODE
272 DRV.RSTVAR
274 DRV.STOP
276 DRV.TYPE
278 DRV.ZERO
280 FB1.BISSBITS
282 FB1.ENCRES
284 FB1.IDENTIFIED
286 FB1.INITSIGNED
288 FB1.MECHPOS
290 FB1.OFFSET 64-bit
294 FB1.ORIGIN 64-bit
298 FB1.PFIND
300 FB1.PFINDCMDU
302 FB1.POLES
304 FB1.PSCALE
306 FB1.RESKTR
308 FB1.RESREFPHASE
310 FB1.SELECT
312 FB1.TRACKINGCALC
FB2.ENCRES
FB2.MODE
FB2.SOURCE
314 FBUS.PARAM01
316 FBUS.PARAM02
318 FBUS.PARAM03
320 FBUS.PARAM04
322 FBUS.PARAM05
324 FBUS.PARAM06
326 FBUS.PARAM07
328 FBUS.PARAM08
330 FBUS.PARAM09
332 FBUS.PARAM10
334 FBUS.PARAM11
336 FBUS.PARAM12
338 FBUS.PARAM13
340 FBUS.PARAM14
342 FBUS.PARAM15
344 FBUS.PARAM16
346 FBUS.PARAM17
348 FBUS.PARAM18

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