Kollmorgen AKD series User Manual

SM.I1 R/W
Sets service motion current 1; active in opmode 0
(torque) only.
SM.I2 R/W
Sets service motion current 2; active in opmode 0
(torque) only.
SM.MODE R/W Sets the service motion mode.
SM.MOVE Command Starts the service motion.
SM.T1 R/W Sets the service motion time 1.
SM.T2 R/W Sets the service motion time 2.
SM.V1 R/W
Sets service motion velocity 1; active in opmode
1 (velocity) and 2 (position).
SM.V2 R/W
Sets service motion velocity 2; active in opmode
1 (velocity) and 2 (position).
Units (UNIT)
UNIT.ACCLINEAR NV Sets the linear acceleration/deceleration units.
UNIT.ACCROTARY NV Sets the rotary acceleration/deceleration units.
UNIT.LABEL NV
Sets user-defined name for user-defined position
units.
UNIT.PIN NV Sets gear IN for the unit conversion.
UNIT.PLINEAR NV Sets the linear position units.
UNIT.POUT NV Sets gear out for the unit conversion.
UNIT.PROTARY NV
Sets the position units when the motor type
(MOTOR.TYPE) is rotary.
UNIT.VLINEAR NV Sets the linear velocity units.
UNIT.VROTARY NV
Sets the velocity units when the motor type
(MOTOR.TYPE) is rotary.
Bus voltage (VBUS)
VBUS.OVFTHRESH R/O Reads the over voltage fault level.
VBUS.OVWTHRESH N/V Sets voltage level for over voltage warning.
VBUS.RMSLIMIT R/O Reads the limit for the bus capacitors load.
VBUS.UVFTHRESH R/O Sets the under voltage fault level.
VBUS.UVMODE Indicates undervoltage (UV) mode.
VBUS.UVWTHRESH NV Sets voltage level for undervoltage warning.
VBUS.VALUE R/O Reads DC bus voltage.
Velocity Loop (VL)
VL.ARPF1 TO VL.ARPF4 R/W
Sets the natural frequency of the pole (denom-
inator) of anti-resonance (AR) filters 1, 2, 3, and
4; active in opmodes 1 (velocity) and 2 (position)
only.
VL.ARPQ1 TO VL.ARPQ4 R/W
Sets the Q of the pole (denominator) of anti-res-
onance (AR) filter 1; active in opmodes 1 (veloc-
ity) and 2 (position) only.
VL.ARTYPE1 TO VL.ARTYPE4 NV
Indicates the method used to calculate BiQuad
coefficients; active in opmodes 1 (velocity) and 2
(position) only.
VL.ARZF1 TO VL.ARZF4 R/W
Sets the natural frequency of the zero (numer-
ator) of anti-resonance (AR)filter 1; active in
opmodes 1 (velocity) and 2 (position) only.
VL.ARZQ1 TO VL.ARZQ4 R/W
Sets the Q of the zero (numerator) of anti-res-
onance filter #1; active in opmodes 1 (velocity)
and 2 (position) only.
AKD User Guide | About the Parameter and Command Reference Guide
Kollmorgen | December 2010 263

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