Kollmorgen AKD series User Manual

AKD User Guide | MT Parameters and Commands
MT.VCMD
General Information
Type R/O Parameter
Description Reads the derivative of PL.CMD; active in opmode 2 (position) only.
Units Depends on UNIT.VROTARY or UNIT.VLINEAR
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
Modbus 568 M_01-03-00-000
Description
MT.VCMD returns the derivative of the position loop trajectory (PL.CMD), which is therefore a velocity.
MT.VCMD is updated while the drive is in DRV.OPMODE 2 and is processing the following motion types:
l Motion tasking
l Homing
l Electronic gearing
l Service motion
l External trajectory coming from a fieldbus
l External trajectory calculated from an analog input signal
Related Topics
12.2 Motion Tasks
536 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