Kollmorgen AKD User Manual

7.2.3.9 Object 60FEh: Digital outputs (DS402)
This index defines simple digital outputs for drives. The manufacturer bits 16 and 17 are used to
mirror the digital outputs 1 and 2.
Index 60FEh
Name digital outputs
Object code Array
Data type UNSIGNED32
Category optional
Subindex 0
Description number of entries
Category mandatory
Access R/O
PDO mapping not possible
Value range 2
Default value 2
Subindex 1
Description physical outputs
Category mandatory
Access R/W
PDO mapping possible
Value range UNSIGNED32
Default value 0
Subindex 2
Description bit mask
Category optional
Access R/W
PDO mapping not possible
Value range UNSIGNED32
Default value 0
31 18 17 16 15 1 0
manufacturer specific DOUT2 DOUT1 reserved set brake
MSB LSB
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 77

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