Kollmorgen AKD User Manual

7.2.3.2 Object 60B9h: Touch probe status
This object indicates the status of the touch probe.
Index 60B9h
Name Touch probe status
Object code Variable
Data type UNSIGNED16
Category optional
Access R/O
PDO Mapping yes
Value range UNSIGNED16
Default value 0
Definition of the status:
Bit Value Meaning
0 0 Touch probe 1 is switched off
1 Touch probe 1 is enabled
1 0 Touch probe 1 no positive edge value stored
1 Touch probe 1 positive edge position stored
2 0 Touch probe 1 no negative edge value stored
1 Touch probe 1 negative edge position stored
3 to 5 0 reserved
6, 7 - User-defined (e.g. for testing)
8 0 Touch probe 2 is switched off
1 Touch probe 2 is enabled
9 0 Touch probe 2 no positive edge value stored
1 Touch probe 2 positive edge position stored
10 0 Touch probe 2 no negative edge value stored
1 Touch probe2 negative edge position stored
11 to 13 0 reserved
14, 15 - User-defined (e.g. for testing)
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 73

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