Kollmorgen AKD series User Manual

A low pass filter allows signals through below a corner frequency and attenuates the signals above the same
corner frequency. The behavior at the corner frequency can be specified with the low pass Q.
To specify a lowpass filter, you must specify the frequency and Q for both the zero and pole on anti resonance
filter 1. To do this, see the following example using the terminal commands that sets:
l Filter Type = Biquad
l Zero frequency = 700 Hz (This is the Lowpass cutoff frequency)
l Zero Q = 0.707
l Pole frequency = 5000 Hz
l Pole Q = 0.707
VL.ARTYPE1 0
VL.ARZF1 700
VL.ARZQ1 0.707
VL.ARPF1 5000
VL.ARPQ1 0.707
Lead Lag
A lead lag filter is a filter that has 0 dB gain at low frequencies and a gain that you specify at high frequencies.
You also specify the frequency that the gain at which the transition occurs.
AKD User Guide | 14 Tuning Your System
Kollmorgen | December 2010 169

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