Kollmorgen AKD series User Manual

AKD User Guide | DRV Parameters and Commands
DRV.DIR
General Information
Type R/W Parameter
Description Changes drive direction.
Units N/A
Range 0 to 1
Default Value 0
Data Type Integer
See Also N/A
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
352Ah/0 M_01-00-00-000
Modbus 234 M_01-03-00-000
Description
DRV.DIR changes the direction of the motor by changing the algebraic sign of the current command and position
feedback value according to the figure below.
Note the following when using DRV.DIR:
l
You can only change the DRV.DIR command when the drive is disabled.
l
The drive status changes to "Axis not homed" as soon as the DRV.DIR parameter changes value (see
DRV.MOTIONSTAT).
l
You must verify the settings of the hardware limit switches. If necessary, switch the positive and negative
hardware limit switches by swapping the wires at the digital inputs.
352 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