Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.2.3.10 Object 6502h: Supported drive modes (DS402)
A drive can support more then one and several distinct modes of operation. This object gives an overview of the
implemented operating modes in the device. This object is read only.
Index 6502h
Name supported drive modes
Object code VAR
Data type UNSIGNED32
Category optional
Access R/O
PDO mapping not possible
Value range UNSIGNED32
Default value 0x65 (ip hm pv pp)
31 16 15 7
6 5 4 3 2 1 0
manufacturer specific reserved ip hm reserved tq pv vl pp
MSB LSB
78 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