Kollmorgen AKD series User Manual

AKD User Guide | About the Parameter and Command Reference Guide
Parameter or Command Active in Opmodes
SM.I1, SM.I 0 (torque) only
SM.V1, SM.V2 1 (velocity) only
SM.VPM1, SM.VPM2 2 (position) only
VL (all parameters and commands) 1 (velocity) and 2 (position) only
Parameter or Command Type Description
Analog Input (AIN)
AIN.CUTOFF NV
Sets the analog input low-pass filter cutoff
frequency.
AIN.DEADBAND NV Sets the analog input signal deadband.
AIN.ISCALE NV
Sets the analog current scale factor.
AIN.OFFSET NV Sets the analog input offset.
AIN.PSCALE NV
Sets the analog position scale factor.
AIN.VALUE R/O Reads the value of the analog input signal.
AIN.VSCALE NV
Sets analog velocity scale factor.
AIN.ZERO Command Zeroes the analog input signal.
Analog Input/Output (AIO)
AIO.ISCALE NV Sets the analog current scale factor.
AIO.VSCALE NV Sets velocity scale factor.
AIO.PSCALE NV Sets position scale factor.
Analog Output (AOUT)
AOUT.DEBUGADDR NV Sets the memory address to debug.
AOUT.DEBUGDATATYPE NV Sets the data type of the value to be debugged.
AOUT.DEBUGSCALE NV Sets the scale to be used for debug.
AOUT.ISCALE NV Sets the analog current scale factor.
AOUT.MODE NV Sets the analog output mode.
AOUT.OFFSET NV Sets the analog input offset.
AOUT.PSCALE NV Sets the analog position scale factor.
AOUT.VALUE NV Reads the analog output value.
AOUT.VALUEU R/W Sets the analog output value.
AOUT.VSCALE NV Sets velocity scale factor for analog output.
Bode plot (BODE)
BODE.EXCITEGAP R/W Controls how often the excitation is updated.
BODE.FREQ R/W Sets the frequency of the sine excitation source.
BODE.IAMP R/W
Sets current command value used during the
Bode procedure.
BODE.IFLIMIT
Sets the current fault duration limit in seconds for
the BODE.MODE 5 stability test.
BODE.IFTHRESH
Sets the current fault threshold for the
BODE.MODE 5 stability test.
BODE.INJECTPOINT R/W
Sets whether the excitation uses current or veloc-
ity excitation type.
BODE.MODE R/W Sets the mode of the excitation.
BODE.MODETIMER R/W Sets the watchdog timer of the excitation.
BODE.PRBDEPTH R/W
Sets the length of the PRB signal before it
repeats.
BODE.VAMP R/W
Sets the amplitude of the excitation when in
velocity mode.
254 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