Kollmorgen AKD series User Manual

DRV.HANDWHEEL
General Information
Type R/O Parameter
Description Reads the EEO input value.
Units 1/4,294,967,296 rev
Range 0 to 4,294,967,295 rev
Default Value 0 rev
Data Type Integer
See Also DRV.EMUERES, DRV.EMUEMODE
Start Version
End Version
M_01-00-00-000
M_01-03-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
2050h/0 M_01-00-00-000
Modbus 258 M_01-03-00-000
Description
When the EEO is selected as an input (DRV.EMUEMODE=3,4,5), this parameter reads the EEO value (where
4,294,967,296 is a full revolution, then the value rolls over). DRV.EMUERES defines the how many counts con-
stitute a revolution on the EEO. This parameter represents the feedback 2 positions when feedback 2 is con-
figured to be active.
When secondary feedback is selected (DRV.EMUEMODE is 0 and FB2.SOURCE = 1 (X9), or FB2.SOURCE =
2 (X7)), this parameter represents the secondary feedback position (where 4,294,967,296 is a full revolution, then
the value rolls over). FB2.ENCRES defines how many counts define a revolution for the secondary feedback.
Related Topics
8.4.1 Encoder Emulation
AKD User Guide | DRV Parameters and Commands
Kollmorgen | December 2010 367

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