Kollmorgen AKD series User Manual

AKD User Guide |
21.4.8 Adjusting EtherCAT Cycle Time
The cycle time to be used in the drive for the cyclical setpoints and actual values can either be stored in the
FBUS.SAMPLEPERIOD parameter in the amplifier or configured in the startup phase.
This takes place via SDO mailbox access to CANopen objects 60C2 subindex 1 and 2.
Subindex 2, knownas theinterpolation timeindex, defines the powerof tenof thetime value(e.g. -3means 10-3or
milliseconds)while subindex 1, knownas interpolationtime units, gives thenumber of units (e.g. 4 means 4 units).
You can run a 2 ms cycle using various combinations. For example,
Index = -3, Units = 2
or
Index = -4, Units = 20 etc.
The FBUS.SAMPLEPERIOD parameter is counted in multiples of 62.5us microseconds within the device. This
means, for example that 2 ms equates to FBUS.SAMPLEPERIOD value of 32.
21.4.9 Maximum Cycle Times depending on operation mode
The minimum cycle time for the drive is largely dependent on the drive configuration (second actual position
value encoder latch functionality enabled and so on)
Interface Cycle time AKD
Position ≥ 0.25 ms (≥ 250 µs)
Velocity ≥ 0.25 ms (≥ 250 µs)
Torque ≥ 0.25 ms (≥ 250 µs)
55 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