Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
States of the status machine
State Bit 6
switch on
disabled
Bit 5
quick stop
Bit 3
fault
Bit 2
operation
enabled
Bit 1
switched
on
Bit 0
ready to
switch on
Not ready to switch on 0 X 0 0 0 0
Switch on disabled 1 X 0 0 0 0
Ready to switch on 0 1 0 0 0 1
Switched on 0 1 0 0 1 1
Operation enabled 0 1 0 1 1 1
Fault 0 X 1 0 0 0
Fault reaction active 0 X 1 1 1 1
Quick stop active 0 0 0 1 1 1
Bits marked by X are irrelevant
Description of the remaining bits in the status word
Bit 4: voltage_enabled The DC-link voltage is present if this bit is set.
Bit 7: warning There are several possible reasons for Bit 7 being set and this warning being produced. The rea-
son of a warning can be seen by the Error code of the Emergency message, which is sent on the bus caused by
this warning.
Bit 9:The remote-bit is set by the telnet command FBUS.REMOTE. The default state is 1 indicating that the
power stage shall be only controlled by the DS402 control word. For special actions via telnet like tuning or com-
mutation finding, FBUS.REMOTEshall be set to 0 via telnet to inform the fieldbus master.
Bit 10: target_reached This is set when the drive has reached the target position.
Bit 11: internal_limit_active This bit specifies that a movement was or is limited. In different modes, different
warnings cause the bit to be set. The following assignments exist:
Mode of operation Warnings which set Bit 11
all n04, n06, n07, n10, n11, n14
0x1 (PP), 0x88 n03, n08, n09, n20
92 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