Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.4.2 Object Description
7.4.2.1 Object 6040h: Control word (DS402)
The control commands are built up from the logical combination of the bits in the control word and external sig-
nals (e.g enable output stage). The definitions of the bits are shown below:
Index 6040h
Name control word
Object code VAR
Data type UNSIGNED16
Access R/W
PDO mapping possible
Unit —
Value range 0 to 65535
EEPROM no
Default value 0
Bit assignment im control word
Bit Name Bit Name
0 Switch on 8 Pause/halt
1 Disable Voltage 9 reserved
2 Quick Stop 10 reserved
3 Enable Operation 11 reserved
4 Operation mode specific 12 reserved
5 Operation mode specific 13 Manufacturer-specific
6 Operation mode specific 14 Manufacturer-specific
7 Reset Fault (only effective for faults) 15 Manufacturer-specific
Commands in the control word
Command Bit 7
Fault
Reset
Bit 3
Enable
Operation
Bit 2
Quick
Stop
Bit 1
Disable
Voltage
Bit 0
Switch
on
Transitions
Shutdown X X 1 1 0 2, 6, 8
Switch on X X 1 1 1 3
Disable Voltage X X X 0 X 7, 9, 10, 12
Quick Stop X X 0 1 X 7, 10, 11
Disable Operation X 0 1 1 1 5
Enable Operation X 1 1 1 1 4, 16
Fault Reset 1 X X X X 15
Bits marked by an X are irrelevant.
90 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