Kollmorgen AKD User Manual

AKD CANopen | 8 Appendix
Index Sub-
index
DataType Float
Scal-
ing
Acces-
s
PDO
map-
p.
Description ASCII object
3420h 0 U16 1000:1 RW no Sets the foldback fault level. IL.FOLDFTHRESH
3421h 0 U32 1000:1 RW no Sets the user value for the fold-
back fault level.
IL.FOLDFTHRESHU
3422h 0 U32 1000:1 no Sets friction compensation value. IL.FRICTION
3423h 0 INT32 1000:1 no A constant current command
added to compensate for gravity.
IL.OFFSET
3424h 0 U16 no Enables/disables the integrator
part of the PI loop.
IL.INTEN (Password Pro-
tected)
3425h 0 U32 1000:1 RO no Reads the overall foldback cur-
rent limit
IL.IFOLD
3426h 0 U32 1000:1 RW no Sets current loop acceleration
feedforward gain value
IL.KACCFF
3427h REC-
ORD
Motor protection parameters —
3427h 0 U8 RO no Number of entries —
3427h 1 U8 RW no IL.MIMODE
3427h 2 U8 RW no IL.MI2TWTHRESH
3427h 3 U32 RW yes IL.MI2T
3430h 0 U8 RW no Sets the direction for absolute
motion tasks.
PL.MODPDIR
3431h 0 U16 RW no Sets the motion task in the drive MT.SET
3440h ARRAY Controlled stop parameters —
3440h 0 U8 RO no Number of entries —
3440h 1 U32 1:1 RW no Sets the deceleration value for a
controlled stop.
CS.DEC
3440h 2 U32 1:1 RW no Sets the velocity threshold for a
controlled stop.
CS.VTHRESH
3440h 3 U32 RW no Sets the time value for the drive
velocity to be within
CS.VTHRESH.
CS.TO
3441h 0 U8 RO no Controlled stop state CS.STATE
3443h 0 U16 RO no Returns the possible reason for a
drive disable
DRV.DIS
3444h 0 U16 1000:1 RO no Maximum current for dynamic
braking
DRV.DBILIMIT
3445h 0 U32 RO no Emergency timeout for braking DRV.DISTO
3450h 0 U8 WO no Release or enable brake MOTOR.BRAKERLS
3451h 0 U8 RW no Determines which drive param-
eters are calculated auto-
matically.
MOTOR.AUTOSET
3452h 0 U16 RW no Sets the motor maximum voltage MOTOR.VOLTMAX
3453h 0 U32 RW no Sets the motor temperature warn-
ing level
MOTOR.TEMPWARN
3454h 0 U32 1000:1 RW no Sets the thermal constant of the
motor coil
MOTOR.CTF0
3455h 0 U32 1000:1 RW no Sets the line-to-line motor Lq MOTOR.LQLL
124 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