Kollmorgen AKD series User Manual

In these events, the precondition logic samples the current (post-filter) state of the selected precondition source
input. The capture engine looks for a trigger edge while the precondition input is at a “1” or “0” state.
Figure 2: Trigger edge WHILE precondition edge
Event 1 (Trigger edge after precondition)
In this event, each trigger event requires Enable=1, a new precondition edge, followed by a new trigger edge. The
sequence requirements are shown in the figure below.
Figure 3: Trigger edge after precondition edge
AKD User Guide | CAP Parameters
Kollmorgen | December 2010 309

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