Kollmorgen AKD series User Manual

DOUT.RELAYMODE 334
DOUT.STATES 335
DOUTx.MODE 336
DOUT1.PARAM AND DOUT2.PARAM 337
DOUT1.STATE AND DOUT2.STATE 338
DOUT1.STATEU AND DOUT2.STATEU 339
DRV Parameters and Commands 341
DRV.ACC 341
DRV.ACTIVE 343
DRV.BLINKDISPLAY 344
DRV.CLRFAULTHIST 345
DRV.CLRFAULTS 346
DRV.CMDDELAY 347
DRV.CMDSOURCE 348
DRV.CRASHDUMP 349
DRV.DBILIMIT 350
DRV.DEC 351
DRV.DIR 352
DRV.DIS 354
DRV.DISMODE 355
DRV.DISSOURCES 356
DRV.DISTO 357
DRV.EMUEDIR 358
DRV.EMUEMODE 359
DRV.EMUEMTURN 360
DRV.EMUERES 361
DRV.EMUEZOFFSET 362
DRV.EN 363
DRV.ENDEFAULT 364
DRV.FAULTHIST 365
DRV.FAULTS 366
DRV.HANDWHEEL 367
DRV.HELP 368
DRV.HELPALL 369
DRV.HWENMODE 370
DRV.ICONT 371
DRV.INFO 372
DRV.IPEAK 373
DRV.IZERO 374
DRV.LIST 375
DRV.LOGICVOLTS 376
DRV.MEMADDR 377
DRV.MEMDATA 378
DRV.MOTIONSTAT 379
DRV.NAME 380
DRV.NVLIST 381
DRV.NVLOAD 382
Kollmorgen | December 2010 13

Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing