AKD User Guide | 10 Configuring General Drive Settings
Mode 4-In Position: This output mode produces a high signal when the absolute value of the position error is
less than than the parameter entered in the extra parameter field.
Mode 5-Position Greater than X: When the position is greater than the parameter entered in the extra param-
eter field, the output will activate.
Mode 6-Position Less than X: When the position is less than the parameter entered in the extra parameter
field, the output will activate.
Mode 7-Warning: This output will activate when the drive experiences a warning, such as positive or negative
limit switch input triggered.
Mode 8-Enable: If you need an output to indicate that the drive is enabled, use this output mode.
Mode 9: Reserved.
Mode 10-Motor Brake: The output mode produces a high signal if a brake is disengaged (this is when the power
is applied to the brake and the motor is free to spin). The output mode produces a low if a brake is engaged (this is
when power is removed from the brake and the brake is set).
Mode 11-Drive Faults: The output mode produces a high signal if the drive has a fault.
Mode 12-Absolute velocity greater than x: The output mode produces a high signal when the absolute value of
the velocity is greater than a variable x. Use DOUTx.PARAM to set x.
Mode 13-Absolute velocity less than x: The output mode produces a high signal when the absolute value of
the velocity is less than a variable x.
Use DOUTx.PARAM to set x.
Mode 14-Homing complete: The output mode produces a high signal when the homing process is
completed.
Mode 15- PLS.STATE bits OR connected: The output mode produces a high signal if at least one of the
PLS.STATE bits is high (the PLS is active) and if the corresponding bit in the DOUTx.PARAM parameter also
has been set to high. The DOUTx.PARAM command connects the PLS.STATE bits to the digital output itself
and thus acts as an enable mask.
Example:
|<- Bit 7 to 0 ->|
DOUT1.PARAM = 23 = 0b 0 0 0 1 0 1 1 1 (Binary code)
The digital output 1 is active when bit 0 or bit 1 or bit 2 or bit 4 of PLS.STATE is high. All other bits within
PLS.STATE are not considered by the digital output mode due to the DOUT1.PARAM setting. Do not use dec-
imal places for the DOUTx.PARAM parameter for this particular digital output mode.
10.2 Command Buffer
10.2.1 Overview
The Command Buffer input mode (10.1 Digital Inputs and Outputs) allows you to change values for parameters
using a digital input.
The drive has four available buffers. A digital input configured for command buffer mode is linked to one com-
mand buffer set. This is determined by the user (see arrow 1). In this case, command buffer 1 is used.
88 Kollmorgen | December 2010
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