Kollmorgen AKD Manual

6.12.5 Changes to Axis Status Bits 50
6.13 Motion Axis Shutdown (AKD_Shutdown) 51
6.13.0.1 Description 51
6.13.1 Operands 51
6.13.2 AKD_SHUTDOWN Structure 51
6.13.3 Execution 51
6.13.4 Changes to Axis Status Bits 52
6.14 Motion Axis Shutdown Reset (AKD_Shutdown_Reset) 53
6.14.1 Description 53
6.14.2 Operands 53
6.14.3 AKD_SHUTDOWN_RESET Structure 53
6.14.4 Execution 53
6.14.5 Changes to Axis Status Bits 54
6.15 Motion Axis Smooth Stop (AKD_Stop_Smooth) 55
6.15.1 Description 55
6.15.2 Operands 55
6.15.3 AKD_STOP_SMOOTH Structure 55
6.15.4 Execution 55
6.15.5 Changes to Axis Status Bits 56
6.16 Motion Axis Get Position Controller Attribute (AKD_Get_Attribute) 57
6.16.1 Description 57
6.16.2 Operands 57
6.16.3 AKD_GET_ATTRIBUTE Structure 57
6.16.4 Execution 57
6.16.5 Changes to Axis Status Bits 58
6.17 Motion Axis Get Parameter (AKD_Get_Parameter) 59
6.17.1 Description 59
6.17.2 Operands 59
6.17.3 AKD_GET_PARAMETERStructure 59
6.17.4 Execution 59
6.17.5 Changes to Axis Status Bits 60
6.18 Motion Axis Set Position Controller Attribute (AKD_Set_Attribute) 61
6.18.1 Description 61
6.18.2 Operands 61
6.18.3 AKD_SET_ATTRIBUTE Structure 61
6.18.4 Execution 61
6.18.5 Changes to Axis Status Bits 61
6.19 Motion Axis Set Parameter (AKD_Set_Parameter) 63
6.19.1 Description 63
6.19.2 Operands 63
6.19.3 AKD_SET_PARAMETERStructure 63
6.19.4 Execution 63
6.19.5 Changes to Axis Status Bits 63
6.20 Motion Axis Set Units (AKD_Set_Units) 65
6.20.1 Description 65
6.20.2 Operands 65
6.20.3 AKD_SET_UNITSStructure 65
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Kollmorgen | kdn.kollmorgen.com | November 2018 5

Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing