Kollmorgen AKD-CC, Installation Manual

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Index Sub-
index
Data
Type
Float
Scale
Access PDO
map.
Description ASCII object
3416h 0 U32 RO no Gets regen resistor's cal-
culated power REGEN.POWER
3417h 0 U32 RO no Returns a filtered version of
3416h REGEN.POWER-
FILTERED
3420h 0 U16 1000:1 RW no Sets the foldback fault level. IL.FOLDFTHRESH
3421h 0 U32 1000:1 RW no Sets the user value for the fold-
back fault level. IL.FOLDFTHRESHU
3422h 0 U32 1000:1 no Sets friction compensation
value. IL.FRICTION
3423h 0 INT32 1000:1 no A constant current command
added to compensate for grav-
ity. IL.OFFSET
3424h 0 U16 no Enables/disables the integ-
rator part of the PI loop. IL.INTEN (Password Pro-
tected)
3425h 0 U32 1000:1 RO no Reads the overall foldback cur-
rent limit IL.IFOLD
3426h 0 U32 1000:1 RW no Sets current loop acceleration
feedforward gain value IL.KACCFF
3427h RECORD Motor protection parameters —
3427h 0 U8 RO no highest sub-index —
3427h 1 U8 RW no IL.MIMODE
3427h 2 U8 RW no IL.MI2TWTHRESH
3427h 3 U32 RW yes IL.MI2T
3430h 0 U8 RW no Sets the direction for absolute
motion tasks. PL.MODPDIR
3431h 0 U16 RW no Sets the motion task in the
drive MT.SET
3440h ARRAY Controlled stop parameters —
3440h 0 U8 RO no highest sub-index —
3440h 1 U32 1:1 RW no Sets the deceleration value for
a controlled stop. CS.DEC
3440h 2 U32 1:1 RW no Sets the velocity threshold for
a controlled stop. CS.VTHRESH
3440h 3 U32 RW no Sets the time value for the
drive velocity to be within
CS.VTHRESH. CS.TO
3441h 0 U8 RO no Controlled stop state CS.STATE
3443h 0 U16 RO no Returns the possible reason
for a drive disable DRV.DIS
3444h 0 U16 1000:1 RO no Maximum current for dynamic
braking DRV.DBILIMIT
3445h 0 U32 RO no Emergency timeout for brak-
ing DRV.DISTO
3450h 0 U8 WO no Release or enable brake MOTOR.BRAKERLS
3451h 0 U8 RW no Determines which drive para-
meters are calculated auto-
matically. MOTOR.AUTOSET
AKD EtherCAT | 5 Appendix
Kollmorgen | kdn.kollmorgen.com | October 2017 71