Kollmorgen AKD series User Manual

AKD User Guide | BODE Parameters
BODE.PRBDEPTH
General Information
Type R/W Parameter
Description Sets the length of the PRB signal before it repeats.
Units NA
Range 4 to 19
Default Value 19
Data Type Integer
See Also BODE.MODE, BODE.INJECTPOINT, BODE.IAMP, BODE.VAMP
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
Modbus 50 M_01-03-00-000
Description
BODE.PRBDEPTH sets the length of the PRB signal before it repeats. This applies only when BODE.MODE =
PRB. The PRB excitation will repeat after (2^BODE.PRBDEPTH) / BODE.EXCITEGAP drive samples.
Example
Set BODE.PRBDEPTH to 19:
-->BODE.PRBDEPTH 19
Get BODE.PRBDEPTH (already set to 19):
-->BODE.PRBDEPTH 19
Related Topics
14.3 Using the Autotuner
14.3.4 Using the Autotuner: Advanced
15 Scope
1.2.1.5 Bode (set command source)
6.5 Settings
126
Error: Invalid Bode plot mode for this function. and others)
302 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