Kollmorgen AKD Manual

Ethernet IP with RSLogix | 9 Appendix B: Parameter Listing
9 Appendix B: Parameter Listing
The parameters in this list correspond to drive parameters available in Workbench and are described in the
Workbench help documentation and the AKD User's Guide.
Position values are scaled according to EIP.PROSUNIT.
Velocity and Acceleration values are scaled according to EIP.PROFUNIT.
Other floating point values are multiplied by 1000, such that a value displayed in Workbench as 1.001 will be
transmitted through EtherNet/IP as 1001.
The lower 32-bits of parameters with the data size 8 can be read by accessing the instance number for the 8
byte parameter incremented by 1.
Instance Parameter DataSize Data Type
1 AIN.CUTOFF 4 Byte Float
2 AIN.DEADBAND 4 Byte Float
3 AIN.ISCALE 4 Byte Float
4 AIN.OFFSET 2 Byte Signed Float
5 AIN.PSCALE 8 Byte (truncated to 4 Byte) Position
7 AIN.VALUE 4 Byte Float
8 AIN.VSCALE 4 Byte Velocity
9 AIN.ZERO Command None
10 AOUT.ISCALE 4 Byte Float
11 AOUT.MODE 2 Byte Integer
12 AOUT.OFFSET 4 Byte Signed Float
13 AOUT.PSCALE 8 Byte (truncated to 4 Byte) Position
15 AOUT.VALUE 4 Byte Signed Float
17 AOUT.VALUEU 4 Byte Signed Float
19 AOUT.VSCALE 4 Byte Velocity
20 BODE.EXCITEGAP 1 Byte Integer
21 BODE.FREQ 4 Byte Float
22 BODE.IAMP 4 Byte Signed Float
23 BODE.INJECTPOINT 1 Byte Integer
24 BODE.MODE 1 Byte Integer
25 BODE.MODETIMER 4 Byte Integer
26 BODE.PRBDEPTH 1 Byte Integer
27 BODE.VAMP 8 Byte Signed (truncated to 4 Byte Signed) Velocity
28 CAP0.EDGE 1 Byte Integer
29 CAP0.EN 1 Byte Integer
30 CAP0.EVENT 1 Byte Integer
74 Kollmorgen | kdn.kollmorgen.com | November 2018

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