Kollmorgen AKD series User Manual

AKD User Guide | 15 Scope
When the trigger slope is negative, the trigger value will trigger when:
l The trigger sources is greater than the trigger value in the previous recording sample.
l The trigger source is less than or equal to the trigger value in the current recording sample.
15.2.2.5 Effects of Recorder Gap
When the recording rate is less than16,000 Hz (REC.GAP > 1), there can be some impact on the triggering of the
recorder. When using pretriggering and a recording rate of less than 16,000 Hz, the trigger only evaluates every N
samples, where N is the value of REC.GAP. Two effects result from this condition:
1. You cannot be sure of the moment that the recorder is triggered any closer than N samples. An example of
this is shown below where the trigger value is set to 3, the trigger slope is positive and the recorder gap is
2. Both examples are the same data, but one instance collected and triggered on the odd data. The other
example collected and triggered on the even data.
184 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