Kollmorgen AKD User Manual

7.5.2 Objects for velocity scaling
7.5.2.1 Object 204Ch: PV Scaling Factor
This object shall indicate the configured numerator and denominator of the pv scaling factor. The pv scaling fac-
tor serves to modify the resolution or directing range of the specified setpoint. It is aso included in calculation of
the vl velocity demand, and vl velocity actual value. It does not influence the velocity limit function and the ramp
function. The value shall have no physical unit and shall be given in the range from -32 768 to +32 767, but the
value of 0 shall not be used.
The velocity scaling factor is only active, when bit 4 of FBUS.PARAM05 is set to 1. Otherwise velocities are
scaled as 1/1000 rpm.
Index 204Ch
Name pv scaling factor
Object code ARRAY
Data type INTEGER32
Category optional
Subindex 0
Description number of entries
Data type UNSIGNED8
Category mandatory
Access R/O
PDO mapping not possible
Value range 2
Default value no
Subindex 1
Description pv scaling factor numerator
Category optional
Access R/W
PDO mapping not possible
Value range INTEGER32
Default value +1
Subindex 2
Description pv scaling factor denominator
Category optional
Access R/W
PDO mapping not possible
Value range INTEGER32
Default value +1
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Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing