Kollmorgen AKD series

PL.ERRFTHRESH
General Information
Type NV Parameter
Description Sets the maximum position error.
Units
Depends on UNIT.ACCROTARY or UNIT.ACCLINEAR
Rotary: counts, rad, deg, (PIN/POUT), 16-bit counts
Linear: counts, mm, µm, (PIN/POUT), 16-bit counts
Range
Rotary:
0.000 to 5,123,372,000,000,005.000 counts
0.000 to 7,495,067.136 rad
0.000 to 429,436,076.032 deg
0.000 to 5,964,389.888 (PIN/POUT)
0.000 to 78,176,452,636.718 16-bit counts
Linear:
0.000 to 5,123,372,000,000,005.000 counts
0.000 to 1,192,877.952*MOTOR.PITCH mm
0.000 to 1,192,878,014.464*MOTOR.PITCH µm
0.000 to 5,964,389.888 (PIN/POUT)
0.000 to 78,176,452,636.718 16-bit counts
Default Value
Rotary:
42,949,672,960.000 counts
62.832 rad
3,600.000 deg
50.000 (PIN/POUT)
655,360.000 16-bit counts
Linear:
42,949,672,960.000 counts
10.000*MOTOR.PITCHMOTOR.PITCHmm
10,000.000*MOTOR.PITCH µm
50.000 (PIN/POUT)
655,360.000 16-bit counts
Data Type Float
See Also PL.ERR
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
35C7h/0
6065h/0
M_01-00-00-000
Modbus 580 (64-bit) M_01-03-00-000
Description
This parameter sets the maximum position error. If the position error PL.ERR is larger than PL.ERRFTHRESH
the drive generates a fault. If PL.ERRFTHRESH is set to 0, the maximum position error is ignored.
Example
Set position rotary units to 2 (degrees). Setting PL.ERRFTHRESH to 1000 states that is the position error is
larger than 1000 degrees, the drive will generate a fault.
UNIT.PROTARY 2
AKD User Guide | PL Parameters
Kollmorgen | December 2010 539