Kollmorgen AKD Basic User Manual

AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators
SWLS.STATE R/O Reads the actual status of software limit switches.
Units (UNIT)
UNIT.ACCLINEAR NV Sets the linear acceleration/deceleration units.
UNIT.ACCROTARY NV Sets the rotary acceleration/deceleration units.
UNIT.LABEL NV Sets user-defined name for user-defined position units.
UNIT.PIN NV Sets gear IN for the unit conversion.
UNIT.PLINEAR NV Sets the linear position units.
UNIT.POUT NV Sets gear out for the unit conversion.
UNIT.PROTARY NV Sets the position units when the motor type (MOTOR.TYPE ) is rotary.
UNIT.VLINEAR NV Sets the linear velocity units.
UNIT.VROTARY NV Sets the velocity units when the motor type (MOTOR.TYPE ) is rotary.
Bus Voltage (VBUS)
VBUS.OVFTHRESH R/O Reads the over voltage fault level.
VBUS.OVWTHRESH NV Sets voltage level for over voltage warning.
VBUS.RMSLIMIT R/O Reads the limit for the bus capacitors load.
VBUS.UVFTHRESH R/W Sets the under voltage fault level.
VBUS.UVMODE NV Indicates undervoltage (UV) mode.
VBUS.UVWTHRESH NV Sets voltage level for undervoltage warning.
VBUS.VALUE R/O Reads DC bus voltage.
Velocity Loop (VL)
VL.ARPF1 TO
VL.ARPF4
R/W Sets the natural frequency of the pole (denominator) of anti-resonance
(AR) filters 1, 2, 3, and 4; active in opmodes 1 (velocity) and 2 (posi-
tion) only.
VL.ARPQ1 TO
VL.ARPQ4
R/W Sets the Q of the pole (denominator) of anti-resonance (AR) filter 1;
active in opmodes 1 (velocity) and 2 (position) only.
VL.ARTYPE1 TO VL.A-
RTYPE4
NV Indicates the method used to calculate BiQuad coefficients; active in
opmodes 1 (velocity) and 2 (position) only.
VL.ARZF1 TO
VL.ARZF4
R/W Sets the natural frequency of the zero (numerator) of anti-resonance
(AR)filter 1; active in opmodes 1 (velocity) and 2 (position) only.
VL.ARZQ1 TO
VL.ARZQ4
R/W Sets the Q of the zero (numerator) of anti-resonance filter #1; active in
opmodes 1 (velocity) and 2 (position) only.
VL.BUSFF R/O Displays the velocity loop feedforward value injected by the field-bus;
active in opmodes 1 (velocity) and 2 (position) only.
VL.CMD R/O Reads the actual velocity command; active in opmodes 1 (velocity)
and 2 (position) only.
VL.CMDU R/W Sets the user velocity command; active in opmodes 1 (velocity) and 2
(position) only.
VL.ERR R/O Sets the velocity error; active in opmodes 1 (velocity) and 2 (position)
only.
VL.FB R/O Reads the velocity feedback; active in opmodes 1 (velocity) and 2
(position) only.
VL.FBFILTER R/O Filters VL.FB value; active in opmodes 1 (velocity) and 2 (position)
only.
VL.FBSOURCE NV Sets feedback source for the velocity loop; active in opmodes 1 (veloc-
ity) and 2 (position) only.
VL.FBUNFILTERED R/O Reads the velocity feedback.
Kollmorgen™ | March 30, 2012 54

Kollmorgen AKD Basic Specifications

General

Brand	Kollmorgen
Model	AKD Basic
Category	Controller
Language	English