Kollmorgen AKD series User Manual

AKD User Guide | DRV Parameters and Commands
DRV.DIS
General Information
Type Command
Description Disables the axis (software).
Units N/A
Range N/A
Default Value Analog drive software enabled. All other types of drive software disabled.
Data Type N/A
See Also
DRV.EN, DRV.DISSOURCES, DRV.ACTIVE, DRV.DISMODE,
DRV.DISTO
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3443h/0 M_01-00-00-000
Modbus 236 M_01-03-00-000
Description
DRV.DIS issues a software disable to the drive. The method by which the drive will be disabled (either imme-
diately or with a ramp down first) is controlled by DRV.DISMODE.
By querying the value of DRV.ACTIVE, you can check whether the drive is currently enabled or disabled.
By querying the value of DRV.DISSOURCES, you can check whether the software enable bit is high (software
enabled was issued by executing DRV.EN) or the software enable bit is low (software disable was issued by
executing DRV.DIS).
If DRV.DIS is commanded the emergency timeout is started. If the drive does not disable or activate dynamic
brake within DRV.DISTO, fault "703" (=> p. 215) is reported.
Related Topics
17.2 Clearing Faults
10.10 Controlled Stop
10.2 Command Buffer
354 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