Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.10.2.3 Object 6099h: Homing speeds (DS402)
Index 6099h
Name homing speeds
Object code ARRAY
Data type UNSIGNED32
Subindex 1
Description speed during search for switch, HOME.V
Mode hm
Access R/W
PDO mapping not possible
Unit velocity units
Value range 0 to (2
32
-1)
Default value equivalent 60 rpm
Subindex 2
Description speed during search for zero, HOME.FEEDRATE
Mode hm
Access R/W
PDO mapping not possible
Unit velocity units
Value range 0 to (2
32
-1)
Default value 1/8 * Object 6099 sub 1
7.10.2.4 Object 609Ah: Homing acceleration (DS402)
Index 609Ah
Name homing acceleration
Object code VAR
Data type UNSIGNED32
Mode hm
Access R/W
PDO mapping not possible
Unit acceleration units
Value range 0 to (2
32
-1)
Default value 0
112 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