Kollmorgen AKD series User Manual

AKD User Guide | MT Parameters and Commands
MT.TVELWND
General Information
Type R/W Parameter
Description
Sets the motion task target velocity window; 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:
0.000 to 12000.000 rpm
0.000 to 200.000 rps
0.000 to 72000.000 deg/s
0.000 to 1000.000 (PIN/POUT)/s
0.000 to 1256.637 rad/s
Linear:
0.000 to 0.200 counts/s
0.000 to 200.000*MOTOR.PITCH mm/s
0.000 to 200,000.000*MOTOR.PITCH µm/sec
0.000 to 1000.000 (PIN/POUT)/s
Default Value
Rotary:
60.000 rpm
1.000 rps
359.999 deg/s
5.000 (PIN/POUT)/s
6.283 rad/s
Linear:
0.001 counts/s
1.000*MOTOR.PITCH mm/s
999.998*MOTOR.PITCH µm/sec
5.000 (PIN/POUT)/s
Data Type Float
See Also DRV.MOTIONSTAT
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3856h/0 M_01-00-00-000
Modbus 564 M_01-03-00-000
Description
Within DRV.MOTIONSTAT, MT.TVELWND is used to indicate that the target velocity of a motion task has been
reached. DRV.MOTIONSTAT displays a "Target Velocity Reached" bit as soon as the following statement
becomes true:
(target velocity – MT.TVELWND) < actual velocity < (target velocity + MT)
Related Topics
12.2 Motion Tasks
534 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