Kollmorgen AKD series User Manual

AKD User Guide | WS Parameters
WS.TDELAY3
General Information
Type NV Parameter
Description Sets the delay for wake and shake between loops in mode 0.
Units ms
Range 0 to 2,000 ms
Default Value 100 ms
Data Type U16
See Also N/A
Start Version M_01-01-00-102, M_01-02-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE
and CANopen
3494h/3 M_01-00-00-000
Modbus 914 M_01-03-00-000
Description
WS.TDELAY3 defines the delay between complete loops in mode 0 only. Decreasing this value makes the wake
and shake procedure faster, but may lead to problems if the motor moves too long. Increasing this value will
make wake and shake significantly longer.
Related Topics
8.3.9 Using Wake and Shake (WS)
660 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