Kollmorgen AKD series User Manual

PL Parameters
PL.CMD
General Information
Type NV Parameter
Description Reads the position command directly from the entry to the position loop.
Units
Depends on UNIT.PROTARY or UNIT.PLINEARUNIT.ACCLINEAR
Rotary: counts, rad, deg, (PIN/POUT), 16-bit counts
Linear: counts, mm, µm, (PIN/POUT), 16-bit counts
Range N/A
Default Value N/A
Data Type Float
See Also PL.FB
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
Modbus 570 (64-bit) M_01-03-00-000
Description
PL.CMD returns the position command as it is received in the position loop entry.
Related Topics
11.5 Position Loop
10.4 Analog Input
AKD User Guide | PL Parameters
Kollmorgen | December 2010 537

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