Supported Cyclical Setpoint And Actual Values - Kollmorgen AKD-CC Installation Manual

4.7 Supported Cyclical Setpoint and Actual Values

Supported cyclical setpoint values
Name
Target current
Latch Control word
Clear digital Input Change Bit 0x20B8
Analog output value
External feedback position
CANopen control-word
Modes of Operation
Velocity Window
Velocity Window Time
Target Torque
Maximum Torque
Target position
Profile position target velocity 0x6081 sub 0 32 bit
Profile position target acc
Profile position target dec
Velocity feed forward
Torque feed forward
Touch probe function
Position command value
Digital outputs
Velocity command value
AKD EtherCAT | 4 EtherCAT Profile
CANopen Data Description
object type
0x2071 sub 0 32 bit scaled in mA
0x20A4 sub 0 UINT16
16 bit
0x3470 sub 3 16 bit
0x3497 sub 0 32 bit
0x6040 sub 0 UINT16 CANopen control word.
0x6060 sub 0 8 bit DS402 opmode setpoint
0x606D sub 0 16 bit
0x606E sub 0 16 bit
0x6071 sub 0 16 bit 0.1% resolution
0x6072 sub 0 16 bit
0x607A sub 0 INT32 Used in profile position mode / cyc-
lic synchronous position mode
related to MT.V
0x6083 sub 0 32 bit related to MT.ACC
0x6084 sub 0 32 bit related to MT.DEC
0x60B1 sub 0 32 bit
0x60B2 sub 0 INT16
0x60B8 16 bit
0x60C1 sub 1 INT32 Interpolation data record in IP-
mode
0x60FE sub 1 UINT32
0x60FF sub 0 INT32
Kollmorgen | kdn.kollmorgen.com | October 2017 49