Kollmorgen AKD

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AKD CANopen | 8 Appendix

8.1.3 Manufacturer specific SDOs

Index Sub-

index

DataType Float

Scal-

ing

Acces-

PDO

map-

Description ASCII object

2014h ARRAY Mask TxPDO Channel 1 —

2014h 1 U32 RW no Mask (Byte 0..3) —

2014h 2 U32 RW no Mask (Byte 4..7) —

2015h ARRAY Mask TxPDO Channel 2 —

2015h 1 U32 RW no Mask (Byte 0..3) —

2015h 2 U32 RW no Mask (Byte 4..7) —

2016h ARRAY Mask TxPDO Channel 3 —

2016h 1 U32 RW no Mask (Byte 0..3) —

2016h 2 U32 RW no Mask (Byte 4..7) —

2017h ARRAY Mask TxPDO Channel 4 —

2017h 1 U32 RW no Mask (Byte 0..3) —

2017h 2 U32 RW no Mask (Byte 4..7) —

2018h ARRAY Firmware version —

2018h 0 U16 const no Number of entries —

2018h 1 U16 const no Major version —

2018h 2 U16 const no Minor version —

2018h 3 U16 const no Revision —

2018h 4 U16 const no Branch version —

204Ch ARRAY pv scaling factor —

204Ch 0 U8 RO no Number of entries —

204Ch 1 INT32 RW no pv scaling factor numerator —

204Ch 2 INT32 RW no pv scaling factor denominator —

2050h 0 INT32 1:1 RO no Position, secondary feedback DRV.HANDWHEEL

2071h 0 INT32 RW yes Target current -

2077h 0 INT32 RO yes Current actual value -

20A0h 0 INT32 var RO yes Latch position 1, positive edge CAP0.PLFB, CAP0.T

20A1h 0 INT32 var RO yes Latch position 1, negative edge CAP0.PLFB, CAP0.T

20A2h 0 INT32 var RO yes Latch position 2, positive edge CAP1.PLFB, CAP1.T

20A3h 0 INT32 var RO yes Latch position 2, negative edge CAP1.PLFB, CAP1.T

20A4h 0 U16 RW yes Latch control register —

20A5h 0 U16 RW yes Latch status register —

20A6h 0 INT32 var RO yes Sets captured position value CAP0.PLFB

20B8h 0 U16 RW yes Clear changed digital input infor-

mation

—

3405h ARRAY VL.ARTYPE —

3405h 0 U8 RO no Number of entries —

3405h 1 U8 RW no Calculation method for BiQuad

filter 1

VL.ARTYPE1

3405h 2 U8 RW no Calculation method for BiQuad

filter 2

VL.ARTYPE2

3405h 3 U8 RW no Calculation method for BiQuad

filter 3

VL.ARTYPE3

122 Kollmorgen™ | November 2012

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