Kollmorgen AKD series User Manual

PL.FB
General Information
Type R/O Parameter
Description Reads the position feedback value.
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 FB1.OFFSET
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
6064h6064h/0 M_01-00-00-000
Modbus 588 (64-bit) M_01-03-00-000
Description
PL.FB returns the position feedback value.
Note that this value is not the pure feedback value read from the feedback device, but also includes the value of
the FB1.OFFSET and an internal offset set automatically by the FW when a homing switch is actuated.
Related Topics
11.5 Position Loop
Selecting and Using Homing Modes
AKD User Guide | PL Parameters
Kollmorgen | December 2010 543

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