Kollmorgen AKD series User Manual

AKD User Guide | PL Parameters
PL.MODPEN
General Information
Type R/W Parameter
Description Enables the modulo position.
Units N/A
Range 0 to 1
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
35CFh/0 M_01-00-00-000
Modbus 616 M_01-03-00-000
Description
A value of 0 disables the modulo-position and a value of 1 enables the modulo-position feature. The modulo-posi-
tion feature can be used for circular applications such as round tables.
The position loop of the drive uses always a linear position variable but the data-exchange between the user and
the drive uses the modulo-position calculation in order to convert values from linear format into modulo format
and vice versa.
The following figure shows the interface between the user and the drive for PL.MODPEN=1:
Related Topics
11.5 Position Loop
552 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