Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.2.1.10 Object 100Ch: Guard Time (DS301)Response monitoring
The arithmetical product of the Objects 100Ch Guard Time and 100Dh Lifetime Factor is the response monitoring
time. The Guard Time is given in milliseconds. The response monitoring is activated with the first Nodeguard
object. If the value of the object Guard Time is set to zero, then the response monitoring is inactive.
Index 100Ch
Name Guard Time
Object code VAR
Data type UNSIGNED16
Category conditional;
mandatory, if heartbeat not supported
Access R/W
PDO mapping not possible
Value range UNSIGNED16
Default value 0
7.2.1.11 Object 100Dh: Lifetime Factor (DS301)
The product of Guard Time and Life Time Factor gives the life time for the nodeguarding protocol. If it’s 0, the pro-
tocol is not used.
Index 100Dh
Name Lifetime Factor
Object code VAR
Data type UNSIGNED8
Category conditional; (mandatory, if heartbeat not supported)
Access R/W
PDO mapping not possible
Value range UNSIGNED8
Default value 0
52 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