Kollmorgen AKD User Manual

7.6 Profile Velocity Mode (pv) (DS402)
7.6.1 General Information
The profile velocity mode enables the processing of velocity setpoints and the associated accelerations.
7.6.1.1 Objects that are defined in this section
Index Object Name Type Access
606Ch VAR velocity actual value INTEGER32 R/O
60FFh VAR target velocity INTEGER32 R/W
7.6.1.2 Objects that are defined in other sections
Index Object Name Type Section
6040h VAR control word INTEGER16 dc (=> p. 90)
6041h VAR status word UNSIGNED16 dc (=> p. 91)
6063h VAR position actual value* INTEGER32 pc (=> p. 103)
6083h VAR profile acceleration UNSIGNED32 pp (=> p. 116)
6084h VAR profile deceleration UNSIGNED32 pp (=> p. 116)
7.6.2 Object description
7.6.2.1 Object 606Ch: Velocity actual value (DS402)
The object velocity actual value represents the actual speed.
Index 606Ch
Name velocity actual value, VL.FB
Object code VAR
Data type INTEGER32
Mode pv
Access R/O
PDO mapping possible
Unit velocity units (SDO is in user units and the PDO is in RPM
Value range (-2
31
) to (2
31
-1)
Default value —
EEPROM no
AKD CANopen | 7 CANopen Drive Profile
Kollmorgen™ | November 2012 99

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