Kollmorgen AKD User Manual

7.2.2.9 Object 20A5h: Latch Status Register 64
7.2.2.10 Object 20A6h: Latch position 1, positive or negative edge 64
7.2.2.11 Object 20B8h: Reset of changed input information 65
7.2.2.12 Object 345Ah: Brake Control 66
7.2.2.13 Object 3474h: Parameters for digital inputs 68
7.2.2.14 Object 3475h: Parameters for digital outputs 69
7.2.2.15 Object 3496h: Fieldbus synchronization parameters 70
7.2.3 Profile specific objects 72
7.2.3.1 Object 60B8h: Touch probe function 72
7.2.3.2 Object 60B9h: Touch probe status 73
7.2.3.3 Object 60BAh: Touch probe 1 positive edge 74
7.2.3.4 Object 60BBh: Touch probe 1 negative edge 74
7.2.3.5 Object 60BCh: Touch probe 2 positive edge 74
7.2.3.6 Object 60BDh: Touch probe 2 negative edge 75
7.2.3.7 Object 60D0h: Touch probe source 75
7.2.3.8 Object 60FDh: Digital inputs (DS402) 76
7.2.3.9 Object 60FEh: Digital outputs (DS402) 77
7.2.3.10 Object 6502h: Supported drive modes (DS402) 78
7.3 PDO Configuration 79
7.3.1 Receive PDOs (RXPDO) 80
7.3.1.1 Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301) 80
7.3.1.2 Objects 1600-1603h: 1st - 4th RXPDO mapping parameter (DS301) 81
7.3.1.3 Default RXPDO definition 82
7.3.2 Transmit PDOs (TXPDO) 83
7.3.2.1 Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301) 83
7.3.2.2 Objects 1A00-1A03h: 1st - 4th TXPDO mapping parameter (DS301) 85
7.3.2.3 Default TXPDO definition 86
7.4 Device Control (dc) 87
7.4.1 Status Machine (DS402) 87
7.4.1.1 States of the Status Machine 88
7.4.1.2 Transitions of the status machine 89
7.4.2 Object Description 90
7.4.2.1 Object 6040h: Control word (DS402) 90
7.4.2.2 Object 6041h: Status word (DS402) 91
7.4.2.3 Object 6060h: Modes of Operation (DS402) 93
7.4.2.4 Object 6061h: Modes of Operation Display (DS402) 94
7.5 Factor Groups (fg) (DS402) 94
7.5.1 General Information 94
7.5.1.1 Factors 94
7.5.1.2 Relationship between Physical and Internal Units 94
7.5.2 Objects for velocity scaling 95
7.5.2.1 Object 204Ch: PV Scaling Factor 95
7.5.3 Objects for position calculation 96
7.5.3.1 Object 608Fh: Position encoder resolution (DS402) 96
7.5.3.2 Object 6091h: Gear Ratio (DS402) 97
7.5.3.3 Object 6092h: Feed constant (DS402) 98
AKD CANopen | Table of Contents
Kollmorgen™ | November 2012 5

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