Kollmorgen AKD series User Manual

Object 60C2h: Interpolation time period
The interpolation time period is used for the PLL (phase locked loop) synchronized position modes. The unit (sub-
index 1) of the time is given in 10
interpolation time index
seconds.
Only multiples of 1 ms are allowed. The two values define the internal ASCII - parameter PTBASE (given in mul-
tiples of 250 Mikroseconds). Both values must be written to fix a new interpolation time period. PTBASE will only
be updated then.
Index 60C2h
Name Interpolation time period
Object code RECORD
Data type Interpolation time period record (0080h)
Category optional
Subindex 0
Description number of entries, FBUS.SAMPLEPERIOD
Category mandatory
Access R/O
PDO mapping not possible
Value range 2
Default value 2
Subindex 1
Description Interpolation time units
Category mandatory
Access R/W
PDO mapping possible
Value range UNSIGNED8
Default value 1
AKD User Guide |
Kollmorgen | December 2010 106

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