Kollmorgen AKD series User Manual

AKD User Guide | 14 Tuning Your System
Tuning Systems with High-Frequency Resonances
Some systems have resonances at very high frequencies (greater than 1 kHz). When the resonance is this large,
it can prove a challenge in tuning, because these systems generate high noise levels that are often audible. An
example of a large resonance is shown below. This example is from a steel flywheel mounted to an AKM 22E
motor. The source of the resonance is the spring mass relationship between the motor rotor, shaft, and flywheel.
One way to resolve this problem is to use a low-pass filter in the feedback path. To use this filter, simply check
the Enable Lowpass Search in the Autotuner, which is the default behavior.
148 Kollmorgen | December 2010

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