Kollmorgen AKD Series Benutzerhandbuch Seite 384

AKD Benutzerhandbuch | 25.1.2 Summary of Parameters and Commands
Parameter or Command
VBUS.VALUE (s: 949)
Velocity Loop (VL)
VL.ARPF1 TO VL.ARPF4
(s: 951)
VL.ARPQ1 TO VL.ARPQ4
(s: 953)
VL.ARTYPE1 TO VL.A-
RTYPE4 (s: 955)
VL.ARZF1 TO VL.ARZF4 (s:
956)
VL.ARZQ1 TO VL.ARZQ4
(s: 958)
VL.BUSFF (s: 960)
VL.CMD (S: 961)
VL.CMDU (S: 962)
VL.ERR (S: 964)
VL.FB (S: 965)
VL.FBFILTER (s: 966)
VL.FBSOURCE (s: 967)
VL.FBUNFILTERED (s:
968)
VL.FF (s: 969)
VL.GENMODE (S: 970)
VL.KBUSFF (s: 971)
VL.KI (s: 972)
VL.KP (s: 975)
VL.KVFF (s: 977)
VL.LIMITN (S: 978)
VL.LIMITP (S: 980)
384 KOLLMORGEN | Mai 2013
Type Description
R/O Reads DC bus voltage.
R/W Sets the natural frequency of the pole (denominator) of anti-res-
onance (AR) filters 1, 2, 3, and 4; active in opmodes 1 (veloc-
ity) and 2 (position) only.
R/W Sets the Q of the pole (denominator) of anti-resonance (AR)
filter 1; active in opmodes 1 (velocity) and 2 (position) only.
NV Indicates the method used to calculate BiQuad coefficients;
active in opmodes 1 (velocity) and 2 (position) only.
R/W Sets the natural frequency of the zero (numerator) of anti-res-
onance (AR)filter 1; active in opmodes 1 (velocity) and 2 (posi-
tion) only.
R/W Sets the Q of the zero (numerator) of anti-resonance filter #1;
active in opmodes 1 (velocity) and 2 (position) only.
R/O Displays the velocity loop feedforward value injected by the
field-bus; active in opmodes 1 (velocity) and 2 (position) only.
R/O Reads the actual velocity command; active in opmodes 1
(velocity) and 2 (position) only.
R/W Sets the user velocity command; active in opmodes 1 (veloc-
ity) and 2 (position) only.
R/O Sets the velocity error; active in opmodes 1 (velocity) and 2
(position) only.
R/O Reads the velocity feedback; active in opmodes 1 (velocity)
and 2 (position) only.
R/O Filters VL.FB (s: 965) value; active in opmodes 1 (velocity) and
2 (position) only.
NV Sets feedback source for the velocity loop; active in opmodes
1 (velocity) and 2 (position) only.
R/O Reads the velocity feedback.
R/O Displays the velocity loop overall feedforward value; active in
opmodes 1 (velocity) and 2 (position) only.
NV Selects mode of velocity generation (Observer, d/dt); active in
opmodes 1 (velocity) and 2 (position) only.
R/W Sets the velocity loop acceleration feedforward gain value;
active in opmodes 1 (velocity) and 2 (position) only.
NV Sets the velocity loop integral gain for the PI controller; active
in opmodes 1 (velocity) and 2 (position) only.
NV Sets velocity loop proportional gain for the PI controller; active
in opmodes 1 (velocity) and 2 (position) only.
R/W Sets the velocity loop velocity feedforward gain value; active
in opmodes 1 (velocity) and 2 (position) only.
NV Sets the velocity lower limit; active in opmodes 1 (velocity)
and 2 (position) only.
NV Sets the velocity high limit; active in opmodes 1 (velocity) and
2 (position) only.