Kollmorgen AKD User Manual

AKD CANopen | 6 CANopen Communication Profile
6.4.8 Heartbeat
The Heartbeat Protocol defines an Error Control Service without need for remote frames. A Heartbeat Producer
transmits a Heartbeat message cyclically. One or more Heartbeat Consumer receive the indication. The rela-
tionship between producer and consumer is configurable via Object 1016h/1017h. The Heartbeat Consumer
guards the reception of the Heartbeat within the Heartbeat Consumer Time. If the Heartbeat is not received
within the Heartbeat Consumer Time a Heartbeat Event will be generated.
Heartbeat protocol:
40 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