Kollmorgen AKD series User Manual

IL.CMDU
General Information
Type R/W Parameter
Description Sets the user current command.
Units Arms
Range
[Maximum of user negative current limit (IL.LIMITN) and negative motor
peak current (MOTOR.IPEAK)] to [minimum of user positive current limit
(IL.LIMITP) and motor peak current (MOTOR.IPEAK)]
Default Value 0 Arms
Data Type Float
See Also DRV.IPEAK, DRV.OPMODE,DRV.CMDSOURCE
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
Modbus 430 M_01-03-00-000
Description
This parameter sets the user current command value.
The current command value, which is provided to the current loop (IL.CMD), can be limited further using a param-
eter setting or I
2
t calculation. IL.CMDU is limited also by motor peak current, IL.LIMITN and IL.LIMITP.
Related Topics
11.3 Current Loop
AKD User Guide | IL Parameters
Kollmorgen | December 2010 461

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