AKD CANopen | 8 Appendix
8.1.4 Profile specific SDOs
Index Sub-
index
DataType Float
Scaling
Access PDO
mapp.
Description ASCII object
6040h 0 U16 WO yes Control word —
6041h 0 U16 RO yes Status word —
6060h 0 INT8 RW yes Modes of Operation —
6061h 0 INT8 RO yes Modes of Operation Display —
6063h 0 INT32 RO yes Position actual value (increments) —
6064h 0 INT32 1:1 RO yes Position actual value (position units) PL.FB
6065h 0 U32 1:1 RW no Following error window PL.
ERRFTHRESH
606Bh 0 INT32 1:1 RO no Velocity demand value VL.CMD
606Ch 0 INT32 1000:1 RO yes Velocity actual value (PDO in RPM) VL.FB
606Dh 0 U16 RW yes Velocity window
606Eh 0 U16 RW yes Velocity window time
6071h 0 INT16 RW yes Target torque —
6072h 0 U16 RW yes Max torque —
6073h 0 U16 RW no Max current
6077h 0 INT16 RO yes Torque actual value —
607Ah 0 INT32 1:1 RW yes Target position MT.P
607Ch 0 INT32 1:1 RW no Reference offset HOME.P
607Dh ARRAY Software position limit
607Dh 0 U8 RO no Number of entries
607Dh 1 INT32 1:1 RW no Software position limit 1 SWLS.LIMIT0
607Dh 2 INT32 1:1 RW no Software position limit 2 SWLS.LIMIT1
6081h 0 U32 1:1 RW yes Profile Velocity MT.V
6083h 0 U32 1:1 RW yes Profile Acceleration MT.ACC
6084h 0 U32 1:1 RW yes Profile Deceleration MT.DEC
608Fh ARRAY Position encoder resolution —
608Fh 0 U8 RO no Number of entries —
608Fh 1 U32 RW no Encoder increments —
608Fh 2 U32 RW no Motor revolutions
6091h ARRAY Gear ratio —
6091h 0 U8 RO no Number of entries —
6091h 1 U32 RW no Motor revolution
6091h 2 U32 RW no Shaft revolutions
6092h ARRAY Feed constant —
6092h 0 U8 RO no Number of entries —
6092h 1 U32 RW no Feed UNIT.PIN
6092h 2 U32 RW no Shaft revolutions UNIT.POUT
6098h 0 INT8 RW no Homing type HOME.MODE,
HOME.DIR
6099h ARRAY Homing velocity —
6099h 0 U8 RO no Number of entries —
6099h 1 U32 1:1 RW no Speed while searching for limit
switch
HOME.V
136 Kollmorgen™ | November 2012
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