Kollmorgen AKD User Manual

7.8 Position Control Function (pc) (DS402)
7.8.1 General Information
This section describes the actual position values that are associated with the position controller of the drive.
They are used for the profile position mode.
7.8.1.1 Objects that are defined in this section
Index Object Name Type Access
6063h VAR position actual value* INTEGER32 r
6064h VAR position actual value INTEGER32 r
6065h VAR following error window UNSIGNED32 R/W
7.8.1.2 Objects that are defined in other sections
Index Object Name Type Section
607Ah VAR target position INTEGER32 pp (=> p. 115)
607Ch VAR home-offset INTEGER32 hm (=> p. 110)
607Dh ARRAY software position limit INTEGER32 pp (=> p. 115)
6040h VAR control word INTEGER16 dc (=> p. 90)
6041h VAR status word UNSIGNED16 dc (=> p. 91)
7.8.2 Object Description
7.8.2.1 Object 6063h: position actual value* (DS402)
The object position actual value provides the momentary actual position in increments.
The resolution is defined with Object 608F as power-of-two number.
Index 6063h
Name position actual value
Object code VAR
Data type INTEGER32
Mode pc, pp
Access R/W
PDO mapping possible
Unit increments (1 turn = 2
PRBASE
)
Value range (-2
31
) to (2
31
-1)
Default value 2
20
EEPROM no
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 103

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