Kollmorgen AKD Basic

AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
PL.CMD
PL.FB
Cmd_val
Position
loop
Act_val
DRV.OPMODE > 1
VL.CMD
VL.FB
Cmd_val
Velocity
loop
Act_val
DRV.OPMODE > 0
DRV.DIR = 1
IL.CMD
IL.FB
(-1)
+
Cmd_val
Current
loop
Act_val
Velocity
feedback
generator
(-1)
+
DRV.DIR = 1
Position
feedback
device
225 Kollmorgen™ | March 30, 2012