Kollmorgen AKD series User Manual

AKD User Guide | 16 Using Parameters and the Terminal Screen
PL.ERR NV
Returns the position error present when the drive
is controlling the position loop.
PL.ERRFTHRESH NV Sets the maximum position error.
PL.ERRWTHRESH NV Sets the position error warning level.
PL.FB R/O Reads the position feedback value.
PL.FBSOURCE NV Sets the feedback source for the position loop.
PL.INTINMAX NV
Limits the input of the position loop integrator by
setting the input saturation.
PL.INTOUTMAX NV
Limits the output of the position loop integrator by
setting the output saturation.
PL.KI NV Sets the integral gain of the position loop.
PL.KP NV
Sets the proportional gain of the position regulator
PID loop.
Programmable Limit Switch
(PLS)
PLS.EN R/W Enables programmable limit switch (PLS).
PLS.MODE NV Selects programmable limit switch mode.
PLS.P1 TO PLS.P8 NV
Sets the trigger point for programmable limit
switches.
PLS.STATE R/O Reads the programmable limit switch state.
Recorder (REC)
REC.ACTIVE R/O Indicates if data recording is in progress (active).
REC.CH1 to REC.CH6 R/W Sets recording channels 1 to 6.
REC.DONE R/O
Checks whether or not the recorder has finished
recording.
REC.GAP R/W Specifies the gap between consecutive samples.
REC.NUMPOINTS R/W Sets the number of points to record.
REC.OFF R/W Turns the recorder OFF.
REC.RETRIEVE R/O
Transfers all the recorded data to the com-
munication channel.
REC.STOPTYPE R/W Sets the recorder stop type.
REC.TRIG Command Triggers the recorder.
REC.TRIGSLOPE R/W Sets the trigger slope.
REC.TRIGTYPE R/W Sets the trigger type.
REC.TRIGVAL R/W Sets the trigger value.
Regen Resistor (REGEN)
REGEN.POWER R/O
READS REGEN RESISTOR'S CALCULATED
POWER.
REGEN.REXT N/V
SETS THE EXTERNAL, USER-DEFINED
REGEN RESISTOR RESISTANCE.
REGEN.TEXT R/W
Sets the external regen resistor thermal pro-
tection time constant.
REGEN.TYPE N/V SETS THE REGEN RESISTOR TYPE.
REGEN.WATTEXT R/W
SETS THE REGEN RESISTOR'S POWER
FAULT LEVEL FOR AN EXTERNAL REGEN
RESISTOR.
Service Motion (SM)
SM.I1 R/W
Sets service motion current 1; active in opmode 0
(torque) only.
204 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