Kollmorgen AKD series User Manual

BODE.VFTHRESH
General Information
Type R/W Parameter
Description Sets the current fault threshold for the BODE.MODE 5 stability test.
Units rpm (or user selected units)
Range 0.001 to MOTOR.VMAX
Default Value 0
Data Type Decimal
See Also
BODE.MODE, BODE.MODETIMER, BODE.IFLIMIT, BODE.I-
FTHRESH, BODE.VFLIMIT
Start Version M_01-02-10-000
Description
When BODE.MODE is set to 5, the firmware monitors the drive feedback velocity VL.FB. When VL.FB goes
above BODE.VFTHRESH, an internal counter records the length of time VL.FB was above BODE.VFTHRESH.
If the internal counter reaches BODE.VFLIMIT, Fault 133 – Instability during Autotune will be generated.
The smaller BODE.VFLIMIT, the quicker Fault 133 will be generated when VL.FB exceeds BODE.VFLIMIT.
Example
Set BODE.VFTHRESH to 10 RPM:
-->BODE.VFTHRESH 10
Set BODE.VFLIMIT to 0.500 seconds:
-->BODE.VFLIMIT 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 305

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