Kollmorgen AKD series User Manual

AKD User Guide | FBUS Parameters
FBUS.SAMPLEPERIOD
General Information
Type NV Parameter
Description Sets fieldbus sample period.
Units Whole multiples of MTS 250 µs
Range 4 to 128 and value must be a power of 4
Default Value 32 = 2 ms
Data Type U8
See Also Appendix B: Fieldbus Manuals
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
60C2h/0 M_01-00-00-000
Modbus 356 M_01-03-00-000
Description
This parameter sets the fieldbus cycle time. It is normally written in the startup phase of the field busses via the
object 60C2 subindex 1 (interpolation time units) and 2 (interpolation time index), where the index stands for a
power of 10 seconds (for instance, -3 stands for milliseconds) and the units are the counts of these units. Koll-
morgen recommends the following standard cycle rates, 250 us (4), 500 us (8), 1 ms (16), 2 ms (32), 4 ms (64).
424 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