Kollmorgen AKD series User Manual

HOME.PERRTHRESH
General Information
Type R/W Parameter
Description Sets the position lag threshold; active in opmode 2 (position) only.
Units
Depends on UNIT.PROTARY or UNIT.PLINEAR
Rotary: counts, rad, deg, PIN/POUT, 16-bit counts
Linear: counts, mm, µm, PIN/POUT, 16-bit counts
Range N/A
Default Value N/A
Data Type Float
See Also N/A
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3482h/0 M_01-00-00-000
Modbus 414 (64-bit) M_01-03-00-000
Description
This parameter is used for the homing modes against a mechanical stop (HOME.MODE = 8 and 9). The absolute
value of the following error (PL.ERR) is compared with HOME.PERRTHRESH in order to detect a mechanical
stop.
Related Topics
Homing mode 8: Move Until Position Error Exceeded
AKD User Guide | HOME Parameters
Kollmorgen | December 2010 453

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