Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.9.2.2 Object 60C1h: Interpolation data record
In the AKD, a single setpoint (target position, Subindex 1) is supported for the linear interpolation. For cubic poly-
nomial interpolation 3 setpoints is supported, target position, time and velocity (Subindex1 to Subindex3). After
the last item of an interpolation data record is written to the devices input buffer, the pointer of the buffer is auto-
matically incremented to the next buffer.
Index 60C1h
Name Interpolation data record
Object code ARRAY
Data type INTEGER32
Category optional
Subindex 0
Description number of entries
Data type UNSIGNED8
Category mandatory
Access R/O
PDO mapping not possible
Value range 3
Default value 3
Subindex 1
Description Interpolation target position in counts, the first parameter of interpolation function
Category mandatory
Access R/W
PDO mapping possible
Value range INTEGER32
Default value no
Subindex 2
Description Interpolation time in ms, the second parameter of interpolation function. It means the interval
time until move to target PVT Point n+1. Set to zero to end the move.
Category mandatory
Access R/W
PDO mapping possible
Value range UNSIGNED32
Default value no
Subindex 3
Description Interpolation target velocity in counts/s, the third parameter of interpolation function.
Category mandatory
Access R/W
PDO mapping possible
Value range INTEGER32
Default value no
106 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