Kollmorgen AKD-N-DB Benutzerhandbuch Seite 397

AKD Benutzerhandbuch | 25.1.2 Summary of Parameters and Commands
Parameter or Command
HOME.DIST (➜ S. 873)
HOME.FEEDRATE (➜ S. 875)
HOME.IPEAK (➜ S. 877)
HOME.MAXDIST (➜ S. 879)
HOME.MODE (➜ S. 881)
HOME.MOVE (➜ S. 883)
HOME.P (➜ S. 884)
HOME.PERRTHRESH (➜ S. 886)
HOME.SET (➜ S. 888)
HOME.V (➜ S. 890)
Hardware Limit Switch (HWLS)
HWLS.NEGSTATE (➜ S. 893)
HWLS.POSSTATE (➜ S. 894)
Current Loop (IL)
IL.BUSFF (➜ S. 897)
IL.CMD (➜ S. 898)
IL.CMDACC (➜ S. 899)
IL.CMDU (➜ S. 900)
IL.DCMD (➜ S. 902)
IL.DFB (➜ S. 903)
IL.DIFOLD (➜ S. 904)
IL.FB (➜ S. 906)
IL.FBSOURCE (➜ S. 908)
Type Description
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 (posi-
tion) only.
Sets the maximum distance the motor is allo-
R/W
wed 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 (posi-
tion) only.
R/W Sets the position lag threshold; active in
opmode 2 (position) only.
Command Immediately sets the home position; active in
opmode 2 (position) only.
R/W Sets homing velocity; active in opmode 2 (posi-
tion) 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.
Returns the commanded acceleration from the
R/O
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 cur-
rent.
R/O Reads the drive foldback current limit.
R/O Reads the actual value of the q-component cur-
rent.
Sets the feedback source for the current loop.
R/W
Only applies when MOTOR.TYPE = 4.
KOLLMORGEN | Dezember 2014 397