Kollmorgen AKD series User Manual

HOME.DEC
General Information
Type R/W Parameter
Description Sets homing deceleration; active in opmode 2 (position) only.
Units
Depends on UNIT.ACCROTARY or UNIT.ACCLINEARUNIT.A-
CCLINEAR
Rotary: rps/s, rpm/s, deg/s
2
, (PIN/POUT)/s
2
, rad/s
2
Linear: counts/s
2
, mm/s
2
, µm/s
2
, (PIN/POUT)/s
2
Range
Rotary:
0.031 to 833,333.333 rps/s
1.860 to 50,000,000.000 rpm/s
11.158 to 300,000,000.000 deg/s
2
0.155 to 4,166,666.752 (PIN/POUT)/s
2
0.195 to 5,235,987.968 rad/s
2
Linear:
0.000 to 833.333 counts/s
2
0.031*MOTOR.PITCH to 833,333.333*MOTOR.PITCH mm/s
2
30.994*MOTOR.PITCH to 833,333,333.333*MOTOR.PITCH µm/s
2
0.155 to 4,166,666.667 (PIN/POUT)/s
2
Default Value
Rotary:
166.714 rps/s
10,002.851 rpm/s
60.017.108 deg/s²
833.571 (PIN/POUT)/s²
1,047.496 rad/s²
Linear:
0.166 counts/s²
166.714*MOTOR.PITCHMOTOR.PITCHmm/s²
166,714.191MOTOR.PITCH µm/s²
833.571 (PIN/POUT)/s²
Data Type Float
See Also UNIT.ACCROTARY, UNIT.ACCLINEAR
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3524h/0
609Ah/0
M_01-00-00-000
Modbus 390 (64-bit) M_01-03-00-000
Description
This parameter sets the deceleration of the motor during the homing procedure.
Related Topics:
12.1 Homing
AKD User Guide | HOME Parameters
Kollmorgen | December 2010 445

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