Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.3.1.3 Default RXPDO definition
RXPDO 1:
Subindex Value Meaning
0 1 One PDO-mapping entry
1 60 40 00 10 Control word
RXPDO 2:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Control word
2 60 60 00 08 Modes of Operation
RXPDO 3:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Control word
2 60 7A 00 20 Target Position (Mode PP)
RXPDO 4:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Control word
2 60 FF 00 20 Target Velocity (Mode PV)
82 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