Kollmorgen AKD-CC, Installation Manual

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AKD EtherCAT | 5 Appendix
Index Sub-
index
Data
Type
Float
Scale
Access PDO
map.
Description ASCII object
538Fh 0 INT8 RW no Compare engine 0 source CMP0.SOURCE
5390h 0 INT8 RW no Compare engine 1 source CMP1.SOURCE
5394h 0 U16 RW no Compare engine 0 output
mask CMP0.OUTMASK
539Bh 0 U16 RW no Compare engine 1 output
mask CMP1.OUTMASK
53A6h 0 U8 RW no Compare engine 0 modulo
enable CMP0.MODEN
53ADh 0 U8 RW no Compare engine 1 modulo
enable CMP1.MODEN
53B1h 0 U32 RW no Compare engine 0 advance CMP0.ADVANCE
53B2h 0 U32 RW no Compare engine 1 advance CMP1.ADVANCE
53C7h 0 UINT32 RW no Sets the fault display mode DRV.FAULTDISPLAYMODE
53D5h 0 UINT32 RW no Sets the delay time for
PL.CMD PL.PDELAY
53D6h 0 UINT32 RW no Sets the delay time for the
velocity feedforward integ-
rator component VL.FFDELAY
53D7h 0 INT8 RW no Allows a surface permanent
magnet motor to operate as
an interior permanent magnet
motor MOTOR.FIELDWEAKENING
5403h 0 UINT32 RW no Toggles between
HOME.IPEAK and current
loop limits during homing HOME.IPEAKACTIVE
5404h 0 UINT32 RW no Scaling factor (numerator) for
the command
DRV.EMUESTEPCMD DRV.EMUESTEPCMDPIN
5405h 0 UINT32 RW no Scaling factor (denominator)
for the command
DRV.EMUESTEPCMD DRV.EMUESTEPCMDPOUT
5406h 0 UINT32 RW no Sets the target position win-
dow for the homing pro-
cedure; active in opmode 2
(position) only HOME.TPOSWND
541fh 0 UINT8 RW no Disables the automatic
Wake & Shake in special
cases WS.FORCEOFF
5420h 0 UINT8 RW no Defines the behavior of fault
314. FAULT314.ACTION
5.2.5 Profile specific SDOs
Index Sub-
index
Data Type Float
Scale
Access PDO
map.
Description ASCII object
6040h 0 U16 WO yes Control word —
6041h 0 U16 RO yes Status word —
605Ah 0 INT16 RW no Quick stop option
code —
86 Kollmorgen | kdn.kollmorgen.com | October 2017