Kollmorgen AKD series User Manual

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
14.4.1 Overview 164
14.4.2 Determining Tuning Criteria 164
14.4.3 Before You Tune 164
14.4.4 Closed Loop Tuning Methods 165
14.4.4.1 Tuning the Velocity Loop 165
14.4.4.2 Tuning the Position Loop 167
14.4.5 Torque Feedforward Tuning Methods 167
14.4.5.1 Shape Based Feedforward Tuning 167
14.4.6 Using Anti-Resonance Filters 168
14.4.6.1 Biquad Calculations 176
14.4.6.2 Common Uses Of Anti Resonance Filters 178
15 Scope 179
15.1 Overview 179
15.2 Using the Scope 179
15.2.1 Scope Channels Tab 179
15.2.1.1 Source Column 179
15.2.1.2 Color Column 180
Kollmorgen | December 2010 9

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