Kollmorgen AKD PDMM series, User Manual

Page: 62 / 513

AKD PDMM User Guide | 10.1 Limits
10.1 Limits
This screen allows you view and modify the various drive limits.
Button or Dialog
Box Description Parameter
Current Limits
Positive Peak Cur-
rent The maximum positive current allowed. IL.LIMITP (pg 361)
Negative Peak Cur-
rent The maximum negative current allowed. IL.LIMITN (pg 360)
Velocity Limits
Positive Speed Limit The maximum speed allowed in the positive direction. VL.LIMITP (pg 466)
Negative Speed
Limit The maximum speed allowed in the negative direction. VL.LIMITN (pg 464)
Over Speed Limit The threshold velocity for an over speed fault. VL.THRESH (pg 468)
Position Limits
Maximum Position
Error The maximum position error. If the position error PL.ERR
is larger than PL.ERRFTHRESH, then the drive generates
a fault PL.ERRFTHRESH
(pg 399)
Position Limit 0 The minimum position the drive can reach before gen-
erating a negative software position fault. SWLS.LIMIT0 (pg
441)
Position Limit 1 The maximum position the drive can reach before gen-
erating a positive software position fault. SWLS.LIMIT1 (pg
442)
Acceleration Lim-
its
Acceleration The acceleration ramp used to profile some types of
motion. DRV.ACC (pg 262)
Deceleration The deceleration ramp used to profile some types of
motion. DRV.DEC (pg 269)
Motor Limits Motor limits are set through the Motor Foldback Screen
(see Foldback (pg 47))
10.1.1 Limits
The limits screen covers most of the basic system limits, including current, velocity, and position.
l
Current Limits: The current limits are set based on the drive ratings. You can change these limits to
be lower then the default values for the drive, however, this may effect the expected performance of
your application.
l
Velocity Limits: The velocity limits are set based on the motor ratings. You can modify these settings
above the ratings of the motor if the application requires some overhead, but be aware the motor has
mechanical limitations and may be damaged if run above those limits. It is best to leave these at the
default ratings for the motor selected.
l
Position Limits: The position limits can be set based on your specific machine application require-
ments. The Maximum Position Error can be set to cause a fault when the position error exceeds the
value you insert here. Position Limit 0 is tied to the clockwise (positive) motor direction. As the motor
reaches the position entered, the motor will stop and display a warning n107. Position Limit 1 is tied to
the counterclockwise (negative) motor direction. As the motor reaches the position entered, the motor
will stop and display a warning n108.
l
Acceleration Limits: This field allows you to raise accelerations to give the system crisp moves.
These limits default to a low value, so you may wish to change these after the mechanics and other
sections of your system are defined.
62 Kollmorgen™ | December 2012