Kollmorgen AKD series User Manual

VL.MODEL
General Information
Type R/O Parameter
Description
Reads the observer velocity signal; active in opmodes 1 (velocity) and 2
(position) only.
Units
Depends on UNIT.VROTARY or UNIT.VLINEAR, UNIT.ACCLINEAR
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.FB, VL.KO
Start Version M_01-00-01-000
Fieldbus Index/Subindex Object Start Version
Modbus 882 M_01-03-00-000
Description
VL.MODEL is the observer velocity output. When VL.KO is tuned properly, VL.MODEL will match VL.FB,
except when there is an unspecified offset between the two.
Related Topics
11.4 Velocity Loop
AKD User Guide | VL Parameters
Kollmorgen | December 2010 645

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