Kollmorgen AKD series User Manual

AKD User Guide | 14 Tuning Your System
ture below has an ideal value of IL.KAFF of 1.7.
14.4.6 Using Anti-Resonance Filters
The AKD has four anti resonance filters. Two filters are in the forward path and two are in the feedback path.
Similarities
l Both types are typically used to enhance stability and performance of the system.
Differences
l Forward path filters result in higher phase lag in closed loop system response.
l Forward path filters limit spectrum from reaching the motor / feedback path filters only filter the feed-
back after it has been to the motor.
1.6.1 Types of Anti Resonance Filters
Low Pass
168 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