Kollmorgen AKD series User Manual

FB1.ENCRES
General Information
Type NV Parameter
Description Sets the resolution of the motor encoder.
Units Encoder counts
Range 0 to 2
32
-1
Default Value 1,024
Data Type Integer
See Also N/A
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3533h/0 M_01-00-00-000
Modbus 282 M_01-03-00-000
Description
This parameter sets or gets the resolution of the motor encoder (encoder feedback systems only) in number of
counts per revolution for a rotary motor and the number of encoder pitches per motor pole pitch for a linear motor.
The number of encoder counts per revolution is obtained by multiplying the motor catalog resolution in units of
PPR by four. For example, for a 1024 PPR resolution motor, the number of encoder counts per revolution is
1024*4 = 4096. For this motor FB1.ENCRES must be set to 4096.
Forlinear motors,thevalueof FB1.ENCRESis settothenumberofencoderpitchespermotorpolepitch. Fora motor
with32mmpolepitch,anda40µmencoder pitch,thevalueforFB1.ENCRESshouldbeset to32mm/40µm =800.
Related Topics
8.2 Feedback 1
AKD User Guide | FB1 Parameters
Kollmorgen | December 2010 399

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