Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.5.3 Objects for position calculation
7.5.3.1 Object 608Fh: Position encoder resolution (DS402)
The position encoder resolution defines the ratio of encoder increments per motor revolution on the CANopen
end. Encoder increments are set either directly by subindex 1 (only powers of 2 available) or implicit by writing to
the parameter FB1.PSCALE. It can be set independently afterwards.
Index 608Fh
Name Position encoder resolution
Object Code ARRAY
Data Type UNSIGNED 32
Category optional
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 Encoder increments
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED 32
Default Value 2^20
Subindex 2
Name Motor revolutions
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED 32
Default Value 1
96 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