Kollmorgen AKD series User Manual

3. Select Velocity Units
For velocity, select Custom/s to set the measurement to mm/sec.
4. Select Acceleration Units
For acceleration, select Custom/s^2 to set the measurement to mm/sec^2.
Once the chosen units of measurement are established, the details of the mechanics need to be entered to estab-
lish the scaling of the chosen units.
In this example, a lead screw with a 10 mm lead and a 5:1 gearbox has been selected. A 10 mm lead means the
load will traverse 10 mm for every turn of the screw. A scale factor is applied based on the values entered for the
chosen mechanics. This scaling is done through UNIT.PIN and UNIT.POUT parameters in the AKD, which are
automatically adjusted when the mechanics values are entered.
In this example, scaling is adjusted as follows:
UNIT.PIN is calculated as follows:
10 mm/screw turn * 1 screw turn/5 motor turns = 2mm/motor turn
UNIT.PIN and UNIT.POUT can be directly entered using the Motor Only selection from the Select Type of
Mechanics box.
AKD User Guide | 9 Selecting Units for Your Application
Kollmorgen | December 2010 81

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