Kollmorgen AKD series User Manual

AKD User Guide | 14 Tuning Your System
14.4.6.2 Common Uses Of Anti Resonance Filters
Low pass filters in the feedback path. This is a common way to deal with noisy feedback sensors. When used in
combination with noisy feedback sensors, significant reduction in audible noise can result.
Lead / lag filters in the forward path. This is a common way to achieve phase lead for control loops without excit-
ing high frequency resonances.
Low pass filters in the forward path. This is a common way to limit high frequency energy from reaching a system
that can not productively use energy at these high frequencies. This is also used to lower the effect of system res-
onances over a wide range of frequencies.
Notch filters are used to cancel system resonances. Notch filters are designed to be the opposite in amplitude of
system resonances. Notch filters are applied to very specific frequencies, and therefore you must know your sys-
tem resonance frequencies accurately to use them effectively.
178 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