Kollmorgen AKD series User Manual

AKD User Guide | 16 Using Parameters and the Terminal Screen
VL.BUSFF R/O
Displays the velocity loop feedforward value
injected by the field-bus; active in opmodes 1
(velocity) and 2 (position) only.
VL.CMD R/O
Reads the actual velocity command; active in
opmodes 1 (velocity) and 2 (position) only.
VL.CMDU R/W
Sets the user velocity command; active in
opmodes 1 (velocity) and 2 (position) only.
VL.ERR R/O
Sets the velocity error; active in opmodes 1
(velocity) and 2 (position) only.
VL.FB R/O
Reads the velocity feedback; active in opmodes
1 (velocity) and 2 (position) only.
VL.FBFILTER R/O
Filters VL.FB value; active in opmodes 1 (veloc-
ity) and 2 (position) only.
VL.FBSOURCE NV
Sets feedback source for the velocity loop; active
in opmodes 1 (velocity) and 2 (position) only.
VL.FF R/O
Displays the velocity loop overall feedforward
value; active in opmodes 1 (velocity) and 2 (posi-
tion) only.
VL.GENMODE NV
Selects mode of velocity generation (Observer,
d/dt); active in opmodes 1 (velocity) and 2 (posi-
tion) only.
VL.KBUSFF R/W
Sets the velocity loop acceleration feedforward
gain value; active in opmodes 1 (velocity) and 2
(position) only.
VL.KI NV
Sets the velocity loop integral gain for the PI con-
troller; active in opmodes 1 (velocity) and 2 (posi-
tion) only.
VL.KP NV
Sets velocity loop proportional gain for the PI con-
troller; active in opmodes 1 (velocity) and 2 (posi-
tion) only.
VL.KVFF R/W
Sets the velocity loop velocity feedforward gain
value; active in opmodes 1 (velocity) and 2 (posi-
tion) only.
VL.LIMITN NV
Sets the velocity lower limit; active in opmodes 1
(velocity) and 2 (position) only.
VL.LIMITP NV
Sets the velocity high limit; active in opmodes 1
(velocity) and 2 (position) only.
VL.LMJR R/W
Sets the ratio of the estimated load moment of
inertia relative to the motor moment of inertia;
active in opmodes 1 (velocity) and 2 (position)
only.
VL.THRESH NV
Sets the over speed fault value; active in
opmodes 1 (velocity) and 2 (position) only.
Wake and Shake (WS)
WS.ARM Command
Sets wake and shake to start at the next drive
enable.
WS.DISTMIN R/W
Sets the minimum movement required for wake
and shake.
WS.IMAX R/W Sets maximum current used for wake and shake.
WS.MODE R/W Sets the method used for wake and shake.
WS.DISTMAX R/W
Sets maximum movement allowed for wake and
shake.
206 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