Kollmorgen AKD User Manual

7.2.3.6 Object 60BDh: Touch probe 2 negative edge
This object provides the position value of the touch probe 2 at negative edge.
Index 60BDh
Name Touch probe 2 negative edge
Object code Variable
Data type INTEGER32
Category optional
Access R/O
PDO Mapping yes
Value range INTEGER32
Default value no
7.2.3.7 Object 60D0h: Touch probe source
This object provides the source of the touch probe function, when the dedicated bits 2/3 or 10/11 of the touch
probe function (object 60B8h) are set accordingly.
Index 60D0h
Name Touch probe source
Object code Array
Data type Integer 16
Category optional
Subindex 0
Description Highest sub-index supported
Category mandatory
Access R/O
PDO mapping not possible
Value range 2
Default value 2
Subindex 1
Description Touch probe 1 source
Category mandatory
Access R/W
PDO mapping not possible
Value range -11 to -1, 1 to 5
Default value 1
Subindex 2
Description Touch probe 2 source
Category mandatory
Access R/W
PDO mapping not possible
Value range -11 to -1, 1 to 5
Default value 1
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 75

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