Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.2.3 Profile specific objects
7.2.3.1 Object 60B8h: Touch probe function
This object indicates the configured function of the touch probe.
Index 60B8h
Name Touch probe function
Object code Variable
Data type UNSIGNED16
Category optional
Access R/W
PDO Mapping yes
Value range UNSIGNED16
Default value 0
Definition of the possible functions:
Bit Value Meaning
0 0 Switch off touch probe 1
1 Enable touch probe 1
1 0 Trigger first event
1 Continuous
3, 2 00b Trigger with touch probe 1 input
01b Trigger with zero impulse signal or position encoder
10b Touch probe source as defined in object 60D0h, sub-index 01h
11b reserved
4 0 Switch off sampling at positive edge of touch probe 1
1 Enable sampling at positive edge of touch probe 1
5 0 Switch off sampling at negative edge of touch probe 1
1 Enable sampling at negative edge of touch probe 1
6, 7 - User-defined (e.g. for testing)
8 0 Switch off touch probe 2
1 Enable touch probe 2
9 0 Trigger first event
1 continuous
11, 10 00b Trigger with touch probe 2 input
01b Trigger with zero impulse signal or position encoder
10b Touch probe source as defined in object 60D0h, sub-index 02h
11b reserved
12 0 Switch off sampling at positive edge of touch probe 2
1 Enable sampling at positive edge of touch probe 2
13 0 Switch off sampling at negative edge of touch probe 2
1 Enable sampling at negative edge of touch probe 2
14, 15 - User-defined (e.g. for testing)
72 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