Kollmorgen AKD User Manual

6.4.4 Emergency Object (EMCY) 33
6.4.4.1 Application of the Emergency Object 33
6.4.4.2 Composition of the Emergency Object 33
6.4.5 Service Data Objects (SDO) 34
6.4.5.1 Composition of the Service Data Object 34
6.4.5.2 Initiate SDO Download Protocol 36
6.4.5.3 Download SDO Segment Protocol 36
6.4.5.4 Initiate SDO Upload Protocol 36
6.4.5.5 Upload SDO Segment Protocol 36
6.4.5.6 Abort SDO Protocol 36
6.4.6 Process Data Object (PDO) 37
6.4.6.1 Transmission modes 38
6.4.6.2 Trigger modes 38
6.4.7 Nodeguard 39
6.4.8 Heartbeat 40
7 CANopen Drive Profile 41
7.1 CANopen Emergency Messages and Error Codes 42
7.2 General Definitions 46
7.2.1 General objects 46
7.2.1.1 Object 1000h: Device Type (DS301) 46
7.2.1.2 Object 1001h: Error register (DS301) 47
7.2.1.3 Object 1002h: Manufacturer Status Register (DS301) 48
7.2.1.4 Object 1003h: Predefined Error Field (DS301) 49
7.2.1.5 Object 1005h: COB-ID of the SYNC Message (DS301) 50
7.2.1.6 Object 1006h: Communication Cycle Period (DS301) 50
7.2.1.7 Object 1008h: Manufacturer Device Name (DS301) 51
7.2.1.8 Object 1009h: Manufacturer Hardware Version 51
7.2.1.9 Object 100Ah: Manufacturer Software Version (DS301) 51
7.2.1.10 Object 100Ch: Guard Time (DS301)Response monitoring 52
7.2.1.11 Object 100Dh: Lifetime Factor (DS301) 52
7.2.1.12 Object 1010h: Store Parameters (DS301) 53
7.2.1.13 Object 1011h: Restore Default Parameters DS301 54
7.2.1.14 Object 1014h: COB-ID for Emergency Message (DS301) 55
7.2.1.15 Object 1016h: Consumer Heartbeat Time 55
7.2.1.16 Object 1017h: Producer Heartbeat Time 56
7.2.1.17 Object 1018h: Identity Object (DS301) 56
7.2.1.18 Object 1026h: OS Prompt 58
7.2.2 Manufacturer specific objects 59
7.2.2.1 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO 59
7.2.2.2 Object 2018h: Firmware Version 60
7.2.2.3 Object 2026h: ASCII Channel 61
7.2.2.4 Object 20A0h: Latch position 1, positive edge 62
7.2.2.5 Object 20A1h: Latch position 1, negative edge 62
7.2.2.6 Object 20A2h: Latch position 2, positive edge 62
7.2.2.7 Object 20A3h: Latch position 2, negative edge 63
7.2.2.8 Object 20A4h: Latch Control Register 63
AKD CANopen | Table of Contents
4 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