Kollmorgen AKD User Manual

AKD CANopen | 6 CANopen Communication Profile
6.4.1 Network Management Objects (NMT)
The followind diagram describes the NMT telegram:
The drive supports the following network management functions:
cs = 129, reset node:
Causes a cold-start of the drive. This deletes all parameters saved in the RAM and loads the values stored in the
EEPROM.
cs = 130, reset communication node:
Causes a stop of PDO-communication, gives a new bootup-message
cs = 1, start remote node:
Starts the CAN node. I.e. the PDOs of the drive are enabled for operation. From this moment, transmit-PDOs will
be transmitted under event-control, and cyclical process data operation can commence.
cs = 2, stop remote node:
Stops the CAN node, I.e. the drive no longer responds to any received PDOs or transmits any PDOs.
6.4.2 Synchronization Object (SYNC)
The SYNC object usually is used as a periodic Broadcast Object and provides the basic clock for the bus. SYNC
has a high priority, to ensure constant time intervals. The usage of this protocol is explained in the appendix from
page . You can use the SYNC object to start motion task of several axes simultaneously for example.
6.4.3 Time-Stamp Object (TIME)
This communication object is not supported by the AKD.
32 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