Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.2.3.3 Object 60BAh: Touch probe 1 positive edge
This object provides the position value of the touch probe 1 at positive edge.
Index 60BAh
Name Touch probe 1 positive edge
Object code Variable
Data type INTEGER32
Category optional
Access R/O
PDO Mapping yes
Value range INTEGER32
Default value no
7.2.3.4 Object 60BBh: Touch probe 1 negative edge
This object provides the position value of the touch probe 1 at negative edge.
Index 60BBh
Name Touch probe 1 negative edge
Object code Variable
Data type INTEGER32
Category optional
Access R/O
PDO Mapping yes
Value range INTEGER32
Default value no
7.2.3.5 Object 60BCh: Touch probe 2 positive edge
This object provides the position value of the touch probe 2 at positive edge.
Index 60BCh
Name Touch probe 2 positive edge
Object code Variable
Data type INTEGER32
Category optional
Access R/O
PDO Mapping yes
Value range INTEGER32
Default value no
74 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