Kollmorgen AKD User Manual

7.7 Profile Torque Mode (tq) (DS402)
7.7.1 General Information
The profile torque mode enables the processing of torque setpoints and the associated current.
7.7.1.1 Objects that are defined in this section
Index Object Name Type Access
2071h VAR Target current INTEGER32 R/W
2077h VAR Current actual value INTEGER32 R/O
6071h VAR Target torque INTEGER16 R/W
6073h VAR Max current UNSIGNED16 R/W
6077h VAR Torque actual value INTEGER16 R/O
7.7.1.2 Objects that are defined in other sections
None.
7.7.2 Object description
7.7.2.1 Object 2071h: Target Current
This parameter can be used alternatively to the DS402 parameter 6071h and is the input to the torque controller.
The value is scaled in mA (milli Amperes).
Index 2071h
Name Target current
Object code VAR
Data type INTEGER 32
Category optional
Access RW
PDO mapping possible
Value range depends on DRV.IPEAK and MOTOR.IPEAK
Default value 0
7.7.2.2 Object 2077h: Current ActualValue
This parameter can be used alternatively to the DS402 parameter 6077h. The value is scaled in mA (milli
Amperes).
Index 2077h
Name Current actual value
Object code VAR
Data type INTEGER 32
Category optional
Access RO
PDO mapping possible
Value range depends on DRV.IPEAK and MOTOR.IPEAK
Default value 0
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 101

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