Kollmorgen AKD Basic User Manual

AKD BASIC User Guide |
6.8.1 DIN.ROTARY 194
6.8.2 DIN.STATES 195
6.8.3 DIN1.FILTER TO DIN7.FILTER 196
6.8.4 DIN1.INV to DIN7.INV 197
6.8.5 DIN1.MODE to DIN19.MODE 198
6.8.6 DIN1.STATE TO DIN7.STATE 200
6.8.7 DIN9.STATE to DIN11.STATE 201
6.9 DIO Parameters 202
6.9.1 DIO9.INV to DIO11.INV 203
6.9.2 DIO9.DIR to DIO11.DIR 204
6.10 DOUT Parameters 205
6.10.1 DOUT.RELAYMODE 206
6.10.2 DOUT.STATES 207
6.10.3 DOUT8.MODE to DOUT11.MODE 208
6.10.4 DOUT1.PARAM AND DOUT2.PARAM 209
6.10.5 DOUT1.STATE AND DOUT2.STATE 210
6.10.6 DOUT1.STATEU AND DOUT2.STATEU 211
6.10.7 DOUT9.STATE to DOUT11.STATE 212
6.10.8 DOUT9.STATEU to DOUT11.STATEU 213
6.11 DRV Parameters 214
6.11.1 DRV.ACC 215
6.11.2 DRV.ACTIVE 217
6.11.3 DRV.BLINKDISPLAY 218
6.11.4 DRV.CLRFAULTHIST 219
6.11.5 DRV.CLRFAULTS 220
6.11.6 DRV.CMDSOURCE 221
6.11.7 DRV.DBILIMIT 222
6.11.8 DRV.DEC 223
6.11.9 DRV.DIR 224
6.11.10 DRV.DIS 226
6.11.11 DRV.DISSOURCES 227
6.11.12 DRV.DISTO 228
6.11.13 DRV.EMUEDIR 229
6.11.14 DRV.EMUEMODE 230
6.11.15 DRV.EMUEMTURN 232
6.11.16 DRV.EMUERES 233
6.11.17 DRV.EMUEZOFFSET 234
6.11.18 DRV.EN 235
6.11.19 DRV.FAULT1 to DRV.FAULT10 236
6.11.20 DRV.HANDWHEEL 237
6.11.21 DRV.HANDWHEELSRC 238
6.11.22 DRV.HWENABLE 239
6.11.23 DRV.ICONT 240
6.11.24 DRV.IPEAK 241
6.11.25 DRV.NAME 242
9 Kollmorgen™ | March 30, 2012

Kollmorgen AKD Basic Specifications

General

Brand	Kollmorgen
Model	AKD Basic
Category	Controller
Language	English

Summary

About this User Guide

Program View

Toolbar Options Overview

Provides essential tools for programming AKD BASIC drives, including New, Open, Save, Compile, Download, and Debug.

Debugging and Code Management Tools

Features for debugging programs, including View, Format Document, Insert Code Snippet, Upload, and Lock.

AKD BASIC Language Overview

Program Structure and Scope

Explains program structure, local and global variables, and the concept of scope within AKD BASIC programs.

Data Types and Literal Constants

Defines pre-defined data types (INTEGER, FLOAT, STRING) and literal constants used in AKD BASIC programming.

Statements and Control Flow

Details essential statements like Alias, Call, Const, Dim, If...Then...Else, and For...Next for program logic.

Built-in Functions

Lists and describes various built-in functions for mathematical operations, string manipulation, and type conversion.

Quick Reference: Parameters, Functions, Operators

AKD Parameters and Commands

Reference table listing parameters and commands available in AKD BASIC from AKD Base Drive documentation.

AKD BASIC Parameters and Commands

Lists parameters, commands, functions, and operators unique to AKD BASIC programming.

AKD BASIC Functions Reference

Numeric Functions: ABS(), SIN(), SQR()

Describes common numeric functions for absolute value, sine, and square root calculations.

String Functions: ASC(), CHR$(), LEFT$()

Details string functions for character conversion, extraction, and manipulation.

AKD BASIC Parameters, Operators, Statements

MOVE Parameters: Motion Control

Configures motor motion parameters like acceleration, deceleration, speed, and target position for moves.

VL Parameters: Velocity Loop Control

Adjusts parameters for the velocity loop, including anti-resonance filters, gains, and limits for precise speed control.

DRV Parameters: Drive Configuration

Manages drive-specific settings such as acceleration, direction, mode, fault handling, and enable status.

CAM Parameters: Cam Profiling

Defines and activates cam profiles for cyclic, non-linear relationships between master and slave positions.