Kollmorgen AKD series User Manual

AKD User Guide | IL Parameters
IL.CMD
General Information
Type R/O Parameter
Description Reads the value of the q-component current controller inside the FPGA.
Units Arms
Range ± Drive peak current (DRV.IPEAK)
Default Value N/A
Data Type Float
See Also DRV.IPEAK
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
Modbus 428 M_01-03-00-000
Description
IL.CMD displays the q-component current command value of the current loop after any limitation (such as a
parameter setting or I
2
t calculation).
IL.CMD is limited also by motor peak current, IL.LIMITN and IL.LIMITP.
Related Topics
10.4 Analog Input
11.3 Current Loop
460 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