Kollmorgen AKD series User Manual

AKD User Guide |
Index Sub-
index
Data
Type
Float
Scaling
Access PDO
mapp.
Description ASCII object
3406h 4 U32 1000:1 RW no Natural frequency of pole of anti-
resonance (AR) filter 4
VL.ARPF4
3406h 5 U32 1000:1 RW no Q of pole of anti-resonance (AR)
filter 1
VL.ARPQ1
3406h 6 U32 1000:1 RW no Q of pole of anti-resonance (AR)
filter 2
VL.ARPQ2
3406h 7 U32 1000:1 RW no Q of pole of anti-resonance (AR)
filter 3
VL.ARPQ3
3406h 8 U32 1000:1 RW no Q of pole of anti-resonance (AR)
filter 4
VL.ARPQ4
3406h 9 U32 1000:1 RW no Natural frequency of zero of anti-
resonance (AR)filter 1
VL.ARZF1
3406h A U32 1000:1 RW no Natural frequency of zero of anti-
resonance (AR)filter 2
VL.ARZF2
3406h B U32 1000:1 RW no Natural frequency of zero of anti-
resonance (AR)filter 3
VL.ARZF3
3406h C U32 1000:1 RW no Natural frequency of zero of anti-
resonance (AR)filter 4
VL.ARZF4
3406h D U32 1000:1 RW no Q of zero of anti-resonance filter 1 VL.ARZQ1
3406h E U32 1000:1 RW no Q of zero of anti-resonance filter 2 VL.ARZQ2
3406h F U32 1000:1 RW no Q of zero of anti-resonance filter 3 VL.ARZQ3
3406h 10 U32 1000:1 RW no Q of zero of anti-resonance filter 4 VL.ARZQ4
3407h STRUCT Velocity Filter —
3407h 0 U8 RO no Number of entries —
3407h 1 INT32 1000:1 RW no 10 Hz filtered VL.FB VL.FBFILTER
3407h 2 U32 1000:1 RW no Gain for the velocity feedforward VL.KVFF
3407h 3 U32 RW no Gain for the acceleration feed-
forward
VL.KBUSFF
3407h 4 U32 1:1 RW no Sets the velocity error VL.ERR
3412h 0 INT8 RW no Type of brake resistor REGEN.TYPE
3414h 0 U8 RW Returns and sets the brake
resistor fault level temperature.
REGEN.WATTEXT
REGEN.WATTEXT
3406h 0 U8 RO no Number of entries —
3406h 1 U32 1000:1 RW no Natural frequency of pole of anti-
resonance (AR) filter 1
VL.ARPF1
3406h 2 U32 1000:1 RW no Natural frequency of pole of anti-
resonance (AR) filter 2
VL.ARPF2
3406h 3 U32 1000:1 RW no Natural frequency of pole of anti-
resonance (AR) filter 3
"VL.ARPF3" (=> p. 621)
3406h 4 U32 1000:1 RW no Natural frequency of pole of anti-
resonance (AR) filter 4
VL.ARPF4
3406h 5 U32 1000:1 RW no Q of pole of anti-resonance (AR)
filter 1
VL.ARPQ1
3406h 6 U32 1000:1 RW no Q of pole of anti-resonance (AR)
filter 2
VL.ARPQ2
3406h 7 U32 1000:1 RW no Q of pole of anti-resonance (AR)
filter 3
VL.ARPQ3
3406h 8 U32 1000:1 RW no Q of pole of anti-resonance (AR)
filter 4
VL.ARPQ4
123 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