Kollmorgen AKD User Manual

Subindex 2 contains four ASCII - characters, which determine the voltage range and current class of the device.
The voltage range is one character L, M or H for low, medium and high voltage. The next three characters are
showing the continuos current of the drive.
Subindex 2
Description Product Code
Category optional
Access R/O
PDO mapping not possible
Value range e.g. M006 for an MV6 drive
Default value no
Subindex 3 consists of two revision numbers:
l the major revision number in the upper word containing the CAN-version
l the minor revision number is not used in the AKD. The firmware version can be retrieved as a string via object
0x100A or as numbers voa object 0x2018 subindex 1 to 4.
E.g. a value of 0x0014 0000 means CAN-version 0.20.
Subindex 3
Description Revision Number
Category optional
Access R/O
PDO mapping not possible
Value range UNSIGNED32
Default value no
Subindex 4 gives the serial number of the drive. This number contains the following information in it:
l bits 0..14: Board serial number (production in week of year)
l bits 15..20: week of production
l bits 21..24: year of production - 2009
l bits 25..31: ASCII-code of MFR-ID
Subindex 4
Description Serial Number
Category optional
Access R/O
PDO mapping not possible
Value range UNSIGNED32
Default value no
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 57

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