Kollmorgen AKD series User Manual

AKD User Guide | BODE Parameters
BODE.IFLIMIT
General Information
Type R/W Parameter
Description
Sets the current fault duration limit in seconds for the BODE.MODE 5 sta-
bility test.
Units s
Range 0.001 to 60.000
Default Value 0
Data Type Decimal
See Also
BODE.MODE,BODE.MODETIMER, BODE.IFTHRESH, BODE.VFLI-
MIT, BODE.VFTHRESH
Start Version M_01-02-10-000
Description
When BODE.MODE is set to 5, the firmware monitors the drive current (IL.CMD ). When IL.CMD goes above
BODE.IFTHRESH, an internal counter records the length of time IL.CMD was above BODE.IFTHRESH. If the
internal counter reaches BODE.IFLIMIT, Fault 133 – Instability during Autotune will be generated.
The smaller BODE.IFLIMIT, the quicker Fault 133 will be generated when IL.CMD exceeds BODE.IFLIMIT.
Example
Set BODE.IFTHRESH to 6 Amps:
-->BODE.IFTHRESH 6
Set BODE.IFLIMIT to 0.500 seconds:
-->BODE.IFLIMIT 0.5
Set BODE.MODE to 5 to enable stability detection:
BODE.MODE 5
Related Topics
14.3 Using the Autotuner
14.3.4 Using the Autotuner: Advanced
133
294 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