Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.4.1.1 States of the Status Machine
State Description
Not Ready for Switch On AKD is not ready to switch on, there is no operational readiness (BTB/RTO) sig-
naled from the controller program.
Switch On Disable AKD is ready to switch on, parameters can be transferred,
the DC-link voltage can be switched on, motion functions cannot be carried out yet.
Ready to Switch On DC-link voltage may be switched on, parameters can be transferred,
motion functions cannot be carried out yet.
Switched On DC-link voltage must be switched on, parameters can be transferred, motion func-
tions cannot be carried out yet, output stage is switched on (enabled).
Operation Enable No fault present, output stage is enabled, motion functions are enabled.
Quick Stop Active Drive has been stopped with the emergency ramp, output stage is enabled, motion
functions are not enabled.
Fault Reaction Active A fault has occured and the drive is stopped with the quickstop ramp.
Fault A fault is active, the drive has been stopped and disabled.
88 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