Kollmorgen AKD series User Manual

PL.MODPDIR
General Information
Type R/W Parameter
Description Sets the direction for absolute motion tasks.
Units N/A
Range 0 to 2
Default Value 0
Data Type Integer
See Also N/A
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3430h/0 M_01-00-00-000
Modbus 614 M_01-03-00-000
Description
This parameter defines the direction of an absolute motion task when the modulo position has been activated.
For more details about absolute motion tasks, see .12.2 Motion Tasks. For absolute motion tasks, you can only
select a target position within the modulo range.
PL.MODPDIR Settings
Value Description
0
The motor moves in a negative direction if the target posi-
tion of the absolute motion task is less than the current posi-
tion. The motor moves in positive direction if the target
position of the absolute motion task is greater than the cur-
rent position.
1
The motor always moves in a positive direction relative to
the target position of the absolute motion task.
2
The motor always moves in a negative direction relative to
the target position of the absolute motion task.
AKD User Guide | PL Parameters
Kollmorgen | December 2010 551

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