Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.3.1 Receive PDOs (RXPDO)
Four Receive PDOs can be configured in the drive:
l - configuration of the communication (Objects 1400-1403h)
l - configuration of the PDO-contents (mapping, Objects 1600-1603h)
7.3.1.1 Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301)
Index 1400h to 1403h for RXPDO 1 to 4
Name receive PDO parameter
Object code RECORD
Data type PDO CommPar
Category mandatory
Defined sub-indices
Subindex 0
Name number of entries
Data type UNSIGNED8
Category mandatory
Access R/O
PDO Mapping not possible
Value Range 2
Default Value 2
Subindex 1
Name COB-ID used by PDO
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED32
Default Value
Index 1400h: 200h + Node-ID Index 1401h: 300h + Node-ID
Index 1402h: 400h + Node-ID Index 1403h: 500h + Node-ID
Subindex 1 contains the COB-Id of the PDO as a bit coded information:
Bit Value Meaning
31 0 PDO exists/is valid
1 PDO does not exist/is not valid
30 0 RTR allowed on this PDO, not to be used (Can in Automation organisation)
1 RTR not allowed on this PDO
29 0 11 bit-ID (CAN 2.0A)
1 29 bit-ID (CAN 2.0B), not supported
28 to 11 X Identifier-bits with 29 bit-ID, not relevant
10 to 0 X Bits 10-0 of COB-ID
80 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