Kollmorgen AKD series User Manual

VL.KI
General Information
Type NV Parameter
Description
Sets the velocity loop integral gain for the PI controller; active in opmodes
1 (velocity) and 2 (position) only.
Units Hz
Range 0 to 1,000 Hz
Default Value 160 Hz
Data Type Float
See Also VL.KP
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
354Dh/0 M_01-00-00-000
Modbus 868 M_01-03-00-000
Description
VL.KI sets the integral gain of the velocity loop.
A factor of 2π is included in the time calculation, therefore a PI velocity loop with a constant error of 1 rps in
which VL.KI is set to 160 and VL.KP is set to 1, will take (1000/160)*2π ms to increase the integral gain to 1.
Therefore, the total gain is 2 at this time (see velocity loop structure below).
Velocity Loop Structure
Related Topics
11.4 Velocity Loop
AKD User Guide | VL Parameters
Kollmorgen | December 2010 639

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