Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.8.2.2 Object 6064h: position actual value (DS402)
The object position actual value provides the actual position. The resolution can be altered by the gearing factors
of the position controller (Object 6091/6092).
Index 6064h
Name position actual value, PL.FB
Object code VAR
Data type INTEGER32
Mode pc, pp
Access R/W
PDO mapping possible
Unit position units
Value range (-2
31
) to (2
31
-1)
Default value —
EEPROM no
7.8.2.3 Object 6065h: Following error window
The following error window defines a range of tolerated position values symmetrically to the position demand
value. A following error might occur when a drive is blocked, unreachable profile velocity occurs, or at wrong
closed loop coefficients. If the value of the following error window is 0, the following control is switched off.
Index 6065h
Name Following error window
Object code VAR
Data type UNSIGNED32
Category optional
Access R/W
PDO mapping not possible
Value range UNSIGNED32
Default value 0
7.8.2.4 Object 60F4h: Following error actual value (DS402)
This object returns the current value of the following error in units defined by the user.
Index 60F4h
Name Following error actual value
Object code VAR
Data type Integer32
Category optional
Access R/O
PDO mapping possible
Value range INTEGER32
Default value 0
104 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