Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.2.3.8 Object 60FDh: Digital inputs (DS402)
This index defines simple digital inputs for drives. The manufacturer bits 16 to 22 are used to mirror the digital
inputs 1 to 7. The manufacturer bits 24 to 30 are used to show the change of the state of the digital inputs 1 to 7.
Index 60FDh
Name digital inputs
Object code VAR
Data type UNSIGNED32
Category optional
Access R/O
PDO mapping possible
Value range UNSIGNED32
Default value 0
31 16 15 4
3 2 1 0
manufacturer specific reserved interlock home
switch
pos. limit
switch
neg. limit
switch
MSB LSB
76 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