Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.2.2.13 Object 3474h: Parameters for digital inputs
This set of objects is used to set extended parameters for some digital input functions. The parameters can be
used for different DINx.MODEs. Therefore thescaling might be different or no scaling is used at all.
Two subindices build an access object to one of these parameters, because they are 64-bit numbers internally,
e.g. object 3474 sub 1 gives access to the low 32 bits of DIN1.PARAM whereas 3474 sub 8 gives access to the
high 32 bits.
If access to the whole 64 bit number is needed the higher bits must be written first. The access to the lower 32
bits then writes the parameter. If the to be written value fits into 32 bit, only the lower part needs to be written.
The most-significant bit is then taken as sign-bit for the number.
Index 3474h
Name DINx.PARAM
Object code Array
Data type UNSIGNED32
Category optional
Subindex 0
Description number of entries
Category mandatory
Access R/O
PDO mapping not possible
Value range 0xE
Default value 0xE
Subindex 1 to 7
Description DINx.PARAM low 32 bits, x = 1 .. 7
Category optional
Access R/W
PDO mapping not possible
Value range UNSIGNED32
Default value 0
Subindex 8 to 0xE
Description DINx.PARAM high 32 bits, x = 1 .. 7
Category optional
Access R/W
PDO mapping not possible
Value range UNSIGNED32
Default value 0
68 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