Kollmorgen AKD series User Manual

SM.V1
General Information
Type R/W Parameter
Description
Sets service motion velocity 1; active in opmode 1 (velocity) and 2 (posi-
tion).
Units
Depends on UNIT.ACCROTARY or UNIT.ACCLINEAR
Rotary: rpm, rps, deg/s, (PIN/POUT)/s, rad/s
Linear: Counts/s, mm/s, µm/s, (PIN/POUT)/s
Range
Rotary:
-12,000.000 to 12,000.000 rpm
-200.000 to 200.000 rps
-72,000.000 to 72,000.000 deg/s
-1,000.000 to 1,000.000 (PIN/POUT)/s
-1,256.637 to 1,256.637 rad/s
Linear:
-0.200 to 0.200 Counts/s
-200.000*MOTOR.PITCH to 200.000*MOTOR.PITCH mm/s
-200,000.000*MOTOR.PITCH to 200,000.000*MOTOR.PITCH µm/s
-1,000.000 to 1,000.000 (PIN/POUT)/s
Default Value
Rotary:
60.000 rpm
1.000 rps
359.999 deg/s
5.000 (PIN/POUT)/s
6.283 rad/s
Linear:
0.001 Counts/s
1.000*MOTOR.PITCH mm/s
999.998*MOTOR.PITCH µm/sec
5.000 (PIN/POUT)/s
Data Type Float
See Also SM.I1, SM.I2, SM.MODE, SM.MOVE, SM.T1, SM.T2, SM.V2
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
Modbus 758 M_01-03-00-000
Description
SM.V1 defines the velocity that is used in service motion modes 0 and 1 (see SM.MODE) in the closed velocity
and position mode of operation.
Related Topics
12.3 Service Motion
AKD User Guide | SM Parameters
Kollmorgen | December 2010 597

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