Kollmorgen AKD-CC, Installation Manual

Page: 78 / 174

AKD EtherCAT | 5 Appendix
Index Sub-
index
Data
Type
Float
Scale
Access PDO
map.
Description ASCII object
34BBh 1 INT32 RW no Compare1 width 0 CMP1.WIDTH 0
34BBh 2 INT32 RW no Compare1 width 1 CMP1.WIDTH 1
34BBh 3 INT32 RW no Compare1 width 2 CMP1.WIDTH 2
34BBh 4 INT32 RW no Compare1 width 3 CMP1.WIDTH 3
34BBh 5 INT32 RW no Compare1 width 4 CMP1.WIDTH 4
34BBh 6 INT32 RW no Compare1 width 5 CMP1.WIDTH 5
34BBh 7 INT32 RW no Compare1 width 6 CMP1.WIDTH 6
34BBh 8 INT32 RW no Compare1 width 7 CMP1.WIDTH 7
34BCh ARRAY CMP1 widthtype —
34BCh 0 U8 RO no highest sub-index —
34BCh 1 U8 RW no Compare1 widthtype 0 CMP1.WIDTHTYPE 0
34BCh 2 U8 RW no Compare1 widthtype 1 CMP1.WIDTHTYPE 1
34BCh 3 U8 RW no Compare1 widthtype 2 CMP1.WIDTHTYPE 2
34BCh 4 U8 RW no Compare1 widthtype 3 CMP1.WIDTHTYPE 3
34BCh 5 U8 RW no Compare1 widthtype 4 CMP1.WIDTHTYPE 4
34BCh 6 U8 RW no Compare1 widthtype 5 CMP1.WIDTHTYPE 5
34BCh 7 U8 RW no Compare1 widthtype 6 CMP1.WIDTHTYPE 6
34BCh 8 U8 RW no Compare1 widthtype 7 CMP1.WIDTHTYPE 7
34BDh ARRAY CMP1 modes —
34BDh 0 U8 RO no highest sub-index —
34BDh 1 U8 RW no Compare1 mode 0 CMP1.MODE 0
34BDh 2 U8 RW no Compare1 mode 1 CMP1.MODE 1
34BDh 3 U8 RW no Compare1 mode 2 CMP1.MODE 2
34BDh 4 U8 RW no Compare1 mode 3 CMP1.MODE 3
34BDh 5 U8 RW no Compare1 mode 4 CMP1.MODE 4
34BDh 6 U8 RW no Compare1 mode 5 CMP1.MODE 5
34BDh 7 U8 RW no Compare1 mode 6 CMP1.MODE 6
34BDh 8 U8 RW no Compare1 mode 7 CMP1.MODE 7
34C0h ARRAY Compare0 handling —
34C0h 0 U8 RO no highest sub-index —
34C0h 1 U16 RW no Compare0 arm setpoints CMP0.ARM 0..7
34C0h 2 U16 RW no Compare0 states CMP0.STATE 0..7
34C1h ARRAY Compare1 handling —
34C1h 0 U8 RO no highest sub-index —
34C1h 1 U16 RW no Compare1 arm setpoints CMP1.ARM 0..7
34C1h 2 U16 RW no Compare1 states CMP1.STATE 0..7
3501h 0 INT32 1:1 RW no Acceleration ramp DRV.ACC, also see
"6083h" (
➜
p. 87)
3502h 0 INT32 1:1 RW no Acceleration ramp for hom-
ing/jog modes HOME.ACC
3506h 0 INT32 no Action that hardware enable
digital input will perform. DRV.HWENMODE
3509h 0 INT32 1000:1 RO no Analog input voltage AIN.VALUE
3522h 0 INT32 1:1 RW no Deceleration rate DRV.DEC, also see
"6084h" (
➜
p. 87)
78 Kollmorgen | kdn.kollmorgen.com | October 2017