Kollmorgen AKD series User Manual

BODE.IFTHRESH
General Information
Type R/W Parameter
Description Sets the current fault threshold for the BODE.MODE 5 stability test.
Units A
Range 0.001 to DRV.IPEAK or MOTOR.IPEAK (whichever is lowest) A
Default Value 0 A
Data Type Decimal
See Also
BODE.MODE,BODE.MODETIMER, BODE.VFLIMIT,
BODE.VFTHRESH , BODE.IFLIMIT
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) is generated.
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
AKD User Guide | BODE Parameters
Kollmorgen | December 2010 295

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