Kollmorgen AKD series User Manual

14.2 Load Inertia 142
14.3 Using the Autotuner 142
14.3.1 Overview 142
14.3.2 Using the Autotuner 143
14.3.2.1 Saving and Emailing Bode Plots 144
14.3.3 Measurement Options 145
14.3.3.1 Using Manual Excitation Levels 145
14.3.3.2 Taking a Bode Measurement without Autotuning 145
14.3.4 Using the Autotuner: Advanced 146
14.3.4.1 Typical Cases for Advanced Autotuning 146
Tuning Systems with Low-Frequency Resonances 146
Tuning Systems with High-Frequency Resonances 148
Tuning systems with noisy frequency responses 149
14.3.4.2 Autotuner Options 150
Enable BiQuad 1 Tuner 151
Enable BiQuad 2 Tuner 151
Biquad Type 151
Tune Acceleration FF 151
Enable Stability Motion 151
Phase and Gain Margins 151
Smooth % 152
14.3.4.3 Recording Options 154
Current Amplitude 155
Velocity Amplitude 155
Measurement 155
Injection Point 155
Excitation Type 155
FFT Points 156
Excite Gap 156
Number Points 156
Velocity Max 156
14.3.4.4 Plot Options 157
Coherence 158
14.3.4.5 Cursors 158
14.3.4.6 Resizing Bode Plots 159
Reading and Understanding the Bode Plot 160
14.4 Tuning Guide 164
AKD User Guide | Table of Contents
Kollmorgen | December 2010 10

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