Kollmorgen AKD User Manual

Index Sub-
index
DataType Float
Scal-
ing
Acces-
s
PDO
map-
p.
Description ASCII object
3405h 4 U8 RW no Calculation method for BiQuad
filter 4
VL.ARTYPE4
3406h ARRAY VL BiQuad —
3406h 0 U8 RO no Number of entries —
3406h 1 U32 1000:1 RW no Natural frequency of pole of anti-
resonance (AR) filter 1
VL.ARPF1
3406h 2 U32 1000:1 RW no Natural frequency of pole of anti-
resonance (AR) filter 2
VL.ARPF2
3406h 3 U32 1000:1 RW no Natural frequency of pole of anti-
resonance (AR) filter 3
VL.ARPF3
3406h 4 U32 1000:1 RW no Natural frequency of pole of anti-
resonance (AR) filter 4
VL.ARPF4
3406h 5 U32 1000:1 RW no Q of pole of anti-resonance (AR)
filter 1
VL.ARPQ1
3406h 6 U32 1000:1 RW no Q of pole of anti-resonance (AR)
filter 2
VL.ARPQ2
3406h 7 U32 1000:1 RW no Q of pole of anti-resonance (AR)
filter 3
VL.ARPQ3
3406h 8 U32 1000:1 RW no Q of pole of anti-resonance (AR)
filter 4
VL.ARPQ4
3406h 9 U32 1000:1 RW no Natural frequency of zero of anti-
resonance (AR)filter 1
VL.ARZF1
3406h A U32 1000:1 RW no Natural frequency of zero of anti-
resonance (AR)filter 2
VL.ARZF2
3406h B U32 1000:1 RW no Natural frequency of zero of anti-
resonance (AR)filter 3
VL.ARZF3
3406h C U32 1000:1 RW no Natural frequency of zero of anti-
resonance (AR)filter 4
VL.ARZF4
3406h D U32 1000:1 RW no Q of zero of anti-resonance filter 1 VL.ARZQ1
3406h E U32 1000:1 RW no Q of zero of anti-resonance filter 2 VL.ARZQ2
3406h F U32 1000:1 RW no Q of zero of anti-resonance filter 3 VL.ARZQ3
3406h 10 U32 1000:1 RW no Q of zero of anti-resonance filter 4 VL.ARZQ4
3407h STRUCT Velocity Filter —
3407h 0 U8 RO no Number of entries —
3407h 1 INT32 1000:1 RW no 10 Hz filtered VL.FB VL.FBFILTER
3407h 2 U32 1000:1 RW no Gain for the velocity feedforward VL.KVFF
3407h 3 U32 RW no Gain for the acceleration feed-
forward
VL.KBUSFF
3407h 4 U32 1:1 RW no Sets the velocity error VL.ERR
3412h 0 INT8 RW no Type of regen resistor REGEN.TYPE
3414h 0 U8 RW Returns and sets the regen
resistor fault level temperature.
REGEN.WATTEXT
3415h 0 U32 1000:1 RO no Thermal regen resistor time con-
stant
REGEN.TEXT
3416h 0 U32 RO no Gets regen resistor's calculated
power
REGEN.POWER
AKD CANopen | 8 Appendix
Kollmorgen™ | November 2012 123

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