Kollmorgen AKD series User Manual

AKD User Guide | DRV Parameters and Commands
DRV.EMUEDIR
General Information
Type R/W Parameter
Description Sets the direction of the emulated encoder output (EEO) signal.
Units N/A
Range 0 to 1
Default Value 0
Data Type N/A
See Also DRV.EMUEMODE
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3493h/0 M_01-00-00-000
Modbus 244 M_01-03-00-000
Description
This parameter allows the userto changethe directionof theemulated encoderoutput. DRV.DIR also affects the
output direction (throughan XOR, "exclusive or", operation). The driveuses DRV.DIR and DRV.EMUEDIR to
decidethe directionof theemulated encoder output. If DRV.DIR andDRV.EMUEDIR havethe samevalue, then
DRV.EMUEDIR is set to 0(meaning anincrease inthe motorfeedback will result anincrease of the encoderemu-
lation output andvice-versa). If these parameters have different values, thenDRV.EMUEDIR is set to1 (meaning
an increase inthe motorfeedback will result in a decreaseof theencoder emulationoutput andvice-versa).
358 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