Kollmorgen AKD series User Manual

AKD User Guide | VL Parameters
The velocity loop compensation is actually implemented as a digital discrete time system function on the DSP.
The continuous time transfer function is converted to the discrete time domain by a backward Euler mapping:
s ≈ (1-z
-1
)/t, where t = 62.5 µs
The poles are prewarped to F
P
and the zeros are prewarped to F
Z
.
Related Topics
11.4 Velocity Loop
622 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