Kollmorgen AKD Series Benutzerhandbuch Seite 377

AKD Benutzerhandbuch | 25.1.2 Summary of Parameters and Commands
Parameter or Command
HOME.DEC (s: 692)
HOME.DIR (s: 694)
HOME.DIST (s: 695)
HOME.FEEDRATE (s:
696)
HOME.IPEAK (s: 697)
HOME.MODE (s: 698)
HOME.MOVE (s: 700)
HOME.P (s: 701)
HOME.PERRTHRESH (s:
702)
HOME.REQUIRE (s: 703)
HOME.SET (s: 704)
HOME.V (s: 705)
Hardware Limit Switch
(HWLS)
HWLS.NEGSTATE (s: 708)
HWLS.POSSTATE (s: 709)
Current Loop (IL)
IL.BUSFF (s: 712)
IL.CMD (S: 713)
IL.CMDACC (s: 714)
IL.CMDU (S: 715)
IL.DIFOLD (S: 716)
IL.FB (S: 717)
IL.FBSOURCE (s: 718)
IL.FF (s: 719)
IL.FOLDFTHRESH (S:
720)
IL.FOLDFTHRESHU (s:
721)
IL.FOLDWTHRESH (S:
722)
IL.IFOLD (s: 724)
IL.IUFB (S: 725)
IL.KACCFF (s: 727)
IL.KBUSFF (s: 728)
IL.KP (S: 729)
Type Description
R/W Sets homing deceleration; active in opmode 2 (position) only.
NV Sets homing direction; active in opmode 2 (position) only.
R/W Sets homing distance; active in opmode 2 (position) only.
R/W Sets homing velocity factor; active in opmode 2 (position) only.
R/W Sets the current limit during homing procedure to a mechanical
stop; active in opmode 2 (position) only.
R/W Selects the homing mode; active in opmode 2 (position) only.
Command Starts a homing procedure; active in opmode 2 (position) only.
R/W Sets home position; active in opmode 2 (position) only.
R/W Sets the position lag threshold; active in opmode 2 (position)
only.
NV Defines if the axis must be homed before a motion task can be
executed.
Command Immediately sets the home position; active in opmode 2 (posi-
tion) only.
R/W Sets homing velocity; active in opmode 2 (position) only.
R/O Reads the status of the negative hardware limit switch.
R/O Reads the status of the positive hardware limit switch.
R/O Displays the current feedforward value injected by the fieldbus.
R/O Reads the value of the q-component current command.
R/O Returns the commanded acceleration from the trajectory gen-
erator.
R/W Sets the user current command.
R/O Reads the drive foldback current limit.
R/O Reads the actual value of the d-component current.
R/W Sets the feedback source for the current loop. Only applies
when MOTOR.TYPE = 4.
R/O Displays the current loop overall feedforward value.
NV Reads the foldback fault level.
NV Sets the user value for the foldback fault level.
NV Sets the foldback warning level.
R/O Reads the overall foldback current limit.
R/O Reads the sigma-delta measured current in the u-winding of the
motor.
R/W Sets current loop acceleration feedforward gain value
R/W Current loops fieldbus injected feed-forward gain
NV Sets the proportional gain of the q-component of the PI reg-
ulator.
KOLLMORGEN | Mai 2013 377