Kollmorgen AKD series User Manual

The previous two examples used a numerator frequency lower than the denominator frequency, yielding a pos-
itive gain in high frequencies. If the denominator frequency is lower than the numerator frequency, then high
frequencies will have a negative gain.
Below is an example where the numerator frequency is higher than the denominator, notice the high frequencies
have a negative gain.
AKD User Guide | 14 Tuning Your System
Kollmorgen | December 2010 175

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