Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.7.2.3 Object 6071h: Target torque (DS402)
This parameter is the input value for the torque controller in profile torque mode and the value is given per thou-
sand (1‰) of rated torque.
Index 6071h
Name Target torque
Object code VAR
Data type INTEGER16
Category conditional; mandatory, if tq supported
Access R/W
PDO mapping possible
Value range INTEGER16
Default value 0
7.7.2.4 Object 6073h: Max current (DS402)
This value represents the maximum permissible torque creating current in the motor and is given per thousand
(1‰) of rated current.
Index 6073h
Name Max current
Object code VAR
Data type UNSIGNED16
Category optional
Access R/W
PDO mapping not possible
Value range UNSIGNED16
Default value 0
7.7.2.5 Object 6077h: Torque actual value (DS402)
The torque actual value corresponds to the instantaneous torque in the drive motor. The value is given per thou-
sand (1‰) of rated torque.
Index 6077h
Name Torque actual value
Object code VAR
Data type INTEGER16
Category optional
Access R/O
PDO mapping possible
Value range INTEGER16
Default value 0
102 Kollmorgen™ | November 2012

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