Kollmorgen AKD series User Manual

AKD User Guide | VL Parameters
VL.ERR
General Information
Type R/O Parameter
Description
Sets the velocity error; active in opmodes 1 (velocity) and 2 (position)
only.
Units
Depends on UNIT.VROTARY or UNIT.VLINEAR
Rotary: rpm, rps, deg/s, (PIN/POUT)/s, rad/s
Linear: counts/s, mm/s, µm/s, (PIN/POUT)/s
Range N/A
Default Value N/A
Data Type Float
See Also VL.CMD, VL.FB
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3407h/4
M_01-00-00-000
Modbus 854 M_01-03-00-000
Description
VL.ERR sets thevelocity error. It is calculated inthe velocity loop as the differencebetween VL.CMD and VL.FB.
Related Topics
11.4 Velocity Loop
632 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