Kollmorgen AKD series User Manual

HOME.IPEAK
General Information
Type R/W Parameter
Description
Sets the current limit during homing procedure to a mechanical stop; active
in opmode 2 (position) only.
Units A
Range ± Drive peak current A
Default Value [(1/120) * DRV.IPEAK] A
Data Type Float
See Also HOME.MODE
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
35E2h/0 M_01-00-00-000
Modbus 402 (64-bit) M_01-03-00-000
Description
This parameter sets the intermediate current limit during a homing procedure to a mechanical stop
(HOME.MODE 8 and 9). The current-controller limit (IL.LIMITP and IL.LIMITN) is set to ±HOME.IPEAK while
the homing procedures are active.
HOME.IPEAK is active as soon as the homing procedure starts and remains active until the home position is
found. Previous current limit settings are re-activated before the motor covers the homing distance (HOME.DIST
≠ 0).
Related Topics
12.1 HomingHoming mode 8: Move Until Position Error Exceeded
AKD User Guide | HOME Parameters
Kollmorgen | December 2010 449

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