Kollmorgen AKD series User Manual

Parameter or Command Type Description
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.
HOME.IPEAKHOME.IPEAK R/W
Sets the current limit during homing procedure to
a mechanical stop; active in opmode 2 (position)
only.
HOME.MODEHOME.MODE R/W
Selects the homing mode; active in opmode 2
(position) only.
HOME.MOVEHOME.MOVE Command
Starts a homing procedure; active in opmode 2
(position) only.
HOME.PHOME.P R/W
Sets home position; active in opmode 2 (position)
only.
HOME.PERRTHRESH
HOME.PERRTHRESH
R/W
Sets the position lag threshold; active in opmode
2 (position) only.
HOME.SETHOME.SET Command
Immediately sets the home position; active in
opmode 2 (position) only.
HOME.VHOME.V R/W
Sets homing velocity; active in opmode 2 (posi-
tion) only.
Hardware Limit Switch (HWLS)
HWLS.NEGSTATE R/O
Reads the status of the negative hardware limit
switch.
HWLS.POSSTATE R/O
Reads the status of the positive hardware limit
switch.
Current Loop (IL)
IL.BUSFF
R/O
Displays the current feedforward value injected
by the fieldbus.
IL.CMD R/O
Reads the value of the q-component current con-
troller inside the FPGA.
IL.CMDU R/W Sets the user current command.
IL.DCMD (Password Protected) R/O
Reads the value of the d-component current con-
troller inside the FPGA.
IL.DCMD (Password Protected) R/O
Reads the value of the d-component current con-
troller inside the FPGA.
IL.DCMDU (Password Protected) R/W Sets user d-component current command.
IL.DEADBAND (Password Pro-
tected)
R/O
Reads the deadband of two IGBTs in series con-
nection.
IL.DFB R/O
Reads the actual value of the d-component cur-
rent.
IL.DFOLDD (Password Protected) R/O
Reads the motor foldback maximum time at
motor peak current.
IL.DFOLDR (Password Protected) R/O Reads the motor foldback recovery time.
IL.DFOLDT R/O
Reads the motor foldback time constant of the
exponential current drop (foldback).
IL.DIFOLD R/O Reads the drive foldback current limit.
IL.DLIMITN R/W
Sets the negative user (application-specific) d-
component current limit.
IL.DLIMITP R/W
Sets the positive user (application-specific) d-
component current limit.
IL.FB R/O
Reads the actual value of the d-component cur-
rent.
AKD User Guide | About the Parameter and Command Reference Guide
Kollmorgen | December 2010 259

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