Kollmorgen AKD series User Manual

In addition, in order to accurately measure the low frequency resonances, the fast Fourier transform (FFT) res-
olution must be sufficiently fine to accurately measure the low-frequency resonance. A good place to start is to
have an FFT resolution of 1/10 of the frequency of the lowest anti-node. In the case shown below, an anti-res-
onance of 12 Hz is present, so the resolution should be approximately 1.2 Hz FFT resolution. The Autotuner can
function with the resonance if it is accurately measured, as shown below. To adjust the FFT resolution, adjust
FFT Points in the Recording Options tab as needed.
AKD User Guide | 14 Tuning Your System
Kollmorgen | December 2010 147

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