AKD User Guide | 9 Selecting Units for Your Application
9.1 Selecting Units
The AKD uses three primary measures of motion: position, velocity, and acceleration. You must first choose
units of measurement for each of these, and then enter the details of the mechanics in order to scale the chosen
units appropriately.
9.2 Units Example
1. Select type of mechanics
To set the units in the drive for a particular application, first select the type of mechanics present.
2. Select Position Units
By default, position is measured in counts. Counts are the smallest unit of position that can be represented in the
drive. This unit of measure equates to 4,294,967,296 counts/revolution of the motor. You can use the units
screen to change this measurement into a meaningful scale relating to the units of the application.
For position units, five selections are available:
0-Counts (4,294,967,296/rev)
1 –Radians (2*π /rev)
2- Degree (360/rev)
3 – Custom (set by user according to mechanics of machine)
4 – Counts (16-bit) (65,536 /rev)
The AKD uses full 32-bit quantization for internal calculations regardless of unit settings. User units settings will
not affect performance, resolution, or accuracy of the servo system.
Choose “3-Custom”, and then select your desired position units, for example, millimeters.
80 Kollmorgen | December 2010
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