AKD2G-S Installation Manual, Safety 1 | 6 Technical description and data
6.3 Mechanical Data
AKD2G-Sxx-
Unit 6V03S,
6V06S,
6V12S
6V03D,
6V06D
7V03S,
7V06S
7V03D,
7V06D,
7V12S
7V24S
Width mm 76 76 75 75 100
Height, without connectors mm 235 235 272 272 335
Height, with connectors mm 303 303 340 340 450
Depth, without connectors mm 221 221 221 221 274
Depth, with connectors mm 232 232 232 232 291
Dimension Drawing see section Mechanical Installation (➜ # 47).
6.4 Performance Data
AKD2G-Sxx-
Performance Data Units 6V03S/D
6V06S/D
6V12S
7V03S/D
7V06S
7V06D 7V12S 7V24S
High/Quiet PWM Switching Frequency (optional
setting)(dynamic)
kHz 15.0 11.2 9.8 9.8 9.8
Nominal/High Load PWM Switching Frequency
(dynamic)
kHz 10.3 8.1 6.5 5.9 6.5
High Load Stalled PWM Switching Frequency
(dynamic)
kHz 5.1 4.1 3.3 2.9 3.3
Max. Voltage rise speed dU/dt kV/µs 7.0 7.0 7.0 7.0 7.0
Current Loop Update Period µs 1.28* 1.28* 1.28* 1.28* 1.28*
Velocity Loop Update Period µs 62.5 62.5 62.5 62.5 62.5
Position Loop Update Period µs 250 250 250 250 250
Max. Current Loop Bandwidth Hz 3000 2400 1900 1700 1900
Max. Velocity Loop Bandwidth Hz 750 650 600 550 600
Max. Position Loop Bandwidth Hz 350 350 350 350 350
Max. Motor Electrical Frequency Hz 599 599 599 599 599
* Control updates every 1.28 µs. Current command is updated every 62.5 µs.
34 Kollmorgen | kdn.kollmorgen.com | June, 2023
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