Kollmorgen AKD User Manual

8.2.1.6 Example: Torque Mode via PDO
It is useful to disable unused PDOs. The first TX_PDO shall transmit the actual current value with every SYNC.
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
603 2F 60 60 00h 04 00 00 00 Mode of operation “Torque”
583 60 60 60 00h 00 00 00 00 response telegram
603 2F 00 16 00h 00 00 00 00 delete entry for the first RXPDO
583 60 00 16 00h 00 00 00 00 response telegram
603 23 00 16 01h 10 00 71 60 mapping RXPDO1, Object6071,Subindex 0
current setpoint, data length 16bit
583 60 00 16 01h 00 00 00 00 response telegram
603 2F 00 16 00h 01 00 00 00 check number of mapped objects
583 60 00 16 00h 00 00 00 00 response telegram
603 2F 00 1A 00h 00 00 00 00 delete entry for TXPDO1
583 60 00 1A 00h 00 00 00 00 response telegram
603 23 00 1A 01h 10 00 77 60 mapping TXPDO1, Object6077,Subindex 0
actual current value, Data length16bit
583 60 00 1A 01h 00 00 00 00 response telegram
603 2F 00 1A 00h 01 00 00 00 number of mapped objects
583 60 00 1A 00h 00 00 00 00 response telegram
603 2F 00 18 02h 01 00 00 00 set TXPDO1 to synchronous, transmission
with every SYNC
583 60 00 18 02h 00 00 00 00 response telegram
603 23 01 18 01h 83 02 00 80 disable TPDO2, set bit 31 (80h)
583 60 01 18 01h 00 00 00 00 response telegram
603 23 02 18 01h 83 03 00 80 disable TPDO3
583 60 02 18 01h 00 00 00 00 response telegram
603 23 03 18 01h 83 04 00 80 disabled TPDO4
583 60 03 18 01h 00 00 00 00 response telegram
603 23 01 14 01h 03 03 00 80 disabled RPDO2
583 60 01 14 01h 00 00 00 00 response telegram
603 23 02 14 01h 03 04 00 80 disabled RPDO3
583 60 02 14 01h 00 00 00 00 response telegram
603 23 03 14 01h 03 05 00 80 disabled RPDO4
583 60 03 14 01h 00 00 00 00 response telegram
000 01 03 enable NMT
603 2B 40 60 00h 06 00 00 00 shutdown
583 60 40 60 00h 00 00 00 00 response telegram
603 2B 40 60 00h 07 00 00 00 switch on
583 60 40 60 00h 00 00 00 00 response telegram
603 2B 40 60 00h 0F 00 00 00 enable operation
583 60 40 60 00h 00 00 00 00 response telegram
203 12 02 setpoint 530 mA
080 send SYNC
183 19 02 actual value 537 mA
603 2B 40 60 00h 0F 01 00 00 intermediate stop
583 60 40 60 00h 00 00 00 00 response telegram
AKD CANopen | 8 Appendix
Kollmorgen™ | November 2012 143

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