5.3.69 Object 6087h Torque slope (DS402)
This object defines the rate of change of torque. The value is given in units of per thousand of
rated torque per second. The minimum rate settable for the AKD is equivalent to the value of
DRV.ICONT (= 1000 per mille) per ~ 420 milliseconds equivalent to a value of ~ 2385 per
mille / second.
Index
6087h
Name
Torque slope
Object code
VAR
Data type
UNSIGNED32
Category
mandatory, if tq is supported
Access
R/W
PDO mapping
possible
Value range
UNSIGNED32
Default value
-
5.3.70 Object 608Fh: Position encoder resolution (DS402)
The position encoder resolution defines the ratio of encoder increments per motor revolution
on the CANopen end. Encoder increments are set either directly by subindex 1 (only powers
of 2 available) or implicit by writing to the parameter FB1.PSCALE.
Index
608Fh
Name
Position encoder resolution
Object Code
ARRAY
Data Type
UNSIGNED 32
Category
optional
Subindex
0
Name
highest sub-index supported
Data type
UNSIGNED8
Category
mandatory
Access
R/O
PDO Mapping
not possible
Value Range
2
Default Value
2
Subindex
1
Name
Encoder increments
Category
mandatory
Access
R/W
PDO Mapping
not possible
Value Range
UNSIGNED 32
Default Value
2^20
Subindex
2
Name
Motor revolutions
Category
mandatory
Access
R/W
PDO Mapping
not possible
Value Range
UNSIGNED 32
Default Value
1
AKD EtherCAT | 5 Appendix
Kollmorgen | kdn.kollmorgen.com | October 2017
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