Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.11.2.3 Object 6081h: Profile velocity (DS402)
The profile velocity is the final velocity that should be reached after the acceleration phase of a motion task.
Index 6081h
Name profile velocity, MT.V
Object code VAR
Data type UNSIGNED32
Mode pp
Access R/W
PDO mapping possible
Unit speed units
Value range 0 to (2
32
-1)
Default value 10
7.11.2.4 Object 6083h: Profile acceleration (DS402)
The acceleration ramp (profile acceleration) is given in units that are defined by the user (position units per s²).
They can be transformed with the acceleration factor defined by Object 6097 sub1 & 2. The type of acceleration
ramp can be selected as a linear ramp or a sin² ramp (see Object 6086h).
Index 6083h
Name profile acceleration, MT.ACC
Object code VAR
Data type UNSIGNED32
Mode pp
Access R/W
PDO mapping possible
Unit acceleration units
Value range 0 to (2
32
-1)
Default value 0
7.11.2.5 Object 6084h: Profile deceleration (DS402)
The braking/deceleration ramp is handled in the same way as the acceleration ramp ("Object 6083h: Profile
acceleration (DS402)" (=> p. 116)).
Index 6084h
Name profile deceleration, MT.DEC
Object code VAR
Data type UNSIGNED32
Mode pp
Access R/W
PDO mapping possible
Unit deceleration units
Value range 0 to (2
32
-1)
Default value 0
116 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