Kollmorgen AKD User Manual

Emergency-Object
If, for instance, the resolver connector is disconnected, a serious error will be caused in the controller. This
results in an Emergency telegram.
COB-ID Emergency error Error
register
Low High
081 10 43 08 00 00 00 00 motor temperature, temperature, manufacturer specific
081 00 00 88 00 00 00 00
8.2.2 Examples, special applications
8.2.2.1 Example: External Trajectory with Interpolated Position Mode
This example shows the possible application for giving two axes position setpoints within one PDO.
Controller structure for the position controller within the drive:
All data are hexadecimal. In the example, the two axes in the system have the station addresses 1 and 2.
Before you begin this procedure, the axes should be homed (just for this example).
The common PDO contains 2 IP (interpolated position) – setpoints and can be transmitted simultaneously to two
stations, whereby each station can extract the relevant data. The other data can be made ignored by using
dummy entries (Object 2100 sub 0). For this purpose both axes must react on the same RPDO-COB-ID.
AKD CANopen | 8 Appendix
Kollmorgen™ | November 2012 151

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