Kollmorgen AKD series User Manual

AKD User Guide | 16 Using Parameters and the Terminal Screen
Parameter or Command Type Description
FB1.MEMDUMP W/O
Dumps the memory ID data values of a feedback
with memory
FB1.MEMVER R/O Returns the memory feedback version.
FB1.OFFSET NV Sets position feedback offset.
FB1.POLES R/O Reads the number of feedback poles.
FB1.OFFSET NV Sets position feedback offset.
FB1.POLES R/O Reads the number of feedback poles.
FB1.SELECT NV Sets user entered type or identified type (–1).
Fieldbus (FBUS)
FBUS.PARAM1 TO
FBUS.PARAM20
NV Set fieldbus specific meanings.
FBUS.PLLSTATE R/O Returns the status of the PLL
FBUS.PLLTHRESH NV
Sets number of successful synchronized cycles
needed to lock the PLL.
FBUS.SAMPLEPERIOD NV Sets fieldbus sample period.
FBUS.SYNCACT R/O
Reads actual distance from the desired sync dis-
tance.
FBUS.SYNCDIST NV Sets time target for synchronization.
FBUS.SYNCWND NV
Sets symmetrically arranged window around the
desired sync distance.
FBUS.TYPE R/O Shows the active fieldbus type.
Gearing (GEAR)
GEAR.ACCMAX R/W
Sets the maximum allowed acceleration value;
active in opmode 2 (position) only.
GEAR.DECMAX R/W
Sets the maximum allowed deceleration value;
active in opmode 2 (position) only.
GEAR.IN R/W
Sets the denominator of the electronic gearing
ratio; active in opmode 2 (position) only.
GEAR.MODE R/W
Selects electronic gearing mode; active in
opmode 2 (position) only.
GEAR.MOVE Command
Starts the electronic gearing; active in opmode 2
(position) only.
GEAR.OUT R/W
Sets the numerator of the electronic gearing ratio;
active in opmode 2 (position) only.
GEAR.VMAX R/W
Reads the maximum allowed velocity value;
active in opmode 2 (position) only.
Homing (HOME)
HOME.ACC R/W
Sets homing acceleration; active in opmode 2
(position) only.
HOME.AUTOMOVE R/W Sets homing auto move flag.
HOME.DEC R/W
Sets homing deceleration; active in opmode 2
(position) only.
HOME.DIR NV
Sets homing direction; active in opmode 2 (posi-
tion) only.
HOME.DIST R/W
Sets homing distance; active in opmode 2 (posi-
tion) only.
HOME.FEEDRATE R/W
Sets homing velocity factor; active in opmode 2
(position) only.
200 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