Kollmorgen AKD User Manual

AKD CANopen | 8 Appendix
Index Sub-
index
DataType Float
Scal-
ing
Acces-
s
PDO
map-
p.
Description ASCII object
51E8h 0 UINT32 RW no Modbus User Units Output param-
eter.
MODBUS.POUT
51E9h 0 UINT32 RW no Feedback Resolution (per rev)
over Modbus.
MODBUS.PSCALE
51EC-
h
0 UINT32 RW no Secondary feedback (FB2) res-
olution.
FB2.ENCRES
51ED-
h
0 UINT32 RW no Mode for the second feedback
inputs and high speed digital
inputs.
FB2.MODE
51EE-
h
0 UINT32 RW no Source for the second feedback
input.
FB2.SOURCE
51EFh 0 UINT32 RW no Brake apply timeout for vertical
axis.
MOTOR.TBRAKETO
51F0h 0 UINT32 RW no i.p. MODBUS.MSGLOG
520Ch 0 UINT32 RW no Scaling mode for Modbus values. MODBUS.SCALING
520Dh 0 UINT32 RW no Encoder output pulse width for
modes 6 to 7.
DRV.EMU-
EPULSEWIDTH
520Eh 0 UINT32 RW no Enable/disable motor velocity vs.
maximum emulated encoder
velocity monitoring function.
DRV.EMU-
ECHECKSPEED
5251h 0 UINT32 RW no Analog input deadband mode. AIN.DEADBANDMODE
5252h 0 UINT32 RW no Analog input mode AIN.MODE
5253h 0 UINT32 RW no Direction of IOs from X9. DIO10.DIR
5254h 0 UINT32 RW no Inverting the output voltage of the
IO, when in the output direction.
DIO10.INV
5255h 0 UINT32 RW no Direction of IOs from X9. DIO11.DIR
5256h 0 UINT32 RW no Inverting the output voltage of the
IO, when in the output direction.
DIO11.INV
5257h 0 UINT32 RW no Direction of IOs from X9. DIO9.DIR
5258h 0 UINT32 RW no Inverting the output voltage of the
IO, when in the output direction.
DIO9.INV
5259h 0 UINT32 RW no Fault Action for Fault 130. FAULT130.ACTION
525Ah 0 UINT32 RW no Fault Action for Fault 131. FAULT131.ACTION
525Bh 0 UINT32 RW no Fault Action for Fault 132. FAULT132.ACTION
525Ch 0 UINT32 RW no Fault Action for Fault 133. FAULT134.ACTION
525Dh 0 UINT32 RW no Fault Action for Fault 702. FAULT702.ACTION
525Eh 0 UINT32 RW no Method of acquiring IP Address. IP.MODE
525Fh 0 UINT32 RW no Load inertia. LOAD.INERTIA
5260h 0 UINT32 RW no Motor back EMF constant. MOTOR.KE
5261h 0 UINT32 RW no Changing voltage thresholds for
HV and MV Drives
VBUS.HALFVOLT
5262h 0 UINT32 RW no Direction for the second feedback
input (X9 and X7).
FB2.DIR
5263h 0 UINT32 RW no Feedback for handwheel oper-
ation.
DRV.HANDWHEELSRC
134 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