Kollmorgen AKD-CC, Руководство по установке

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Subindex 2
Description FBUS.SYNCACT
Category optional
Access R/W
PDO mapping not possible
Value range UNSIGNED32
Default value 320000 [ns]
Sub 2 is the actual time distance in nano seconds between clearing the PLL counter and call-
ing the PLL function.
Subindex 3
Description FBUS.SYNCWND
Category optional
Access R/W
PDO mapping not possible
Value range UNSIGNED32
Default value 70000 [ns]
Sub 3 is a window, which is used in order to consider the drive as being synchronized. The
AKD is considered as synchronized in the following case:
FBUS.SYNCDIST – FBUS.SYNCWND < FBUS.SYNCACT < FBUS.SY
FBUS.SYNCWND
Subindex 4
Description FBUS.COMPTIME
Category optional
Access R/W
PDO mapping not possible
Value range UNSIGNED32
Default value 150 [ns]
Sub 4 value indicates the time, which is used for extending or lowering the sample rate of the
AKD internal 16[kHz] IRQ, which is responsible for calling the PLL function. The default
sample time is 32 * 1/16[kHz] = 2[ms].
The sample time of the AKD high prior interrupt is determined by
62.5[µs] – FBUS.COMPTIME if FBUS.SYNCACT > FBUS.SYNCDIST.
The sample time of the AKD high prior interrupt is determined by
62.5[µs] + FBUS.COMPTIME if FBUS.SYNCACT < FBUS.SYNCDIST.
AKD EtherCAT | 5 Appendix
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