Kollmorgen AKD User Manual

7 CANopen Drive Profile
7.1 CANopen Emergency Messages and Error Codes 42
7.2 General Definitions 46
7.3 PDO Configuration 79
7.4 Device Control (dc) 87
7.5 Factor Groups (fg) (DS402) 94
7.6 Profile Velocity Mode (pv) (DS402) 99
7.7 Profile Torque Mode (tq) (DS402) 101
7.8 Position Control Function (pc) (DS402) 103
7.9 Interpolated Position Mode (ip) (DS402) 105
7.10 Homing Mode (hm) (DS402) 110
7.11 Profile Position Mode (DS402) 114
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 41

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