Index Sub-
index
DataType Float
Scal-
ing
Acces-
s
PDO
map-
p.
Description ASCII object
5175h 0 UINT32 RW no Service motion current 1; active in
opmode 0 (torque) only.
SM.I1
5176h 0 UINT32 RW no Service motion current 2; active in
opmode 0 (torque) only.
SM.I2
5177h 0 UINT32 RW no Service motion mode. SM.MODE
5179h 0 UINT32 RW no Service motion time 1. SM.T1
517Ah 0 UINT32 RW no Service motion time 2. SM.T2
517Eh 0 UINT32 RW no Enables and disables software
travel limit switches.
SWLS.EN
5184h 0 UINT32 RW no Linear acceleration/deceleration
units.
UNIT.ACCLINEAR
5187h 0 UINT32 RW no Linear position units. UNIT.PLINEAR
518Ah 0 UINT32 RW no Linear velocity units. UNIT.VLINEAR
518Eh 0 UINT32 RW no Voltage level for over voltage
warning.
VBUS.OVWTHRESH
51AE-
h
0 UINT32 RW no Feedback source for the velocity
loop; active in opmodes 1 (veloc-
ity) and 2 (position) only.
VL.FBSOURCE
51B0h 0 UINT32 RW no Mode of velocity generation
(Observer, d/dt); active in
opmodes 1 (velocity) and 2 (posi-
tion) only.
VL.GENMODE
51B3h 0 UINT32 RW no Scales the observer velocity sig-
nal; active in opmodes 1 (velocity)
and 2 (position) only.
VL.KO
51B8h 0 UINT32 RW no Ratio of the estimated load
moment of inertia relative to the
motor moment of inertia; active in
opmodes 1 and 2 only.
VL.LMJR
51BA-
h
0 UINT32 RW no Bandwidth of the observer in Hz. VL.OBSBW
51BB-
h
0 UINT32 RW no Observer operating mode. VL.OBSMODE
51CB-
h
0 UINT32 RW no Filter mode for Digital In 1. DIN1.FILTER
51CC-
h
0 UINT32 RW no Filter mode for Digital In 2. DIN2.FILTER
51CD-
h
0 UINT32 RW no Filter mode for Digital In 3. DIN3.FILTER
51CE-
h
0 UINT32 RW no Filter mode for Digital In 4. DIN4.FILTER
51CF-
h
0 UINT32 RW no Filter mode for Digital In 5. DIN5.FILTER
51D0h 0 UINT32 RW no Filter mode for Digital In 6. DIN6.FILTER
51D1h 0 UINT32 RW no Filter mode for Digital In 7. DIN7.FILTER
51E7h 0 UINT32 RW no Modbus User Units Input param-
eter
MODBUS.PIN
AKD CANopen | 8 Appendix
Kollmorgen™ | November 2012 133
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