Kollmorgen AKD-CC, Installation Manual

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Index Sub-
index
Data
Type
Float
Scale
Access PDO
map.
Description ASCII object
50FEh 0 UINT32 RW no Type of thermal resistor
inside the motor. MOTOR.RTYPE
5104h 0 UINT32 RW no Motor type. MOTOR.TYPE
510Eh 0 UINT32 RW no Motion task to be triggered
after an emergency stop pro-
cedure; active in opmode 2
(position) only. MT.EMERGMT
5121h 0 UINT32 RW no Type of following error warn-
ing and fault usage. PL.ERRMODE
5128h 0 UINT32 RW no Feedback source for the pos-
ition loop. PL.FBSOURCE
5175h 0 UINT32 RW no Service motion current 1; act-
ive in opmode 0 (torque)
only. SM.I1
5176h 0 UINT32 RW no Service motion current 2; act-
ive in opmode 0 (torque)
only. SM.I2
5177h 0 UINT32 RW no Service motion mode. SM.MODE
5179h 0 UINT32 RW no Service motion time 1. SM.T1
517Ah 0 UINT32 RW no Service motion time 2. SM.T2
517Eh 0 UINT32 RW no Enables and disables soft-
ware travel limit switches. SWLS.EN
5184h 0 UINT32 RW no Linear accel-
eration/deceleration units. UNIT.ACCLINEAR
5187h 0 UINT32 RW no Linear position units. UNIT.PLINEAR
518Ah 0 UINT32 RW no Linear velocity units. UNIT.VLINEAR
518Eh 0 UINT32 RW no Voltage level for over voltage
warning. VBUS.OVWTHRESH
51AEh 0 UINT32 RW no Feedback source for the velo-
city loop; active in opmodes
1 (velocity) and 2 (position)
only. VL.FBSOURCE
51B0h 0 UINT32 RW no Mode of velocity generation
(Observer, d/dt); active in
opmodes 1 (velocity) and 2
(position) only. VL.GENMODE
51B3h 0 UINT32 RW no Scales the observer velocity
signal; active in opmodes 1
(velocity) and 2 (position)
only. VL.KO
51B8h 0 UINT32 RW no Ratio of the estimated load
moment of inertia relative to
the motor moment of inertia;
active in opmodes 1 and 2
only. VL.LMJR
51BAh 0 UINT32 RW no Bandwidth of the observer in
Hz. VL.OBSBW
51BBh 0 UINT32 RW no Observer operating mode. VL.OBSMODE
51CBh 0 UINT32 RW no Filter mode for Digital In 1. DIN1.FILTER
AKD EtherCAT | 5 Appendix
Kollmorgen | kdn.kollmorgen.com | October 2017 83