Kollmorgen AKD series User Manual

VL.GENMODE
General Information
Type NV Parameter
Description
Selects mode of velocity generation (Observer, d/dt); active in opmodes 1
(velocity) and 2 (position) only.
Units N/A
Range 0 to 1
Default Value 0
Data Type Integer
See Also N/A
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
Modbus 864 M_01-03-00-000
Description
This parameter is used to select the velocity generator mode.
Mode Description
0
d/dt mode: The derivative of the mechanical
angle of the drive is fed to a first order low
pass.
1 Luenberger Observer mode
Related Topics
11.4 Velocity Loop
AKD User Guide | VL Parameters
Kollmorgen | December 2010 637

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