Kollmorgen AKD User Manual

AKD CANopen | 6 CANopen Communication Profile
6.3.1.2 Signed Integer
Data in the basic data type INTEGERn define both positive and negative integers.
The value range is from -2
n-1
-1 to 2
n-1
-1. The bit sequence b = b
0
to b
n-1
defines the value
INTEGERn(b) = b
n-2
2
n-2
+ to + b
1
2
1
+ b
0
2
0
with b
n-1
= 0
Negative numbers are represented as 2’s complement, which means:
INTEGERn(b) = - INTEGERn(b) - 1 with b
n-1
= 1
Example: the value -266 = FEF6h is transmitted in the data type INTEGER16, in the form of two octets (1
st
octet
= F6h, 2
nd
octet = FEh).
Transmission syntax for the data type INTEGERn
Octet number 1. 2. 3. 4.
INTEGER8 b
7
to b
0
INTEGER16 b
7
to b
0
b
15
to b
8
INTEGER24 b
7
to b
0
b
15
to b
8
b
23
to b
16
INTEGER32 b
7
to b
0
b
15
to b
8
b
23
to b
16
b
31
to b
24
INTEGER40 b
7
to b
0
b
15
to b
8
b
23
to b
16
b
31
to b
24
INTEGER48 b
7
to b
0
b
15
to b
8
b
23
to b
16
b
31
to b
24
INTEGER56 b
7
to b
0
b
15
to b
8
b
23
to b
16
b
31
to b
24
INTEGER64 b
7
to b
0
b
15
to b
8
b
23
to b
16
b
31
to b
24
Octet number 5. 6. 7. 8.
INTEGER8
INTEGER16
INTEGER24
INTEGER32
INTEGER40 b
39
to b
32
INTEGER48 b
39
to b
32
b
47
to b
40
INTEGER56 b
39
to b
32
b
47
to b
40
b
55
to b
48
INTEGER64 b
39
to b
32
b
47
to b
40
b
55
to b
48
b
63
to b
56
6.3.2 Mixed data types
Mixed data types combine basic data types (INTEGERn, UNSIGNEDn, REAL). Two types of mixed data are dis-
tinguished:
l STRUCT: This data type is composed of elements with different data types.
l ARRAY: This data type is composed of elements of the same data type.
30 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