Kollmorgen AKD series User Manual

HOME.V
General Information
Type R/W Parameter
Description Sets homing velocity; active in opmode 2 (position) only.
Units
Depends on UNIT.VROTARY or UNIT.VLINEAR
Rotary: rpm, rps, deg/s, (PIN/POUT)/s, rad/s
Linear: counts/s, mm/s, µm/s, (PIN/POUT)/s
Range
Rotary:
0.001 to 12,000.000 rpm
0.001 to 200.000 rps
0.001 to 72,000.000 deg/s
0.001 to 1,000.000 (PIN/POUT)/s
0.001 to 1,256.637 rad/s
Linear:
0.001 to 0.200 counts/s
0.001*MOTOR.PITCH to 200.000*MOTOR.PITCH mm/s
0.004*MOTOR.PITCH to 200,000.000*MOTOR.PITCH µm/sec
0.001 to 1,000.000 (PIN/POUT)/s
Default Value
Rotary:
60 rpm
1 rps
359.999 deg/s
5 (PIN/POUT)/s
6.283 rad/s
Linear:
0.001 counts/s
1MOTOR.PITCH mm/s
999.998*MOTOR.PITCHMOTOR.PITCH µm/sec
5.000 (PIN/POUT)/s
Data Type Float
See Also N/A
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
6099h/1 M_01-00-00-000
Modbus 420 M_01-03-00-000
Description
This parameter sets the velocity of the motor during the homing procedure.
Related Topics
12.1 Homing
AKD User Guide | HOME Parameters
Kollmorgen | December 2010 455

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