Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 20.2 Summary of Parameters and Commands
VL.ARZQ1 TO VL.ARZQ4
(pg 453) R/W Sets the Q of the zero (numerator) of anti-resonance filter #1;
active in opmodes 1 (velocity) and 2 (position) only.
VL.BUSFF (pg 454) R/O Displays the velocity loop feedforward value injected by the
field-bus; active in opmodes 1 (velocity) and 2 (position) only.
VL.CMD (PG 455) R/O Reads the actual velocity command; active in opmodes 1
(velocity) and 2 (position) only.
VL.CMDU (PG 455) R/W Sets the user velocity command; active in opmodes 1 (veloc-
ity) and 2 (position) only.
VL.ERR (PG 456) R/O Sets the velocity error; active in opmodes 1 (velocity) and 2
(position) only.
VL.FB (PG 457) R/O Reads the velocity feedback; active in opmodes 1 (velocity)
and 2 (position) only.
VL.FBFILTER (pg 457) R/O Filters VL.FB (pg 454) value; active in opmodes 1 (velocity)
and 2 (position) only.
VL.FBSOURCE (pg 458) NV Sets feedback source for the velocity loop; active in opmodes
1 (velocity) and 2 (position) only.
VL.FBUNFILTERED (pg
458) R/O Reads the velocity feedback.
VL.FF (pg 459) R/O Displays the velocity loop overall feedforward value; active in
opmodes 1 (velocity) and 2 (position) only.
VL.GENMODE (PG 459) NV Selects mode of velocity generation (Observer, d/dt); active in
opmodes 1 (velocity) and 2 (position) only.
VL.KBUSFF (pg 460) R/W Sets the velocity loop acceleration feedforward gain value;
active in opmodes 1 (velocity) and 2 (position) only.
VL.KI (pg 461) NV Sets the velocity loop integral gain for the PI controller; active
in opmodes 1 (velocity) and 2 (position) only.
VL.KP (pg 462) NV Sets velocity loop proportional gain for the PI controller; active
in opmodes 1 (velocity) and 2 (position) only.
VL.KVFF (pg 464) R/W Sets the velocity loop velocity feedforward gain value; active
in opmodes 1 (velocity) and 2 (position) only.
VL.LIMITN (PG 464) NV Sets the velocity lower limit; active in opmodes 1 (velocity)
and 2 (position) only.
VL.LIMITP (PG 466) NV Sets the velocity high limit; active in opmodes 1 (velocity) and
2 (position) only.
VL.LMJR (pg 466) R/W Sets the ratio of the estimated load moment of inertia relative
to the motor moment of inertia; active in opmodes 1 (velocity)
and 2 (position) only.
VL.MODEL (pg 467) R/O Reads the observer velocity signal; active in opmodes 1 (veloc-
ity) and 2 (position) only.
VL.OBSBW (pg 468) NV Sets the bandwidth of the observer in Hz.
VL.OBSMODE (pg 468) NV Sets the observer operating mode.
VL.THRESH (PG 468) NV Sets the over speed fault value; active in opmodes 1 (velocity)
and 2 (position) only.
Wake and Shake (WS)
WS.ARM Command Sets wake and shake to start at the next drive enable.
WS.CHECKMODE (pg 1) R/W Select the type of commutation check to execute after Wake
and Shake finds a new commutation angle.
WS.CHECKT (pg 1) R/W Sets the amount of time a communication error must be
present before an error is thrown.
Kollmorgen™ | December 2012 205