Name: Kollmorgen AKD
Brand: Kollmorgen
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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

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

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