Kollmorgen AKD series User Manual

AKD User Guide | 23 Modbus Parameter Table
Kollmorgen | December 2010 78
Modbus
Register
Address
Parameter 64-bit
758 SM.V1
760 SM.V2
762 STO.STATE
764 SWLS.EN
766 SWLS.LIMIT0 64-bit
770 SWLS.LIMIT1 64-bit
774 SWLS.STATE
776 UNIT.ACCLINEAR
778 UNIT.ACCROTARY
780 UNIT.PIN
782 UNIT.PLINEAR
784 UNIT.POUT
786 UNIT.PROTARY
788 UNIT.VLINEAR
790 UNIT.VROTARY
792 VBUS.CALGAIN
794 VBUS.OVFTHRESH
796 VBUS.OVWTHRESH
798 VBUS.RMSLIMIT
800 VBUS.UVFTHRESH
802 VBUS.UVMODE
804 VBUS.UVWTHRESH
806 VBUS.VALUE
808 VL.ARPF1
810 VL.ARPF2
812 VL.ARPF3
814 VL.ARPF4
816 VL.ARPQ1
818 VL.ARPQ2
820 VL.ARPQ3
822 VL.ARPQ4
824 VL.ARTYPE1
826 VL.ARTYPE2
828 VL.ARTYPE3
830 VL.ARTYPE4
832 VL.ARZF1
834 VL.ARZF2
836 VL.ARZF3
838 VL.ARZF4
840 VL.ARZQ1
842 VL.ARZQ2
Modbus
Register
Address
Parameter 64-bit
844 VL.ARZQ3
846 VL.ARZQ4
848 VL.BUSFF
850 VL.CMD
852 VL.CMDU
854 VL.ERR
856 VL.FB
858 VL.FBFILTER
860 VL.FBSOURCE
862 VL.FF
864 VL.GENMODE
866 VL.KBUSFF
868 VL.KI
870 VL.KO
872 VL.KP
874 VL.KVFF
876 VL.LIMITN
878 VL.LIMITP
880 VL.LMJR
882 VL.MODEL
884 VL.OBSBW
886 VL.OBSMODE
888 VL.THRESH
890 WS.ARM
892 WS.DISTMAX 64-bit
896 WS.DISTMIN 64-bit
900 WS.IMAX
902 WS.MODE
904 WS.NUMLOOPS
906 WS.STATE
908 WS.T
910 WS.TDELAY1
912 WS.TDELAY2
914 WS.TDELAY3
916 WS.VTHRESH

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