Kollmorgen AKD series User Manual

DRV.EN
General Information
Type Command
Description Enables the axis (software).
Units N/A
Range N/A
Default Value
Analog drive software is enabled.
All other types of drive software are disabled.
Data Type N/A
See Also DRV.DIS, DRV.DISSOURCES DRV.ACTIVE
Start Version M_01-00-00-000
Description
DRV.EN issues a software enable to the drive. You can query the value of DRV.ACTIVE to check whether the
drive is currently enabled or disabled.
You can also query the value of DRV.DISSOURCES to 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 the drive software enable bit is low and DRV.EN is executed, then drive faults are auto-
matically cleared during the software enable process.
Related Topics
17.2 Clearing Faults
10.2 Command Buffer
10.9 Enable/Disable
AKD User Guide | DRV Parameters and Commands
Kollmorgen | December 2010 363

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