Name: Kollmorgen AKD
Brand: Kollmorgen
Rating: 5 (1 reviews)

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index

DataType Float

Scaling

Access PDO

mapp.

Description ASCII object

6099h 2 U32 RW no Speed while searching for zero

mark

HOME.FEEDRATE

609Ah 0 U32 1:1 RW no Homing acceleration HOME.ACC,

HOME.DEC

60B1h 0 INT32 1:1 RW yes Velocity offset VL.BUSFF

60B2h 0 INT16 RW yes Torque offset (PDO only)

60B8h 0 U16 RW yes Touch probe function —

60B9h 0 U16 RW yes Touch probe status —

60BAh 0 INT32 RW yes Touch probe 1 positive edge —

60BBh 0 INT32 RW yes Touch probe 1 negative edge —

60BCh 0 INT32 RW yes Touch probe 2 positive edge —

60BDh 0 INT32 RW yes Touch probe 2 negative edge —

60C0h 0 INT16 RW no Interpolation submode select —

60C1h ARRAY Interpolation data record —

60C1h 0 U8 RO no Number of entries —

60C1h 1 INT32 RW yes Interpolation target position —

60C1h 2 U32 RW yes Interpolation time —

60C1h 3 INT32 RW yes Interpolation target velocity —

60C2h RECORD Interpolation time period —

60C2h 0 U8 RO no Number of entries FBUS.

SAMPLEPERIOD

60C2h 1 U8 RW no Interpolation time units —

60C2h 2 INT16 RW no Interpolation time index —

60C4h RECORD Interpolation data configuration —

60C4h 0 U8 RO no Number of entries —

60C4h 1 U32 RO no Maximum buffer size —

60C4h 2 U32 RO yes Actual buffer size —

60C4h 3 U8 RW no Buffer organization —

60C4h 4 U16 RW no Buffer position —

60C4h 5 U8 WO no Siza of data record —

60C4h 6 U8 WO no Buffer clear —

60D0h ARRAY Touch probe source —

60D0h 0 U8 RO no Highest sub-index supported -

60D0h 1 INT16 RW no Touch probe 1 source —

60D0h 2 INT16 RW no Touch probe 2 source —

60F4h 0 INT32 RO yes Following error actual value PL.ERR

60FDh 0 U32 RO yes Digital inputs DIN1.MODE TO

DIN6.MODE

60FEh ARRAY Digital outputs

60FEh 0 U8 RO no Number of entries

60FEh 1 U32 RW yes Physical outputs

60FEh 2 U32 RW no Bit mask

60FFh 0 INT32 RW yes Target velocity VL.CMDU

6502h 0 U32 RO no Supported drive modes —

AKD CANopen | 8 Appendix

Kollmorgen™ | November 2012 137

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

Kollmorgen AKD User Manual

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