Kollmorgen AKD series User Manual

AKD User Guide | 23 Modbus Parameter Table
Modbus
Register
Address
Parameter 64-bit
532 MT.CNTL
534 MT.CONTINUE
536 MT.DEC 64-bit
540 MT.EMERGMT
542 MT.LOAD
544 MT.MOVE
546 MT.MTNEXT
548 MT.NUM
550 MT.P 64-bit
554 MT.SET
556 MT.TNEXT
558 MT.TNUM
560 MT.TPOSWND 64-bit
564 MT.TVELWND
566 MT.V
568 MT.VCMD
570 PL.CMD 64-bit
574 PL.ERR 64-bit
578 PL.ERRMODE
580 PL.ERRFTHRESH 64-bit
584 PL.ERRWTHRESH 64-bit
588 PL.FB 64-bit
592 PL.FBSOURCE
594 PL.INTINMAX 64-bit
598 PL.INTOUTMAX 64-bit
602 PL.KI
604 PL.KP
606 PL.MODP1 64-bit
610 PL.MODP2 64-bit
614 PL.MODPDIR
616 PL.MODPEN
618 PLS.EN
620 PLS.MODE
622 PLS.P1 64-bit
626 PLS.P2 64-bit
630 PLS.P3 64-bit
634 PLS.P4 64-bit
638 PLS.P5 64-bit
642 PLS.P6 64-bit
646 PLS.P7 64-bit
650 PLS.P8 64-bit
77 Kollmorgen | December 2010
Modbus
Register
Address
Parameter 64-bit
654 PLS.RESET
656 PLS.STATE
658 PLS.T1
660 PLS.T2
662 PLS.T3
664 PLS.T4
666 PLS.T5
668 PLS.T6
670 PLS.T7
672 PLS.T8
674 PLS.UNITS
676 PLS.WIDTH1 64-bit
680 PLS.WIDTH2 64-bit
684 PLS.WIDTH3 64-bit
688 PLS.WIDTH4 64-bit
692 PLS.WIDTH5 64-bit
696 PLS.WIDTH6 64-bit
700 PLS.WIDTH7 64-bit
704 PLS.WIDTH8 64-bit
708 REC.ACTIVE
710 REC.DONE
712 REC.GAP
714 REC.NUMPOINTS
716 REC.OFF
718 REC.STOPTYPE
720 REC.TRIG
722 REC.TRIGPOS
726 REC.TRIGSLOPE
728 REC.TRIGTYPE
730 REC.TRIGVAL 64-bit
734 REGEN.POWER 64-bit
738 REGEN.REXT
740 REGEN.TEXT
742 REGEN.TYPE
744 REGEN.WATTEXT
746 SM.I1
748 SM.I2
750 SM.MODE
752 SM.MOVE
754 SM.T1
756 SM.T2

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