Kollmorgen AKD User Manual

Subindex 3
Description FBUS.SYNCWND
Category optional
Access R/W
PDO mapping not possible
Value range UNSIGNED32
Default value 70000 [ns]
Sub 3 is a window, which is used in order to consider the drive as being synchronized. The AKD is considered as
synchronized in the following case:
FBUS.SYNCDIST – FBUS.SYNCWND < FBUS.SYNCACT < FBUS.SYNCDIST + FBUS.SYNCWND
Subindex 4
Description FBUS.COMPTIME
Category optional
Access R/W
PDO mapping not possible
Value range UNSIGNED32
Default value 150 [ns]
Sub 4 value indicates the time, which is used for extending or lowering the sample rate of the AKD internal 16
[kHz] IRQ, which is responsible for calling the PLL function. The default sample time is 32 * 1/16[kHz] = 2[ms].
The sample time of the AKD high prior interrupt is determined by
62.5[µs] – FBUS.COMPTIME if FBUS.SYNCACT > FBUS.SYNCDIST.
The sample time of the AKD high prior interrupt is determined by
62.5[µs] + FBUS.COMPTIME if FBUS.SYNCACT < FBUS.SYNCDIST.
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 71

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