Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.9.2.4 Object 60C4h: Interpolation data configuration
In the AKD, for linear interpolation, only the value 1 in Subindex 5 is possible. For cubic interpolation, Subindex 1
and Subindex 2 is possible for manage the buffer of cubic interpolation.
Index 60C4h
Name Interpolation data configuration
Object code RECORD
Data type Interpolation data configuration record (0081h)
Category optional
Subindex 0
Description number of entries
Category mandatory
Access R/O
PDO mapping not possible
Value range 6
Default value 6
Subindex 1
Description Maximum buffer size
Category mandatory
Access R/O
PDO mapping not possible
Value range UNSIGNED32
Default value 10
Subindex 2
Description Actual buffer size
Category mandatory
Access R/O
PDO mapping possible
Value range 0 to 9
Default value 9
Subindex 3
Description Buffer organization
Category mandatory
Access R/W
PDO mapping not possible
Value range UNSIGND8
Default value 0
108 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