Kollmorgen AKD series User Manual

WS.NUMLOOPS R/W
Sets the number of repetitions for wake and
shake.
WS.STATE R/O Reads wake and shake status
WS.T R/W
Sets wake and shake current-vector appliance
time
WS.TDELAY1 NV Delay for wake and shake timing
WS.TDELAY2 NV Sets the delay for wake and shake timing.
WS.TDELAY3 NV
Sets the delay for wake and shake between
loops in mode 0.
WS.VTHRESH NV
Defines the maximum allowed velocity for Wake
& Shake
AKD User Guide | 16 Using Parameters and the Terminal Screen
Kollmorgen | December 2010 207

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