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Kollmorgen AKD series

Kollmorgen AKD series
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10.13 Safe Torque Off (STO) 110
10.14 Under Voltage Fault Behavior 110
11 Using Command Source and Operating Modes 111
11.1 Overview 112
11.2 Using Command Source and Operation Modes 112
11.2.1 Command Source 112
11.2.1.1 Service 112
11.2.1.2 Fieldbus 112
11.2.1.3 Electronic Gearing 112
11.2.1.4 Analog 112
11.2.1.5 Operation Mode 112
11.2.2 Related Parameters 112
11.3 Current Loop 113
11.3.1 Overview 113
11.3.2 Current Loop Gain 113
11.4 Velocity Loop 114
11.4.1 Overview 114
11.4.2 Tabs in the Velocity Loop View 114
11.4.3 Velocity Loop Default Settings and Changes 115
11.4.3.1 Velocity Loop Changes Based on Slider Tuning 115
11.4.3.2 Velocity Loop Changes Based on Autotuner 115
11.5 Position Loop 116
11.5.1 Overview 116
11.5.2 Tabs in the Position Loop View 116
11.5.3 Position Loop Default Behavior and Changes 117
11.5.3.1 Position Loop Changes Based on Slider Tuning 117
11.5.3.2 Position Loop Changes Based on Autotuner 117
12 Creating Motion 119
12.1 Homing 120
12.1.1 Overview 120
12.1.2 Using Homing 120
12.1.2.1 Home Default Window 120
Mode Selection: 121
Settings: 121
Controls: 122
12.1.2.2 Selecting and Using Homing Modes 122
Homing Mode 0: Home Using Current Position 122
Homing Mode 1: Find Limit Input 122
Homing Mode 2: Find Input Limit then Find Zero Angle 123
Homing Mode 3: Find Input Limit then Find Index 124
Homing Mode 4: Find Home Input 125
Homing Mode 5: Find Home Input then Find Zero Angle 125
Homing Mode 6: Find Home Input then Find Index 126
Homing Mode 7: Find Zero Angle 127
Kollmorgen | December 2010 7

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