Kollmorgen AKD series User Manual

Index Sub-
index
Data
Type
Float
Scaling
Access PDO
mapp.
Description ASCII object
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
3415h 0 U32 1000:1 RO no Thermal brake resistor time con-
stant
REGEN.TEXT
3416h 0 U32 RO no Gets brake resistor's calculated
power
REGEN.POWER
3420h 0 U16 1000:1 RW no Sets the foldback fault level. IL.FOLDFTHRESH
3421h 0 U32 1000:1 RW no Sets the user value for the fold-
back fault level.
IL.FOLDFTHRESHU
3422h 0 U32 1000:1 no Sets friction compensation value. IL.FRICTION
3423h 0 INT32 1000:1 no A constant current command
added to compensate for gravity.
IL.OFFSET
3424h 0 U16 no Enables/disables the integrator
part of the PI loop.
IL.INTEN (Password Pro-
tected)
3425h 0 U32 1000:1 RO no Reads the overall foldback cur-
rent limit
IL.IFOLD
3426h 0 U32 1000:1 RW no Sets current loop acceleration
feedforward gain value
IL.KACCFF
3430h 0 U8 RW no Sets the direction for absolute
motion tasks.
PL.MODPDIR
3431h 0 U16 RW no Sets the motion task in the drive MT.SET
3440h ARRAY Controlled stop parameters —
3440h 0 U8 RO no Number of entries —
3440h 1 U32 1:1 RW no Sets the deceleration value for a
controlled stop.
CS.DEC
3440h 2 U32 1:1 RW no Sets the velocity threshold for a
controlled stop.
CS.VTHRESH
AKD User Guide |
Kollmorgen | December 2010 124

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