Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.2 General Definitions
This chapter describes objects with a general validity (e.g. Object 1000h Device Type). The next section
explains the free configuration of Process Data Objects ("free mapping”).
7.2.1 General objects
7.2.1.1 Object 1000h: Device Type (DS301)
This object describes the device type (servo drive) and device functionality (DS402 drive profile). Definition:
MSB LSB
Additional information Device profile number
Mode bits Type 402d=192h
31 24 23 16 15 0
The device profile number is DS402, the type is 2 for drives, the mode bits 28 to 31 are manufacturer specific and
may be changed from its actual value of 0. A read access delivers 0x00020192 at the moment.
Index 1000h
Name device type
Object code VAR
Data type UNSIGNED32
Category mandatory
Access R/O
PDO mapping not possible
Value range UNSIGNED32
Default value no
46 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