Kollmorgen AKD series User Manual

DRV.CMDDELAY
General Information
Type Command
Description Issues a delay before next command is executed.
Units ms
Range 0 to 5,000 ms
Default Value 0 ms
Data Type Float
See Also N/A
Start Version M_01-03-00-000
Description
This parameter is used when drive commands are used in a script and a delay is needed between the execution
of two consecutive commands. DRV.CMDDELAY creates a delay in the execution of drive commands. In the
period of time specified, no commands are executed. This feature is especially useful for command buffers.t
Example
If the script is:
DRV.EN
IL.CMDU 0.1
then DRV.CMDDELAY is used between the two entries to delay execution 5 ms until the drive is enabled:
DRV.EN
DRV.CMDDELAY 5
IL.CMDU 0.1
Related Topics
10.2 Command Buffer
AKD User Guide | DRV Parameters and Commands
Kollmorgen | December 2010 347

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