Kollmorgen AKD series User Manual

UNIT.PROTARY
General Information
Type NV Parameter
Description Sets the position units when the motor type (MOTOR.TYPE) is rotary.
Units counts, rad, deg, [PIN/POUT], 16-bit counts
Range 0 to 4
Default Value
4 16-bit counts (for firmware versions M_01-02-00-000 and above)
0 counts (for firmware version M_01-01-00-000)
Data Type Integer
See Also PL.FB, PL.CMD, MOTOR.TYPE
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3660h/0 M_01-00-00-000
Modbus 786 M_01-03-00-000
Description
UNIT.PROTARY sets the position units when the motor type (MOTOR.TYPE) is rotary.
Value Units
0 counts
1 radians
2 degrees
3 [PIN/POUT]
4 16-bit counts
Related Topics
9 Selecting Units for Your Application
AKD User Guide | UNIT Parameters
Kollmorgen | December 2010 611

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