Kollmorgen AKD

AKD CANopen | 7 CANopen Drive Profile
7.11 Profile Position Mode (DS402)
7.11.1 General Information
The overall structure for this mode is shown in this figure:
The special handshake procedure for the control word and status word is described in "Functional Description"
(=> p. 117)
7.11.1.1 Objects that are defined in this section
Index Object Name Type Access
607Ah VAR target position INTEGER32 R/W
607Dh ARRAY software position limit INTEGER32 R/W
6081h VAR profile velocity UNSIGNED32 R/W
6083h VAR profile acceleration UNSIGNED32 R/W
6084h VAR profile deceleration UNSIGNED32 R/W
7.11.1.2 Objects that are defined in other sections
Index Object Name Type Section
6040h VAR control word INTEGER16 dc (=> p. 90)
6041h VAR status word UNSIGNED16 dc (=> p. 91)
114 Kollmorgen™ | November 2012