7.11.1 General Information 114
7.11.1.1 Objects that are defined in this section 114
7.11.1.2 Objects that are defined in other sections 114
7.11.2 Object Description 115
7.11.2.1 Object 607Ah: Target position (DS402) 115
7.11.2.2 Object 607Dh: Software position limit (DS402) 115
7.11.2.3 Object 6081h: Profile velocity (DS402) 116
7.11.2.4 Object 6083h: Profile acceleration (DS402) 116
7.11.2.5 Object 6084h: Profile deceleration (DS402) 116
7.11.2.6 Functional Description 117
8 Appendix 119
8.1 Object Dictionary 119
8.1.1 Float Scaling 119
8.1.2 Communication SDOs 119
8.1.3 Manufacturer specific SDOs 122
8.1.4 Profile specific SDOs 136
8.2 Examples 138
8.2.1 Examples, setup 138
8.2.1.1 Basic testing of the connection to the AKD controls 138
8.2.1.2 Example: Operating the Status Machine 139
8.2.1.3 Example: Jog Mode via SDO 140
8.2.1.4 Example: Torque Mode via SDO 140
8.2.1.5 Example: Jog Mode via PDO 141
8.2.1.6 Example: Torque Mode via PDO 143
8.2.1.7 Example: Homing via SDO 144
8.2.1.8 Example: Using the Profile Position Mode 146
8.2.1.9 Example: ASCII Communication 149
8.2.1.10 Test for SYNC telegrams 150
8.2.2 Examples, special applications 151
8.2.2.1 Example: External Trajectory with Interpolated Position Mode 151
8.2.2.2 Example: PVT Interpolation 156
9 Index 159
AKD CANopen | Table of Contents
Kollmorgen™ | November 2012 7
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