Kollmorgen AKD series User Manual

AKD User Guide | VL Parameters
VL.LIMITN
General Information
Type NV Parameter
Description
Sets the velocity lower limit; active in opmodes 1 (velocity) and 2 (posi-
tion) 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
Rotary:
-12,000.000 to 0.000 rpm
-200.000 to 0.000 rps
-72,000.000 to 0.000 deg/s
-1,000.000 to 0.000(PIN/POUT)/s
-12,56.637 to 0.000 rad/s
Linear:
-0.200 to 0.000 counts/s
-200.000*MOTOR.PITCH to 0.000 mm/s
-200,000.000*MOTOR.PITCH to 0.000 µm/sec
-1,000.000 to 0.000 (PIN/POUT)/s
Default Value
Rotary:
-3,000.000 rpm
-50.000 rps
-18,000.002 deg/s
-250.000 (PIN/POUT)/s
-314.159 rad/s
Linear:
-0.050 counts/s
-50*MOTOR.PITCH mm/s
-50,000.004*MOTOR.PITCH µm/sec
-250.000 (PIN/POUT)/s
Data Type Float
See Also VL.LIMITP, VL.CMD
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3623h/0 M_01-00-00-000
Modbus 876 M_01-03-00-000
Description
VL.LIMITN sets the velocity command negative limit.
If the input to the velocity loop is lower than VL.LIMITN, then the actual velocity command VL.CMD is limited by
the value of VL.LIMITN.
Related Topics
11.4 Velocity Loop
642 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