Kollmorgen AKD-C01007-MCEC Benutzerhandbuch Seite 392

AKD Benutzerhandbuch | 24.1.2 Summary of Parameters and Commands
Parameter or Command
GEAR.OUT (S. 771)
GEAR.VMAX (S. 773)
Homing (HOME)
HOME.ACC (S. 789)
HOME.AUTOMOVE (S. 791)
HOME.DEC (S. 793)
HOME.DIR (S. 795)
HOME.DIST (S. 796)
HOME.FEEDRATE (S. 798)
HOME.IPEAK (S. 799)
HOME.MAXDIST (S. 801)
HOME.MODE (S. 803)
HOME.MOVE (S. 805)
HOME.P (S. 806)
HOME.PERRTHRESH (S. 808)
HOME.SET (S. 810)
HOME.V (S. 812)
Hardware Limit Switch (HWLS)
HWLS.NEGSTATE (S. 815)
HWLS.POSSTATE (S. 816)
Current Loop (IL)
IL.BUSFF (S. 819)
IL.CMD (S. 820)
IL.CMDACC (S. 821)
IL.CMDU (S. 822)
IL.DCMD (S. 823)
IL.DFB (S. 824)
IL.DIFOLD (S. 825)
IL.FB (S. 826)
IL.FBSOURCE (S. 827)
IL.FF (S. 829)
Type Description
R/W Sets the numerator of the electronic gearing ratio; active in
opmode 2 (position) only.
R/W Reads the maximum allowed velocity value; active in
opmode 2 (position) only.
R/W Sets homing acceleration; active in opmode 2 (position)
only.
R/W Sets homing auto move flag.
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 Sets the maximum distance the motor is allowed to move
during the homing routine.
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 (posi-
tion) only.
Command Immediately sets the home position; active in opmode 2
(position) 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 field-
bus.
R/O Reads the value of the q-component current command.
R/O Returns the commanded acceleration from the trajectory
generator.
R/W Sets the user current command.
R/O Reads the value of the d-component current controller
inside the FPGA.
R/O Reads the actual value of the d-component current.
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.
KOLLMORGEN | Mai 2014 392