Kollmorgen AKD-C01007-MCEC Benutzerhandbuch Seite 399

AKD Benutzerhandbuch | 24.1.2 Summary of Parameters and Commands
Parameter or Command
VL.ARPQ1 TO VL.ARPQ4 (S.
1143)
VL.ARTYPE1 TO VL.ARTYPE4
(S. 1145)
VL.ARZF1 TO VL.ARZF4 (S.
1147)
VL.ARZQ1 TO VL.ARZQ4 (S.
1149)
VL.BUSFF (S. 1151)
VL.CMD (S. 1152)
VL.CMDU (S. 1154)
VL.ERR (S. 1156)
VL.FB (S. 1157)
VL.FBFILTER (S. 1158)
VL.FBSOURCE (S. 1159)
VL.FBUNFILTERED (S. 1160)
VL.FF (S. 1161)
VL.GENMODE (S. 1162)
VL.KBUSFF (S. 1163)
VL.KI (S. 1164)
VL.KP (S. 1167)
VL.KVFF (S. 1169)
VL.LIMITN (S. 1170)
VL.LIMITP (S. 1172)
VL.LMJR (S. 1174)
VL.MODEL (S. 1175)
399 KOLLMORGEN | Mai 2014
Type Description
R/W Sets the Q of the pole (denominator) of anti-resonance
(AR) filter 1; active in opmodes 1 (velocity) and 2 (posi-
tion) only.
NV Indicates the method used to calculate BiQuad coef-
ficients; active in opmodes 1 (velocity) and 2 (position)
only.
R/W Sets the natural frequency of the zero (numerator) of anti-
resonance (AR)filter 1; active in opmodes 1 (velocity) and
2 (position) 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 (posi-
tion) 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
(velocity) 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 (veloc-
ity) and 2 (position) only.
R/O Filters VL.FB (S. 1152) value; active in opmodes 1 (veloc-
ity) 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 (veloc-
ity) and 2 (position) only.
NV Sets the velocity high limit; active in opmodes 1 (velocity)
and 2 (position) only.
R/W Sets the ratio of the estimated load moment of inertia rel-
ative to the motor moment of inertia; active in opmodes 1
(velocity) and 2 (position) only.
R/O Reads the observer velocity signal; active in opmodes 1
(velocity) and 2 (position) only.