Kollmorgen AKD series User Manual

AKD User Guide | REC Parameters and Commands
REC.RETRIEVEFRMT
General Information
Type R/W Parameter
Description Sets the format for recorded data output.
Units N/A
Range 0 to 1; 0 = Standard format, 1 = Internal format (high speed)
Default Value 1
Data Type Integer
See Also REC.RETRIEVE, REC.RETRIEVEDATA
Start Version M_00-00-64-000
Description
Recorded data is transferred to the communication channel in one of two formats: standard or internal high
speed. The standard (slower) format cannot be used for continuous recording, but is more easily read. The high
speed format allows continuous data recording (needed for autotuning). WorkBench supports both formats.
Example
The following recorder data is in standard format:
10,1
IL.FB,VL.CMD,VL.FB
-0.086,0.000,2.661
0.000,0.000,3.605
0.029,0.000,-0.486
The following recorder data is in internal format:
10,1
IL.FB,VL.CMD,VL.FB
F3-0x56,F30x0,F30xA65
F30x0,F30x0,F30xE15
F30x1D,F30x0,F3-0x1E6
Related Topics
15 Scope
REC.RETRIEVEHDR
General Information
Type R/O Parameter
Description Retrieves the recorded header without the data.
Units N/A
Range N/A
Default Value N/A
Data Type N/A
See Also REC.RETRIEVE, REC.RETRIEVEDATA
Start Version M_01-00-00-000
572 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