Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.2.1.5 Object 1005h: COB-ID of the SYNC Message (DS301)
This object defines the COB-Id of the synchronisation object (SYNC).
Index 1005h
Name COB-ID for the SYNC message
Object code VAR
Data type UNSIGNED32
Category conditional
Access R/W
PDO mapping not possible
Value range UNSIGNED32
Default value no
Bit coded information:
Bit Value Meaning
31 (MSB) X —
30 0 Device not generate SYNC message
1 Device generates SYNC message
29 0 11 Bit ID (CAN 2.0A)
1 29 Bit ID (CAN 2.0B)
28 to 11 X —
0 if Bit 29=0
10 to 0 (LSB) X Bit 0 to 10 of SYNC COB-ID
The device does not support the generation of SYNC-messages and only the 11-bit IDs. So the bits 11 to 30 are
always 0.
7.2.1.6 Object 1006h: Communication Cycle Period (DS301)
This object can be used to define the period (in µs) for the transmission of the SYNC telegram.
Index 1006h
Name Period of the communication cycle
Object code VAR
Data type UNSIGNED32
Category O
Access R/W
PDO mapping not possible
Value range UNSIGNED32
Default value 00h
50 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