Kollmorgen AKD series User Manual

AKD User Guide | 16 Using Parameters and the Terminal Screen
Parameter or Command Type Description
DOUT1.STATEU AND
DOUT2.STATEU
R/W Sets the state of the digital output node.
Drive (DRV)
DRV.ACC NV
Describes the acceleration ramp for the velocity
central loop.
DRV.ACTIVE R/O Reads the enable status of an axis.
DRV.BLINKDISPLAY Command Causes the display to blink for 10 seconds.
DRV.BURNINOFFT (Password
Protected)
R/W Sets the burn-in test mode off time.
DRV.CLRFAULTHIST Command Clears the fault history log in the NV.
DRV.CLRFAULTS Command Tries to clear all active faults in the drive.
DRV.CMDDELAY R/W
Issues a delay before next command is
executed.
DRV.CMDSOURCE NV
Sets the command source (service, fieldbus,
analog input, gearing, digital, or Bode).
DRV.CRASHDUMP Command
Retrieves diagnostic information after the drive
crashes.
DRV.DBILIMIT NV
Sets the maximum amplitude of the current for
dynamic braking.
DRV.DEC NV Sets the deceleration value for the velocity loop.
DRV.DIR R/W Changes drive direction.
DRV.DIS Command Disables the axis (software).
DRV.DISMODE NV
Selects among disable immediately or stop and
then disable options.
DRV.DISSOURCES R/O Returns the possible reason for a drive disable.
DRV.DISTO R/W Sets the emergency timeout
DRV.EMUEDIR R/W
Sets the direction of the emulated encoder output
(EEO) signal.
DRV.EMUEMODE R/W
Sets the mode of the emulated encoder output
(EEO) connector.
DRV.EMUEMTURN R/W
Defines the location of the index pulse on the
EEO (emulated encoder output) when DRV.EMU-
EMODE=2.
DRV.EMUERES R/W
Sets the resolution of the EEO (emulated
encoder output).
DRV.EMUEZOFFSET R/W
Sets the resolution of the EEO (emulated
encoder output).
DRV.EN Command Enables the axis (software).
DRV.ENDEFAULT R/W Sets the default state of the software enable.
DRV.FAULTHIST R/O Reads the last 10 faults from NV memory.
DRV.FAULTS R/O Reads the active faults.
DRV.FLASHREAD (Password Pro-
tected)
R/O Reads a value from the serial flash memory.
DRV.HANDWHEEL R/O Reads the EEO input value.
DRV.HELP R/O
Reads the minimum, maximum, and default
values for a specific parameter or command.
DRV.HELPALL R/O
Retrieves the minimum, maximum, default, and
actual values for all available parameters and
commands.
198 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