Kollmorgen AKD User Manual

AKD CANopen | 7 CANopen Drive Profile
7.5.3.3 Object 6092h: Feed constant (DS402)
The feed constant defines the ratio of feed in position units per driving shaft revolutions.
This includes the gear if present.
Index 6092h
Name Feed constant
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 Feed
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED 32
Default Value 1
Subindex 2
Name Shaft revolutions
Category mandatory
Access R/W
PDO Mapping not possible
Value Range UNSIGNED 32
Default Value 1
98 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