Kollmorgen AKD

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