AKD BASIC®

Programming Manual

Edition May 2014, Revision G

Valid for Firmware Revision 1.12
Part Number 903-2000017-00

Keep all manuals as a product component during the life span of the product.
Pass all manuals to future users/owners of the product.
AKD BASIC Programming Manual |

Record of Document Revisions:

Revision Remarks
06/2011, Rev A Launch Version for M_01-06-00-000
Updated for BASIC IO option card. Option IO parameters in SD, AIN2, AOUT2,
05/2012, Rev B
DIN, and DOUT parameter categories added.
Added Appendix A: BASIC Sample Programs. Ranges and default values updated
12/2012, Rev C
for EGEAR and MOVE parameters.
05/2013, Rev D Added VM parameters. Updated CAM.CREATE example.
Feedback type "none" added. Capture Feedback Source added. Parameters added:
09/2013, Rev E GUI.DISPLAYS (pg 1), TEMP.POWER1 to TEMP.POWER3,
DRV.DOWNLOADALLOWED. Variant support information added to all parameters.
Program Memory Space (pg 26) added. DRV.MOTIONDISSOURCES (pg 361),
FB1.LASTIDENTIFIED (pg 421), VL.VFTHRESH (pg 770) added. MOTOR.IDMAX,
12/2013, Rev F MOTOR.LDLL, MOTOR.LISAT, MOTOR.PHSADVK1, MOTOR.PHSADVK2,
MOTOR.SUPPORTEDPARAMS, MOTOR.TEMPC added (see MOTOR Para-
meters (pg 546)).
MOTORPHASE and MOTORPOLES parameters added to FB1 Parameters (➜ p.
05/2014, Rev G 1), FB2 Parameters (pg 450), and FB3 Parameters (pg 460). FB3.DIR (pg 461)
added. Program Memory Space (pg 26) section added.

Windows is a registered trademark of Microsoft Corporation

AKD is a registered trademark of Kollmorgen Corporation
Current patents:
US Patent 5,646,496 (used in control card R/D and 1 Vp-p feedback interface)
US Patent 5,162,798 (used in control card R/D)
US Patent 6,118,241 (used in control card simple dynamic braking)
Technical changes which improve the performance of the device may be made without prior notice.
Printed in the United States of America
This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be
reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or
distributed by electronic means without the written permission of Kollmorgen.

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Table of Contents

1 About this User Guide 19

2 Program View 20
2.1 Toolbar Options 20
2.1.1 New ... 20
2.1.2 Save / Save As 20
2.1.3 Open 21
2.1.4 Edit Parameters Section 21
2.1.5 Compile / Download / Run 21
2.1.6 Continue / Pause / Stop 21
2.1.7 Debug 21
2.1.8 View 22
2.1.9 Format Document 22
2.1.10 Insert Code Snippet 22
2.1.11 Upload? 22
2.1.12 Lock 22
2.2 Incompatible Firmware 23
2.2.1 Resolving Incompatible Firmware 23
2.3 Unsupported Parameters 23
3 AKD BASIC Language 25
3.1 AKD BASIC Program Structure 25
3.1.1 Local Variables 25
3.1.2 Global Variables 25
3.2 Program Memory Space 26
3.3 Program Sections 26
3.3.1 Program Template 26
3.3.2 Setup Parameter Definitions 27
3.3.3 Global Variables, Constants, and Aliases 27
3.3.4 Variable Definitions 27
3.3.5 Constant Definitions 28
3.3.6 Alias Definitions 28
3.4 Main Program, Subroutines, Functions & Interrupt Handlers 28
3.4.1 Main Definitions 29
3.4.2 Subroutine Definition 30
3.4.3 Function Definition 30
3.4.4 Interrupt Handler Definition 30
3.5 Language Definition 31
3.5.1 Lexical Conventions 31
3.5.2 Identifiers 31
3.5.3 Data Types 31
3.5.4 Literal Constants 32
3.5.5 Decimal Integer Constants 32
3.5.6 Hexadecimal Constants 32
3.5.7 Floating-Point Constants 33
3.6 Statements 33

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3.6.1 Alias 33
3.6.2 Call 33
3.6.3 Cls 33
3.6.4 Const 34
3.6.5 Dim 34
3.6.6 Exit 34
3.6.7 For…Next 34
3.6.8 Function 35
3.6.9 GoTo 35
3.6.10 If…Then…Else 36
3.6.11 $Include 36
3.6.12 Input 36
3.6.13 Interrupt … End Interrupt 36
3.6.14 MOVE.ABORT 36
3.6.15 MOVE.GOABS 36
3.6.16 MOVE.GOHOME 37
3.6.17 MOVE.GOREL 37
3.6.18 MOVE.GOUPDATE 37
3.6.19 MOVE.GOVEL 37
3.6.20 On Error GoTo 37
3.6.21 Pause( ) 38
3.6.22 Print 38
3.6.23 VM.RESTART 38
3.6.24 Select Case 38
3.6.25 Static 39
3.6.26 Stop 39
3.6.27 Sub…End Sub 39
3.6.28 Swap 40
3.6.29 When 40
3.6.30 While…Wend 40
3.7 Built-in Functions 40
3.7.1 Parameters and Commands 42
3.8 Expressions 42
3.8.1 Arithmetic Expressions 42
3.8.2 Numeric Operators 42
3.8.3 Logical Operators 42
3.8.4 String Operators 43
3.8.5 Example 43
3.9 Function Invocation 43
3.9.1 $INCLUDE 44
3.10 Arrays and Function Parameter Lists 44
3.10.1 Optimizations 45
3.11 AKD BASICModBus TCP/IP 46
3.11.1 ModBus Parameter Table 46
3.11.2 ModBus Register and Data Types 46

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3.11.3 User Created Variables with Assigned Modbus Address Numbers 47

3.11.4 Drive Fault Table 47
3.11.5 Drive Parameter Scaling Over Modbus 47
3.11.6 Special Modbus AKD Parameters 47
3.11.7 ModBus Dynamic Mapping 48
3.12 Cam Profiling 48
3.12.1 Procedure 48
3.12.2 Related Variables 49
3.12.3 Cam Wizard 49
3.12.4 Example 50
3.12.5 Program 50
3.12.6 Virtual encoder (virtual master) 51
3.12.7 Move Parameters 51
3.12.8 Move Statements 52
3.12.9 Other Variables for Virtual Encoder 52
4 Quick Reference: Parameters, Functions, Operators 53
4.1 AKD Parameters and Commands 53
4.2 AKD BASIC Parameters and Commands 63
5 AKD BASIC Functions 71
5.1 ABS() 72
5.2 ASC() 73
5.3 ATAN() 74
5.4 CHR$() 75
5.5 CINT() 76
5.6 COS() 77
5.7 EXP() 78
5.8 FIX() 79
5.9 HEX$() 80
5.10 INKEY$() 81
5.11 INSTR() 82
5.12 INT() 83
5.13 LCASE$() 84
5.14 LEFT$() 85
5.15 LEN() 86
5.16 LOG() 87
5.17 LOG10() 88
5.18 LTRIM$() 89
5.19 MID$ 90
5.20 OCT$() 91
5.21 RIGHT$() 92
5.22 RTRIM$() 93
5.23 SGN() 94
5.24 SIN() 95
5.25 SPACE$() 96
5.26 SQRT() 97

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5.27 STR$() 98
5.28 STRING$() 99
5.29 TAN() 100
5.30 TRIM$() 101
5.31 UCASE$() 102
5.32 VAL() 103
6 Operators 104
6.1 AND 105
6.2 BAND 106
6.3 BNOT 107
6.4 BOR 108
6.5 BXOR 109
6.6 MOD 110
6.7 NOT 111
6.8 OR 112
6.9 SHL 113
6.10 SHRA 114
6.11 SHRL 115
6.12 XOR 116
7 AKD BASIC Parameters and Statements 117
7.1 Additional Statements 118
7.1.1 $Include 119
7.1.2 Alias 120
7.1.3 Call 121
7.1.4 Cls 122
7.1.5 Const 123
7.1.6 Dim 124
7.1.7 Exit 125
7.1.8 For...Next 126
7.1.9 Function 127
7.1.10 GoTo 128
7.1.11 If...Then...Else 129
7.1.12 Input 130
7.1.13 On Error GoTo 131
7.1.14 Pause() 132
7.1.15 Print 133
7.1.16 Restart 134
7.1.17 Select Case 135
7.1.18 Static 136
7.1.19 Stop 137
7.1.20 Sub...End Sub 138
7.1.21 Swap 139
7.1.22 While...Wend 140
7.2 AIN Parameters 141
7.2.1 AIN.CUTOFF 142

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7.2.2 AIN.DEADBAND 143

7.2.3 AIN.DEADBANDMODE 145
7.2.4 AIN.ISCALE 147
7.2.5 AIN.MODE 148
7.2.6 AIN.OFFSET 150
7.2.7 AIN.PSCALE 151
7.2.8 AIN.VALUE 153
7.2.9 AIN.VSCALE 154
7.2.10 AIN.ZERO 156
7.3 AIN2 Parameters 157
7.3.1 AIN2.CUTOFF 158
7.3.2 AIN2.DEADBAND 159
7.3.3 AIN2.DEADBANDMODE 160
7.3.4 AIN2.MODE 161
7.3.5 AIN2.OFFSET 162
7.3.6 AIN2.VALUE 163
7.3.7 AIN2.ZERO 164
7.4 AOUT Parameters 165
7.4.1 AOUT.CUTOFF 166
7.4.2 AOUT.DEBUGADDR 167
7.4.3 AOUT.DEBUGDATATYPE 168
7.4.4 AOUT.DEBUGSCALE 169
7.4.5 AOUT.ISCALE 170
7.4.6 AOUT.MODE 171
7.4.7 AOUT.OFFSET 173
7.4.8 AOUT.PSCALE 174
7.4.9 AOUT.VALUE 176
7.4.10 AOUT.VALUEU 177
7.4.11 AOUT.VSCALE 178
7.5 AOUT2 Parameters 180
7.5.1 AOUT2.CUTOFF 181
7.5.2 AOUT2.MODE 182
7.5.3 AOUT2.OFFSET 183
7.5.4 AOUT2.VALUE 184
7.5.5 AOUT.VALUEU 185
7.6 BODE Parameters 186
7.6.1 BODE.EXCITEGAP 187
7.6.2 BODE.FREQ 188
7.6.3 BODE.IAMP 190
7.6.4 BODE.IFLIMIT 191
7.6.5 BODE.IFTHRESH 193
7.6.6 BODE.INJECTPOINT 195
7.6.7 BODE.MODE 197
7.6.8 BODE.MODETIMER 200
7.6.9 BODE.PRBDEPTH 202

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7.6.10 BODE.VAMP 203

7.6.11 BODE.VFLIMIT 205
7.6.12 BODE.VFTHRESH 207
7.7 CAM Parameters 209
7.7.1 CAM.ACTIVATE 210
7.7.2 CAM.ADDPOINT 212
7.7.3 CAM.CORRECTDIR 214
7.7.4 CAM.CREATE 215
7.7.5 CAM.MASTER 217
7.7.6 CAM.MASTERPOS 218
7.7.7 CAM.SLAVEOFFSET 219
7.7.8 CAMVM.DIR 220
7.7.9 CAMVM.FREQ 221
7.7.10 CAMVM.GOREL 222
7.7.11 CAMVM.GOUPDATE 223
7.7.12 CAMVM.GOVEL 224
7.7.13 CAMVM.MOVING 225
7.7.14 CAMVM.POSITION 226
7.7.15 CAMVM.RELATIVEDIST 227
7.7.16 CAMVM.STOP 228
7.8 CAP Parameters 229
7.8.1 CAP0.EDGE, CAP1.EDGE 230
7.8.2 CAP0.EN, CAP1.EN 232
7.8.3 CAP0.EVENT, CAP1.EVENT 233
7.8.4 CAP0.FBSOURCE, CAP1.FBSOURCE 236
7.8.5 CAP0.FILTER, CAP1.FILTER 237
7.8.6 CAP0.MODE, CAP1.MODE 238
7.8.7 CAP0.PLFB, CAP1.PLFB 240
7.8.8 CAP0.PREEDGE, CAP1.PREEDGE 242
7.8.9 CAP0.PREFILTER, CAP1.PREFILTER 244
7.8.10 CAP0.PRESELECT, CAP1.PRESELECT 245
7.8.11 CAP0.STATE, CAP1.STATE 247
7.8.12 CAP0.T, CAP1.T 248
7.8.13 CAP0.TRIGGER, CAP1.TRIGGER 250
7.9 CS Parameters 252
7.9.1 CS.DEC 253
7.9.2 CS.STATE 255
7.9.3 CS.TO 256
7.9.4 CS.VTHRESH 258
7.10 DIN Parameters 260
7.10.1 DIN.HCMD1 TO DIN.HCMD4 262
7.10.2 DIN.LCMD1 to DIN.LCMD4 264
7.10.3 DIN.ROTARY 265
7.10.4 DIN.STATES 267
7.10.5 DIN1.FILTER TO DIN7.FILTER 268

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7.10.6 DIN1.INV to DIN7.INV 270

7.10.7 DIN1.MODE TO DIN7.MODE 272
7.10.8 DIN1.STATE TO DIN7.STATE 274
7.10.9 DIN9.STATE to DIN11.STATE 276
7.10.10 DIN21.FILTER to DIN32.FILTER 277
7.10.11 DIN21.STATE to DIN32.STATE 279
7.11 DIO Parameters 281
7.11.1 DIO9.DIR to DIO11.DIR 282
7.11.2 DIO9.INV to DIO11.INV 283
7.12 DOUT Parameters 284
7.12.1 DOUT.CTRL 285
7.12.2 DOUT.RELAYMODE 286
7.12.3 DOUT.STATES 287
7.12.4 DOUT1.MODE to DOUT2.MODE 288
7.12.5 DOUT1.PARAM AND DOUT2.PARAM 290
7.12.6 DOUT1.STATE AND DOUT2.STATE 292
7.12.7 DOUT1.STATEU AND DOUT2.STATEU 293
7.12.8 DOUT9.STATE to DOUT11.STATE 294
7.12.9 DOUT9.STATEU to DOUT11.STATEU 295
7.12.10 DOUT21.STATE to DOUT32.STATE 297
7.12.11 DOUT21.STATEU to DOUT32.STATEU 299
7.13 DRV Parameters 301
7.13.1 DRV.ACC 303
7.13.2 DRV.ACTIVE 305
7.13.3 DRV.BLINKDISPLAY 306
7.13.4 DRV.BOOTTIME 307
7.13.5 DRV.CLRCRASHDUMP 308
7.13.6 DRV.CLRFAULTHIST 309
7.13.7 DRV.CLRFAULTS 310
7.13.8 DRV.CMDDELAY 311
7.13.9 DRV.CMDSOURCE 312
7.13.10 DRV.CRASHDUMP 314
7.13.11 DRV.DBILIMIT 315
7.13.12 DRV.DEC 316
7.13.13 DRV.DIFVAR 318
7.13.14 DRV.DIR 319
7.13.15 DRV.DIS 320
7.13.16 DRV.DISMODE 321
7.13.17 DRV.DISSOURCES 323
7.13.18 DRV.DISTO 325
7.13.19 DRV.EMUECHECKSPEED 326
7.13.20 DRV.EMUEDIR 327
7.13.21 DRV.EMUEMODE 328
7.13.22 DRV.EMUEMTURN 330
7.13.23 DRV.EMUEPULSEWIDTH 332

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7.13.24 DRV.EMUERES 334

7.13.25 DRV.EMUEZOFFSET 335
7.13.26 DRV.EN 337
7.13.27 DRV.ENDEFAULT 338
7.13.28 DRV.FAULTHIST 339
7.13.29 DRV.FAULTS 340
7.13.30 DRV.FAULT1 to DRV.FAULT10 341
7.13.31 DRV.HANDWHEEL 343
7.13.32 DRV.HANDWHEELSRC 345
7.13.33 DRV.HELP 346
7.13.34 DRV.HELPALL 347
7.13.35 DRV.HWENABLE 348
7.13.36 DRV.HWENDELAY 349
7.13.37 DRV.HWENMODE 350
7.13.38 DRV.ICONT 351
7.13.39 DRV.INFO 352
7.13.40 DRV.IPEAK 355
7.13.41 DRV.IZERO 356
7.13.42 DRV.LIST 357
7.13.43 DRV.LOGICVOLTS 358
7.13.44 DRV.MEMADDR 359
7.13.45 DRV.MEMDATA 360
7.13.46 DRV.MOTIONDISSOURCES 361
7.13.47 DRV.MOTIONSTAT 362
7.13.48 DRV.NAME 364
7.13.49 DRV.NVCHECK 365
7.13.50 DRV.NVLIST 366
7.13.51 DRV.NVLOAD 367
7.13.52 DRV.NVSAVE 368
7.13.53 DRV.ONTIME 369
7.13.54 DRV.OPMODE 370
7.13.55 DRV.READFORMAT 372
7.13.56 DRV.RSTVAR 373
7.13.57 DRV.RUNTIME 374
7.13.58 DRV.SETUPREQBITS 375
7.13.59 DRV.SETUPREQLIST 377
7.13.60 DRV.STOP 378
7.13.61 DRV.SWENABLE 379
7.13.62 DRV.TEMPERATURES 380
7.13.63 DRV.TIME 381
7.13.64 DRV.TYPE 382
7.13.65 DRV.VER 384
7.13.66 DRV.VERIMAGE 385
7.13.67 DRV.WARNINGS 386
7.13.68 DRV.WARNING1 to DRV.WARNING3 387

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7.13.69 DRV.ZERO 389

7.14 EGEAR Parameters 390
7.14.1 EGEAR.ACCLIMIT 391
7.14.2 EGEAR.DECLIMIT 393
7.14.3 EGEAR.ERROR 395
7.14.4 EGEAR.LOCK 396
7.14.5 EGEAR.ON 397
7.14.6 EGEAR.PULSESIN 398
7.14.7 EGEAR.PULSESOUT 399
7.14.8 EGEAR.RATIO 400
7.14.9 EGEAR.TYPE 401
7.15 EXTENCODER Parameters 402
7.15.1 EXTENCODER.FREQ 403
7.15.2 EXTENCODER.POSITION 404
7.15.3 EXTENCODER.POSMODULO 405
7.16 FAULT Parameters 406
7.16.1 FAULTx.ACTION 407
7.17 FB1 Parameters 409
7.17.1 FB1.BISSBITS 410
7.17.2 FB1.ENCRES 411
7.17.3 FB1.HALLSTATE 413
7.17.4 FB1.HALLSTATEU 415
7.17.5 FB1.HALLSTATEV 416
7.17.6 FB1.HALLSTATEW 417
7.17.7 FB1.IDENTIFIED 418
7.17.8 FB1.INITSIGNED 420
7.17.9 FB1.LASTIDENTIFIED 421
7.17.10 FB1.MECHPOS 422
7.17.11 FB1.MEMVER 423
7.17.12 FB1.MOTORPHASE 424
7.17.13 FB1.MOTORPOLES 425
7.17.14 FB1.OFFSET 426
7.17.15 FB1.ORIGIN 428
7.17.16 FB1.P 430
7.17.17 FB1.PDIR 431
7.17.18 FB1.PFIND 432
7.17.19 FB1.PFINDCMDU 433
7.17.20 FB1.POFFSET 434
7.17.21 FB1.POLES 435
7.17.22 FB1.PSCALE 436
7.17.23 FB1.PUNIT 438
7.17.24 FB1.RESKTR 439
7.17.25 FB1.RESREFPHASE 440
7.17.26 FB1.SELECT 441
7.17.27 FB1.TRACKINGCAL 443

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7.17.28 FB1.USERBYTE0 to FB1.USERBYTE7 444

7.17.29 FB1.USERDWORD0 to FB1.USERDWORD1 446
7.17.30 FB1.USERWORD0 to FB1.USERWORD3 448
7.18 FB2 Parameters 450
7.18.1 FB2.ENCRES 451
7.18.2 FB2.MODE 452
7.18.3 FB2.MOTORPHASE 453
7.18.4 FB2.MOTORPOLES 454
7.18.5 FB2.P 455
7.18.6 FB2.DIR 456
7.18.7 FB2.POFFSET 457
7.18.8 FB2.PUNIT 458
7.18.9 FB2.SOURCE 459
7.19 FB3 Parameters 460
7.19.1 FB3.DIR 461
7.19.2 FB3.MODE 462
7.19.3 FB3.MOTORPHASE 463
7.19.4 FB3.MOTORPOLES 464
7.19.5 FB3.P 465
7.19.6 FB3.PDIR 466
7.19.7 FB3.POFFSET 467
7.19.8 FB3.PUNIT 468
7.20 GUI Parameters 469
7.20.1 GUI.DISPLAY 470
7.20.2 GUI.PARAM01 471
7.20.3 GUI.PARAM02 472
7.20.4 GUI.PARAM03 473
7.20.5 GUI.PARAM04 474
7.20.6 GUI.PARAM05 475
7.20.7 GUI.PARAM06 476
7.20.8 GUI.PARAM07 477
7.20.9 GUI.PARAM08 478
7.20.10 GUI.PARAM09 479
7.20.11 GUI.PARAM10 480
7.21 HWLS Parameters 481
7.21.1 HWLS.NEGSTATE 482
7.21.2 HWLS.POSSTATE 483
7.22 IL Parameters 484
7.22.1 IL.BUSFF 485
7.22.2 IL.CMD 486
7.22.3 IL.CMDU 487
7.22.4 IL.DFOLDT 488
7.22.5 IL.DIFOLD 489
7.22.6 IL.FB 490
7.22.7 IL.FF 491

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7.22.8 IL.FOLDFTHRESH 492

7.22.9 IL.FOLDFTHRESHU 493
7.22.10 IL.FOLDWTHRESH 494
7.22.11 IL.FRICTION 495
7.22.12 IL.IFOLD 496
7.22.13 IL.IUFB 497
7.22.14 IL.IVFB 498
7.22.15 IL.KACCFF 499
7.22.16 IL.KBUSFF 500
7.22.17 IL.KP 501
7.22.18 IL.KPDRATIO 502
7.22.19 IL.KPLOOKUPINDEX 503
7.22.20 IL.KPLOOKUPVALUE 504
7.22.21 IL.KPLOOKUPVALUES 506
7.22.22 IL.KVFF 507
7.22.23 IL.LIMITN 508
7.22.24 IL.LIMITP 509
7.22.25 IL.MFOLDD 510
7.22.26 IL.MFOLDR 511
7.22.27 IL.MFOLDT 512
7.22.28 IL.MI2T 513
7.22.29 IL.MI2TWTHRESH 514
7.22.30 IL.MIFOLD 515
7.22.31 IL.MIMODE 516
7.22.32 IL.OFFSET 517
7.22.33 IL.VCMD 518
7.22.34 IL.VUFB 519
7.22.35 IL.VVFB 520
7.23 IP Parameters 521
7.23.1 IP.ADDRESS 522
7.23.2 IP.GATEWAY 524
7.23.3 IP.MODE 526
7.23.4 IP.RESET 528
7.23.5 IP.SUBNET 530
7.24 INTR Parameters 532
7.24.1 Interrupt {Source} 533
7.24.2 Interrupt...End Interrupt 535
7.25 LOAD-Parameter 536
7.25.1 LOAD.INERTIA 537
7.26 MODBUS Paramters 538
7.26.1 MODBUS.PIN 539
7.26.2 MODBUS.POUT 541
7.26.3 MODBUS.PSCALE 543
7.26.4 MODBUS.SCALING 545
7.27 MOTOR Parameters 546

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7.27.1 MOTOR.AUTOSET 548

7.27.2 MOTOR.BRAKE 550
7.27.3 MOTOR.BRAKEIMM 552
7.27.4 MOTOR.BRAKERLS 553
7.27.5 MOTOR.BRAKESTATE 554
7.27.6 MOTOR.CTF0 555
7.27.7 MOTOR.ICONT 556
7.27.8 MOTOR.IDDATAVALID 557
7.27.9 MOTOR.IDMAX 558
7.27.10 MOTOR.INERTIA 559
7.27.11 MOTOR.IPEAK 560
7.27.12 MOTOR.KE 561
7.27.13 MOTOR.KT 562
7.27.14 MOTOR.LDLL 563
7.27.15 MOTOR.LISAT 564
7.27.16 MOTOR.LQLL 565
7.27.17 MOTOR.NAME 566
7.27.18 MOTOR.PHASE 567
7.27.19 MOTOR.PHSADVK1 568
7.27.20 MOTOR.PHSADVK2 569
7.27.21 MOTOR.PITCH 570
7.27.22 MOTOR.POLES 571
7.27.23 MOTOR.R 572
7.27.24 MOTOR.SUPPORTEDPARAMS 573
7.27.25 MOTOR.TBRAKEAPP 574
7.27.26 MOTOR.TBRAKERLS 575
7.27.27 MOTOR.TBRAKETO 576
7.27.28 MOTOR.TEMP 577
7.27.29 MOTOR.TEMPC 578
7.27.30 MOTOR.TEMPFAULT 579
7.27.31 MOTOR.TEMPWARN 580
7.27.32 MOTOR.TYPE 581
7.27.33 MOTOR.VMAX 583
7.27.34 MOTOR.VOLTMAX 584
7.27.35 MOTOR.VOLTMIN 585
7.27.36 MOTOR.VOLTRATED 586
7.27.37 MOTOR.VRATED 587
7.28 MOVE Parameters 589
7.28.1 MOVE.ABORT 590
7.28.2 MOVE.ACC 591
7.28.3 MOVE.DEC 593
7.28.4 MOVE.DIR 595
7.28.5 MOVE.DWELLTIME 596
7.28.6 MOVE.GOABS 597
7.28.7 MOVE.GOHOME 598

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7.28.8 MOVE.GOREL 599

7.28.9 MOVE.GOUPDATE 600
7.28.10 MOVE.GOVEL 601
7.28.11 MOVE.INPOSITION 602
7.28.12 MOVE.INPOSLIMIT 603
7.28.13 MOVE.MOVING 604
7.28.14 MOVE.POSCOMMAND 605
7.28.15 MOVE.RELATIVEDIST 606
7.28.16 MOVE.RUNSPEED 607
7.28.17 MOVE.SCURVETIME 608
7.28.18 MOVE.TARGETPOS 609
7.28.19 MOVE.VCMD 610
7.29 PL Parameters 611
7.29.1 PL.CMD 612
7.29.2 PL.ERR 613
7.29.3 PL.ERRFTHRESH 615
7.29.4 PL.ERRMODE 617
7.29.5 PL.ERRWTHRESH 619
7.29.6 PL.FB 621
7.29.7 PL.FBSOURCE 623
7.29.8 PL.INTINMAX 624
7.29.9 PL.INTOUTMAX 626
7.29.10 PL.KI 628
7.29.11 PL.KP 629
7.29.12 PL.MODP1 630
7.29.13 PL.MODP2 632
7.29.14 PL.MODPDIR 634
7.29.15 PL.MODPEN 636
7.30 PLS Parameters 638
7.30.1 PLS.EN 639
7.30.2 PLS.MODE 641
7.30.3 PLS.P1 TO PLS.P8 643
7.30.4 PLS.RESET 645
7.30.5 PLS.STATE 647
7.30.6 PLS.T1 TO PLS.T8 649
7.30.7 PLS.UNITS 651
7.30.8 PLS.WIDTH1 TO PLS.WIDTH8 654
7.31 REC Parameters 656
7.31.1 REC.ACTIVE 657
7.31.2 REC.CH1 to REC.CH6 658
7.31.3 REC.DONE 659
7.31.4 REC.GAP 660
7.31.5 REC.NUMPOINTS 661
7.31.6 REC.OFF 662
7.31.7 REC.RECPRMLIST 663

Kollmorgen | May 2014 15

 AKD BASIC Programming Manual |

7.31.8 REC.RETRIEVE 664

7.31.9 REC.RETRIEVEDATA 665
7.31.10 REC.RETRIEVEFRMT 667
7.31.11 REC.RETRIEVEHDR 668
7.31.12 REC.RETRIEVESIZE 669
7.31.13 REC.STOPTYPE 670
7.31.14 REC.TRIG 671
7.31.15 REC.TRIGPARAM 672
7.31.16 REC.TRIGPOS 673
7.31.17 REC.TRIGPRMLIST 675
7.31.18 REC.TRIGSLOPE 676
7.31.19 REC.TRIGTYPE 677
7.31.20 REC.TRIGVAL 678
7.32 REGEN Parameters 679
7.32.1 REGEN.POWER 680
7.32.2 REGEN.REXT 681
7.32.3 REGEN.TEXT 682
7.32.4 REGEN.TYPE 684
7.32.5 REGEN.WATTEXT 685
7.33 SD Commands 686
7.33.1 SD.LOAD 687
7.33.2 SD.SAVE 688
7.33.3 SD.STATUS 689
7.34 SM Parameters 690
7.34.1 SM.I1 691
7.34.2 SM.I2 692
7.34.3 SM.MODE 693
7.34.4 SM.MOVE 696
7.34.5 SM.T1 697
7.34.6 SM.T2 698
7.34.7 SM.V1 699
7.34.8 SM.V2 701
7.35 STO Parameters 703
7.35.1 STO.STATE 704
7.36 SWLS Parameters 705
7.36.1 SWLS.EN 706
7.36.2 SWLS.LIMIT0 708
7.36.3 SWLS.LIMIT1 709
7.36.4 SWLS.STATE 710
7.37 UNIT Parameters 711
7.37.1 UNIT.ACCLINEAR 712
7.37.2 UNIT.ACCROTARY 713
7.37.3 UNIT.LABEL 714
7.37.4 UNIT.PIN 715
7.37.5 UNIT.PLINEAR 716

16 Kollmorgen | May 2014

AKD BASIC Programming Manual |

7.37.6 UNIT.POUT 717

7.37.7 UNIT.PROTARY 718
7.37.8 UNIT.VLINEAR 719
7.37.9 UNIT.VROTARY 720
7.38 VBUS Parameters 721
7.38.1 VBUS.HALFVOLT 722
7.38.2 VBUS.OVFTHRESH 724
7.38.3 VBUS.OVWTHRESH 725
7.38.4 VBUS.RMSLIMIT 726
7.38.5 VBUS.UVFTHRESH 727
7.38.6 VBUS.UVMODE 728
7.38.7 VBUS.UVWTHRESH 729
7.38.8 VBUS.VALUE 730
7.39 VL Parameters 731
7.39.1 VL.ARPF1 TO VL.ARPF4 732
7.39.2 VL.ARPQ1 TO VL.ARPQ4 734
7.39.3 VL.ARTYPE1 TO VL.ARTYPE4 736
7.39.4 VL.ARZF1 TO VL.ARZF4 738
7.39.5 VL.ARZQ1 TO VL.ARZQ4 740
7.39.6 VL.BUSFF 742
7.39.7 VL.CMD 743
7.39.8 VL.CMDU 744
7.39.9 VL.ERR 746
7.39.10 VL.FB 747
7.39.11 VL.FBFILTER 748
7.39.12 VL.FBSOURCE 749
7.39.13 VL.FBUNFILTERED 750
7.39.14 VL.FF 751
7.39.15 VL.GENMODE 752
7.39.16 VL.KBUSFF 753
7.39.17 VL.KI 754
7.39.18 VL.KO 756
7.39.19 VL.KP 757
7.39.20 VL.KVFF 759
7.39.21 VL.LIMITN 760
7.39.22 VL.LIMITP 762
7.39.23 VL.LMJR 764
7.39.24 VL.MODEL 765
7.39.25 VL.OBSBW 766
7.39.26 VL.OBSMODE 767
7.39.27 VL.THRESH 768
7.39.28 VL.VFTHRESH 770
7.40 VM Parameters 771
7.40.1 VM.AUTOSTART 772
7.40.2 VM.ERR 773

Kollmorgen | May 2014 17

 AKD BASIC Programming Manual |

7.40.3 VM.INTRTIMER 775

7.40.4 VM.PGMCOMPILERVERSION 776
7.40.5 VM.PGMERRORLIST 777
7.40.6 VM.RESTART 778
7.40.7 VM.START 779
7.40.8 VM.STATE 780
7.40.9 VM.STOP 781
7.41 WHEN Parameters 782
7.41.1 When 783
7.41.2 WHEN.DRVHANDWHEEL 786
7.41.3 WHEN.DRVTIME 787
7.41.4 WHEN.FB1MECHPOS 788
7.41.5 WHEN.FB3P 789
7.41.6 WHEN.PLCMD 790
7.41.7 WHEN.PLFB 791
7.42 WS Parameters 792
7.42.1 WS.ARM 793
7.42.2 WS.CHECKMODE 794
7.42.3 WS.CHECKT 796
7.42.4 WS.CHECKV 797
7.42.5 WS.DISARM 798
7.42.6 WS.DISTMAX 799
7.42.7 WS.DISTMIN 800
7.42.8 WS.FREQ 801
7.42.9 WS.IMAX 802
7.42.10 WS.MODE 803
7.42.11 WS.NUMLOOPS 804
7.42.12 WS.STATE 805
7.42.13 WS.T 806
7.42.14 WS.TDELAY1 807
7.42.15 WS.TDELAY2 808
7.42.16 WS.TDELAY3 809
7.42.17 WS.TIRAMP 810
7.42.18 WS.TSTANDSTILL 811
7.42.19 WS.VTHRESH 812
8 Appendix A: BASIC Sample Programs 814

18 Kollmorgen | May 2014

AKD BASIC Programming Manual | 1 About this User Guide

1 About this User Guide

This guide describes the operation and use of the AKD drive. Each section details a specific topic related
to the use of the product in simple terms which will help you get the most from the product. Each section
includes examples to help guide you in setting up and using the various features available in the drive.
This guide is for users who have installed and tested the drive according to the AKD Installation Manual.
The AKD Installation Manual is included on the product disk and contains critical safety information.

Kollmorgen | May 2014 19

 AKD BASIC Programming Manual | 2 Program View

2 Program View
The program view in AKD WorkBench is specific to AKD BASIC drives and can only be accessed using
an AKD BASIC drive type in either online or offline mode. Programs can be compiled in offline mode, but
an AKD BASIC drive must be connected to download and run a program.

2.1 Toolbar Options

The toolbar at the top of the program view contains a number of tools to assist you in programming.

2.1.1 New ...

The Program view loads as an empty window. Create a new program by clicking the new icon in the
upper-left corner and selecting either BASIC or BASIC Using Current Drive Params. The BASIC
selection will load an empty template. The BASIC Using Current Drive Params selection will populate
the template with all current drive values. Then select the location and name of your new project file, and
click save.

This will load the BASIC template from which you can begin programming.

2.1.2 Save / Save As

Once you have written a program, save it using the "Save" or "Save As" function on the toolbar .

20 Kollmorgen | May 2014

AKD BASIC Programming Manual | 2.1.3 Open

2.1.3 Open
To open a previous project file click the "Open" function and locate your file in the explorer.

2.1.4 Edit Parameters Section

Clicking on the Edit Params Section tool will prompt you to populate the Params section of your code
with all the current drive settings. Clicking yes will overwrite all current param defintions with the current
drive values.

2.1.5 Compile / Download / Run

The Compile button will compile your source code to binary so that you may download the program to the
drive.
The Download button will download your compiled code and source code to the drive by default. If you do
not wish to download the source code to the drive, go to the options menu, choose download and de-
select download source with binary.
The run button will issue a VM.START to start the BASIC program in the drive. If the active BASIC pro-
gram in the editor is different than the program in the drive, the run button will compile and download the
program before running.

2.1.6 Continue / Pause / Stop

The Continue, Pause, and Stop options allow you to control your program while it is running.

2.1.7 Debug
The Debugger allows you to set break points and step through your program.

Kollmorgen | May 2014 21

 AKD BASIC Programming Manual | 2.1.8 View

2.1.8 View

Use Find and Replace to find keywords in your program and replace them with a new keyword
Use the Go To Line to go to a specific line of code
Watch will open the expression evaluator tab. The expression evaluator is only valid while using the
debugger. You can evaluate any drive parameter or user defined variable when the program is paused by
the debugger.
Call Stack will open the call stack tab

2.1.9 Format Document

The format document tool implements correct line indentation across all code.

2.1.10 Insert Code Snippet

The Insert Code Snippet tool presents a list of existing code snippets, which can be selected and
inserted into the program at the point where the cursor is currently placed.

2.1.11 Upload?
The upload tool uploads the source code from the drive. If the source code has not been downloaded, this
option is not available. The tools menu allows you to select if the source code is to be downloaded with
the binary.

2.1.12 Lock
The lock tool password protects the source code in the drive. If a new program is downloaded to a drive,
the original source code and password protection is erased.

22 Kollmorgen | May 2014

AKD BASIC Programming Manual | 2.2 Incompatible Firmware

2.2 Incompatible Firmware

If your BASIC firmware is incompatible, an incompatibility error will display in the program view.

This error is due to major WorkBench and compiler changes since your last firmware update, causing your
current firmware to be incompatible with your current WorkBench version. These changes improved the
product's ability to handle revision control of the language. However, the improvement also required
changes in how WorkBench and firmware communicate, which caused the incompatibility. The improve-
ment will allow the editor to recognize the firmware version being used and auto-recognize the parameters
and commands inherent to that firmware. This allows better use of mis-matching WorkBench and firm-
ware versions in the future.
See VM.PGMCOMPILERVERSION (pg 776) and VM.PGMERRORLIST (pg 777) for more information on
using this new feature.

2.2.1 Resolving Incompatible Firmware

If your firmware is incompatible, we recommend upgrading the AKD BASIC's firmware to version 1.9 or
later in order to take advantage of the new feature and allow seamless integration moving forward.
If the product using AKD BASIC is deep in its product lifecycle, or there are version controls in place that
prevent changes to the machine device firmware, upgrading the firmware may not be suitable. In this
case, downgrading to an older version of WorkBench (version 1.8.0.32358 or earlier) is recommended.

It is not necessary to uninstall your current WorkBench version in order to install an older
version. Multiple versions of WorkBench can be installed simultaneously on one PC.
To upgrade to the latest firmware version, please visit the AKD BASICsoftware/firmware tab on koll-
morgen.com.
To downgrade to an older version of WorkBench, please visit the AKD BASIC archive tab on koll-
morgen.com.

See Also
Unsupported Firmware (pg 1) | Invalid Firmware (pg 1)

2.3 Unsupported Parameters

If a parameter is being used in a BASIC program which is not supported by the current firmware version,
an error will be displayed in the error list after the program is downloaded to the drive.

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 AKD BASIC Programming Manual | 2.3 Unsupported Parameters

This list of unsupported parameters from a BASIC program can also be read from VM.PGMERRORLIST
(pg 777).
When the drive returns Fault 831 (BASIC program is invalid), you can either:
1. Use VM.PGMERRORLIST to identify and remove unsupported calls to items.
or
2. Upgrade your firmware, and then re-compile, and re-download the BASIC program.

24 Kollmorgen | May 2014

AKD BASIC Programming Manual | 3 AKD BASIC Language

3 AKD BASIC Language

This chapter describes the overall structure of an AKD BASIC program and the elements of the AKD
BASIC language. Topics covered are:
l scope
l program structure
l setup parameters
l global variables, constants and aliases
l ‘main’ program, subroutines, functions and interrupt handlers
l language description
l lexical conventions
l identifiers
l data types
l constants
l statements
l built-in functions
l parameters
l expressions
l function invocation
l $include
l arrays and parameter lists
l optimizations

For a list of AKD BASIC sample programs, see Appendix A: BASIC Sample Programs (pg 814).

3.1 AKD BASIC Program Structure

3.1.1 Local Variables

The notion of ‘scope’ is a key concept in AKD BASIC programs. By ‘scope’, we mean those parts of the
program in which a particular name is ‘visible’. There are two levels of scope in AKD BASIC — global and
local. Variables (and constant definitions, aliases, etc.) defined inside a ‘main’ definition, or a subroutine,
function, or interrupt handler definition, are considered to be ‘local’ in scope (visible only within that func-
tion).

3.1.2 Global Variables

All other definitions (those occurring outside functions) are considered ‘global’ in scope (visible inside
main, and inside any subroutine, function, or interrupt handler). For example, consider the following simple
AKD BASIC program:

'-------------- Define (dim) Global Variables --------

dim i as integer
'-------------- Main Program -------------------------
Main
dim i as integer
for i = 1 to 10

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 AKD BASIC Programming Manual | 3.2 Program Memory Space

print "the cube of "; i; "is "; cube(i)

call increment
next i
End Main
'-------------- Subroutines and Functions ------------
function cube(i as integer) as integer
cube = i * i * i
end function
sub increment
i = i + 1
end sub

This program prints a table of the cubes of the integers from 1 to 10. The first (global) definition of ‘i’ is vis-
ible inside subroutine ‘increment’, but ‘shadowed’ by the ‘i’ in main and function ‘cube’. The definition of ‘i’
inside ‘main’ is local to ‘main’, and is NOT the same variable as the ‘i’ inside the function ‘cube’, or inside
the subroutine ‘increment’. These same scope rules apply to constant definitions and aliases, as well.

3.2 Program Memory Space

A total of 64k is available for code and data space. Compile a program and click the Output tab to see the
amount of code space and data space currently in use by that program.

3.3 Program Sections

The major sections of an AKD BASIC program are:
l setup parameter definitions
l global variables, constants, and aliases
l ‘main’ program, subroutines, functions, and interrupt handlers

Although these sections may appear in any order, we recommend that you keep them in the order shown,
or at least, choose a single layout style and use it consistently.

3.3.1 Program Template

The program below is an example of the template generated automatically by WorkBench:

'-------------- Device Params -----------------------

Params

26 Kollmorgen | May 2014

AKD BASIC Programming Manual | 3.3.2 Setup Parameter Definitions

End Params
'-------------- Define (dim) Global Variables --------
'-------------- Main Program -------------------------
Main
End Main
'-------------- Subroutines and Functions ------------
'-------------- Interrupt Routines -------------------

These sections are described in greater detail in the following paragraphs.

3.3.2 Setup Parameter Definitions

This section of the program defines the setup parameters for drive tuning and configuration. It is executed
immediately upon power-up (if VM.AUTOSTART = 1), before entering main, and before any interrupts are
enabled. The section begins with Param and ends with End Param (this is similar to the format used to
define a subroutine or function). The only statements permitted in this section are assignment statements
of the form:
<parameter> = <constant expression>
This section can be automatically generated by WorkBench when a New Program is created. Choose
"current drive parameters" to include the connected drive's setup parameters in your program. If you
choose to not include the setup parameters in your program, be sure to save the setup parameters to the
drive to ensure proper drive setup upon power up.

3.3.3 Global Variables, Constants, and Aliases

This section contains variables, constant definitions, and global alias expressions — they apply every-
where in the program, unless specifically overridden by another declaration at local scope (inside a sub-
routine, function, or interrupt handler). Global definitions may be placed almost anywhere in the program
text — between subroutines, before or after ‘main’, and so on.
Global variables, constants, and aliases do not need to be defined before use — the only requirement is
that they be defined at some point in the program text. You may have multiple instances of the global vari-
ables section throughout your program. However, as a matter of good programming style, we recommend
that you keep all global definitions in one place, preferably at or near the beginning of your program.

3.3.4 Variable Definitions

The format of a global variable definition is:

dim a,b as integer, x,y,z as float

dim ia(3,4) as integer
dim s1, s2 as string*80
dim sa(5,2) as string
dim j, k, l as integer NV

Line 1 declares a and b as integers, x,y, and z as floats. Line 2 declares a 3 x 4 array of integers. Line 3
declares s1 and s2 as strings, each of length 80. Line 4 declares sa as a 5 x 2 array of strings, each with
the default length of 32 characters. Line 5 defines 3 integers, j, k, and l as NV.
In addition, global variables can be specified as ‘NV’ to indicate their values are retained when power is
turned off. All other global variables are automatically initialized when the program begins (strings are set
to empty, and floats and integers are set to 0). There are no restrictions on the ordering of volatile vs. non-
volatile user-variables. For ease of program maintenance, place all non-volatile variables definitions in a
single section at the beginning of the program, and add new variables to the end of that section.

Kollmorgen | May 2014 27

 AKD BASIC Programming Manual | 3.3.5 Constant Definitions

3.3.5 Constant Definitions

The format of a constant declaration is:

const <name> = <constant_expression>

as in

const ARRAY_SIZE = 4 * NUMBER_OF_ENTRIES

const PI_SQUARE = 3.1415926535 ^ 2
const GREETING = “Hello”
const GREETING = “Hello”
const NUMBER_OF_ENTRIES = 5

Names for constants follow the same rules as variable names. ‘Forward definitions’ are allowed. Circular
definitions are detected and reported at compile-time. Although it is not required, it is convenient to adopt a
convention of keeping all constants in UPPER_CASE, so you can easily distinguish between constants
and variables in the program.
Constant definitions are entirely ‘folded’ at compile-time. Feel free to write maintainable constant expres-
sions such as:

const LENGTH = 3
const WIDTH = 10
const AREA = LENGTH * WIDTH

The value of AREA is computed at compile-time, so the program does NOT need to compute this at run-
time and the program is easier to maintain if LENGTH changes at some future date.

3.3.6 Alias Definitions

Aliases allow you to define your own names for system resources, such as input / output pins. The inten-
tion is to make it possible for you to use names that are meaningful to you in your particular application.
The format of an alias expression is:

alias <name> = <expression>

For example, the following alias defines application-specific uses of input # 1:

alias CONVEYOR_IS_RUNNING = (DIN1.STATE = 0)

alias CONVEYOR_IS_STOPPED = (DIN1.STATE = 1)
if CONVEYOR_IS_RUNNING then
print“running”
else
print“stopped”

An alias is much more powerful than a constant. Constant expressions are computable at compile-time,
while an alias has a value that is only known (in general) at the time it is used. Use aliases with care — too
much aliasing can make it very difficult for you to understand the program.

3.4 Main Program, Subroutines, Functions & Interrupt Handlers

These sections share the same fundamental structure:
<section>

28 Kollmorgen | May 2014

AKD BASIC Programming Manual | 3.4.1 Main Definitions

<declarations>
<statements>
<section end>
An example of each of these sections follows, with an explanation of key points.

3.4.1 Main Definitions

For main, a typical definition is:

Main
dim i as integer
i = 1
print i
End Main

The variable ‘i’ defined above in the ‘dim’ statement is a local variable — it is not accessible to other func-
tions, and inside ‘main’, its definition overrides any other variable named ‘i’ that might exist at global
scope.
Unlike global variables, local variables MUST be defined at the beginning of the section — they must
appear before any executable statement in main. For example, the following is illegal:

Main
dim i as integer
i = 1
dim j as integer ‘this is an error!
j = i
End Main

You may also define local constant definitions and aliases, provided that like local variables, they appear
before any executable statement. Local constant definitions override global definitions of the same name.
For example, given the following global definitions,

const N = 1
Main
const N = “Hello, world!”
print N
call sub1
End Main
'-------------- Subroutines and Functions ------------
sub sub1
print N
end sub

The program prints to the console:

Hello world!
1
Because the N visible inside main is the constant defined there, while the N visible to sub1 is the global
constant N, whose value is 1.
The main program is the section of your program that is executed immediately after the‘params section,
regardless of its position in the program text. Other functions, subroutines, and interrupt handlers are
executed according to the flow of control defined in the program.

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 AKD BASIC Programming Manual | 3.4.2 Subroutine Definition

main does not accept arguments, and cannot be called from any other subroutine, function, or interrupt
handler.

3.4.2 Subroutine Definition

For a subroutine such as print_sum, a typical definition is:

sub print_sum(i,j as integer)

print i+j
end sub

The arguments to this subroutine are specified as integer variables, and are passed by value - any assign-
ments to these variables has no effect on the arguments supplied by the caller. Subroutines are invoked
by ‘call’ instructions, as in call print_sum(3,4).

3.4.3 Function Definition

For a function such as sum_squares, a typical definition is:

function sum_squares(i,j as integer) as integer

sum_squares = i^2 + j^2
end function

The function above returns a value of type integer. The value of the function is assigned by assigning to
the name of the function, as if it were a variable.

It is not legal to use the function name as a variable name on the left-hand-side of an
assignment - a function name on the leftt-hand-side is always an INVOCATION of that
function.
There must be at least one statement in the function that assigns a value to the function. It is not possible
to detect at compile-time if the statement will actually execute. Functions are invoked by name, as in print
sum_squares(3,4). This is syntactically identical to an array reference.

3.4.4 Interrupt Handler Definition

The Interrupt statment marks the beginning of an Interrupt Service Routine. The Interrupt Service Routine
is defined by a program structure resembling a subroutine. The interrupt feature permits execution of a
user-defined subroutine upon receipt of a hardware interrupt signal or a pre-defined interrupt event.
Interrupts are triggered by pre-defined events or external hardware sources. The interrupt-source-name
and interrupt enable flag are unique for each interrupt source. For a list of interrupt sources see Interrupt
{Source} (pg 533).
Receiving an interrupt will suspend program execution and the interrupt service routine will be executed.
Then program execution will resume at the point that it was interrupted.
Interrupts are enabled (or disabled) by setting (or clearing) the associated interrupt enable flag. Interrupts
are disabled until explicitly enabled. After an interrupt is triggered it is automatically disabled until it is
enabled again in your program.

Main
DRV.TIME = 0
INTR.DIN1LO = 1 'enables interrupt
while 1
pause(0.5)

30 Kollmorgen | May 2014

AKD BASIC Programming Manual | 3.5 Language Definition

DOUT1.STATEU=0 : Pause(0.005):DOUT1.STATEU=1
wend
end main
'the following interrupt defines what occurs for interrupt DIN1LO
Interrupt DIN1LO
print "I'm awake"
If DRV.TIME > 10 then
print "OK. That's it."
else
INTR.DIN1LO = 1 're-enables interrupt
end if
End Interrupt

The interrupt is re-enabled by the statement INTR.DIN1LO = 1. A similar statement must be executed
once before the interrupt is serviced. It is a run-time error to attempt to enable an interrupt for which no
handler is defined.
Interrupt handlers do not return values and cannot have arguments. They declare local variables, con-
stants, and aliases. Interrupt handlers are invoked when the AKD hardware detects that the designated
interrupt condition is satisfied (provided that the interrupt is enabled).
Interrupts are triggered by pre-defined events or external hardware sources. The interrupt-source-name
and interrupt enable flag are unique for each interrupt source.
Receiving an interrupt will suspend program execution and the interrupt service routine will be executed.
Then program execution will resume at the point that it was interrupted.
Interrupts are enabled (or disabled) by setting (or clearing) the associated interrupt enable flag. Interrupts
are disabled until explicitly enabled. After an interrupt is triggered it is automatically disabled until it is
enabled again in your program.

3.5 Language Definition

3.5.1 Lexical Conventions

AKD BASIC is case-insensitive. String literals are not modified, but all other text is treated as if it were
entered in upper case. This means that the identifiers spin, Spin, and SPIN all refer to the same entity.

3.5.2 Identifiers
Identifiers are alphanumeric and must start with an alphabetic character or underscore. In addition, they
may include the underscore character (‘_’) and dollar sign (‘$’). Identifiers denote variables, functions, sub-
routines, and statement labels, symbolic constants, and aliases. Identifiers are a maximum of 40
characters. User-defined identifiers may not include the period (‘.’). Use of a longer identifier is a compile-
time error.
Although both forms are accepted for compatibility, the latter form is preferred. Although AKD BASIC is
case-insensitive, we recommend that you adopt a consistent naming convention, such as Move.Acc, and
avoid having Move.acc, move.acc, and move.Acc in the same program.

3.5.3 Data Types

The pre-defined types are INTEGER, FLOAT, LONG and STRING. LONG is a 64-bit signed integer.
INTEGER variables are 32-bit signed integers. FLOAT variables are IEEE single-precision floating point
numbers. STRING variables are represented internally as a maximum length, a current length, and an
array of ASCII characters (can contain null characters).

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 AKD BASIC Programming Manual | 3.5.4 Literal Constants

When a FLOAT result is assigned to an INTEGER variable, or when a FLOAT argument is used where an
INTEGER is expected, the value is coerced to an integer before use. Coercion from FLOAT to INTEGER
always rounds to the nearest integer. For example:
1.2 rounds to 1
1.7 rounds to 2
-1.2 rounds to –1
-1.7 rounds to -2
Scalar INTEGER and FLOAT coercion is automatically provided for function arguments. When passing
ARRAYS as arguments, the types must match exactly because coercion is prohibitively expensive at
run-time.
String assignment is checked at run-time. An attempt to copy a string to a destination too small results in
a run-time error. String indexing is 1-origin. For example, mid$(“abc”,1,1) returns the string, a.
STRING variables have a firmware-imposed maximum length of 230 characters and a default maximum
length of 32 characters. They may be assigned a different maximum length by declaring them to be of
type STRING*n where n is a positive integer between 1 and 230 (inclusive).
Declare arrays of the pre-defined types. Arrays have a maximum rank of four dimensions. The upper-
bound of each dimension has no compiler-defined limit. However, because of the limited data space of the
controller, there is a logical upper-bound that depends on the controller model.
Array indexing is 1-origin. The indices in each dimension range from 1 to the upper-bound of the dimen-
sion. Every reference to an array element is checked at run-time. Any attempt to reference beyond the
bounds of the array causes a run-time error. New types cannot be defined.

3.5.4 Literal Constants

String constants begin and end with the double-quotes (‘"’). They cannot extend past the end of the input
line. Any printable ASCII character appears in a string constant. An attempt to generate a string literal with
non-ASCII characters causes a compile-time error. No check is made to verify that non-ASCII strings are
not created at run-time, so avoid doing so.

3.5.5 Decimal Integer Constants

Decimal integer constants are a string of decimal digits with no decimal point. A leading ‘-’ sign is optional
and is parsed as a unary minus. For example:
1
-1
314159
are all valid decimal constants.

3.5.6 Hexadecimal Constants

Hexadecimal constants are denoted by a leading &H or &h, and cannot have a sign or decimal point.
Hexadecimal constants are composed from the set [0-9A-Fa-f]. Upper- and lower-case may be mixed.
For example:
&h00ff
&HFF00
&H1234abcd
are all valid hexadecimal constants. Octal and binary constants are not supported.

32 Kollmorgen | May 2014

AKD BASIC Programming Manual | 3.5.7 Floating-Point Constants

3.5.7 Floating-Point Constants

Floating-point constants are specified in fixed-point or mantissa-exponent notation. A floating-point con-
stant consists of one of the following.
digit [0-9]
optsign ‘+’ | ‘-’ | /* nothing */
fixed optsign {digit}+ ‘.’ {digit}*optsign ‘.’ {digit}+
exp fixed ‘e’ optsign {digit}+
float fixed | exp

For example:
0.1
.1
-.1
-0.1
3.14159E-6
-1.0E6
are all valid floating point constants. By design, “.” is not a legal floating-point constant.

3.6 Statements
Statements are separated by a new line (CR-LF) or a colon (‘:’). The statements of the language are:

3.6.1 Alias
Create an alias for an identifier (not just any identifier). Alias is either a parameter or another alias. ID must
be a legal variable name. You cannot create an alias for an array element.
Like Const definitions, Alias definitions can be made to identifiers not yet defined. Circular definitions are
not allowed.
Any duplicate definition of an identifier in the same scope is illegal. However, a local definition can
shadow a definition from the global scope. Using a single identifier to denote two different objects is NOT
allowed (i.e., you cannot have both a label and a variable named all_done).
Like constant, variable, and function declarations, Alias declarations made in the global scope are impor-
ted into all functions (including the main function).
Example:

Alias speed = MOTOR.SPEED ‘save some keystrokes

3.6.2 Call

Call sub[(arg1, arg2, ...)]

sub is the name of a subroutine. The current program counter is saved and sub is invoked. When sub fin-
ishes (by reaching either an exit sub or end sub statement, control is returned to the statement logically fol-
lowing Call.
A subroutine is essentially a function with no return value. The parameter passing conventions followed
by subroutines are the same as those followed by functions.

3.6.3 Cls
This statement transmits 40 line-feed characters (ASCII code = 10) to the serial port. Cls clears the dis-
play of the console.

Kollmorgen | May 2014 33

 AKD BASIC Programming Manual | 3.6.4 Const

3.6.4 Const

const name = x

Declares symbolic constants to be used instead of numeric values. Forward references are allowed, but
circular references are not supported.

'supported
const x = y + 2
const y = 17
'unsupported
const x = y + 2
const y = x - 2

Like alias, variable, and function declarations, Const declarations made in the global scope are imported
into all functions (including the main function).

3.6.5 Dim

Dim var1 [, var2 [...]] as type [NV]

All variables must be declared. Local variables must be declared in the function before use.
The NV specifier is used on a Dim statement in the global scope.
Variables in the global scope are automatically imported into functions and subroutines. Variables in func-
tion scope (including inside the main function) are not accessible in other functions.
Arrays cannot be assigned directly.

'This is not allowed

dim x(5), y(5) as integer
x = y
'Instead, a loop is needed:
dim x(5), y(5), i as integer
for i = 1 to 5
x(i) = y(i)
next i

3.6.6 Exit
Exit {{Sub|Function|Interrupt|For|While}]
Exits the closest enclosing context of the specified type. It is a compile-time error to EXIT a construct not
currently in scope.

3.6.7 For…Next
For loop_counter = Start_Value To End_Value [Step increment]
...statements...
Next
If step increment is not specified, uses 1 as the step increment. If step increment is positive, continues to
the value of End_Value. If step increment is negative, continues to the value of var = limit.
The loop index variable must be a simple identifier, not an array element or a parameter and must be a
numeric variable (integer or float).

34 Kollmorgen | May 2014

AKD BASIC Programming Manual | 3.6.8 Function

for var = init to limit step delta

stlist
next var

Substantially more efficient code is generated if delta is a constant (i.e., the default value of 1 is used, or
specified as an expression that is evaluated at compile-time).

3.6.8 Function
Function function-name [(argument-list)] as function-type
...statements...
End Function
On function entry, all local variable strings are “” and all numeric locals are zero (including all elements of
local arrays). If the function takes no arguments, omit the argument-list. An empty argument-list is illegal.
The value returned from the function is specified by assigning an identifier with the name of the function.
Example:

function cube(x as float) as float

cube = x * x * x
end function

Arguments are passed by value. Arrays can not be returned by a function. Arrays passed to a function are
passed by value.
If the return value is not set, a runtime error condition is generated (caught with ON ERROR).
Array actuals must conform with formals to the extent that they have the same number of dimensions,
and EXACTLY the same type. The size of each dimension is available to the function through the use of
local constants that are bound on function entry.
Example:

function sum(x(n) as integer) as integer

dim i, total as integer
sum = 0
for i = 1 to n
total = total + x(i)
next
sum = total
end function

This function exploits the fact that the variable N is automatically assigned a value when the function is
called and the value is the extent of the array passed on invocation. N is a read-only variable in this con-
text. Attempts to write to N cause compile-time errors.
The local variable, total is automatically initialized to 0 upon function entry.

3.6.9 GoTo
GoTo label
A program can only GoTo a label in the same scope. A GoTo may jump out of a For or While loop, but not
INTO one.

Kollmorgen | May 2014 35

 AKD BASIC Programming Manual | 3.6.10 If…Then…Else

3.6.10 If…Then…Else

if condition1 then
...statement block1...
elseif condition2 then
...statement block2...
else
...statement block3...
end if

IF...THEN...ELSE statements control program execution based on the evaluation of numeric expres-
sions. The IF...THEN...ELSE decision structure permits the execution of program statements or allows
branching to other parts of the program based on the evaluation of the expression.
There are two structures of IF... THEN...ELSE statements, single line and block formats.

3.6.11 $Include

$include inclfile
$include include-file-name

Textually include inclfile at this point in the compilation. There can be no space between $ and include.
The $include directive must start at the beginning of the line.

3.6.12 Input

input [prompt-string][,|;]input-variable

Input (pg 130) reads a character string received by the console tab in the program view, terminated by a
carriage return.
As an option, the prompt message is transmitted when the Input statement is encountered. If the prompt
string is followed by a semicolon, a question mark is printed at the end of the prompt string. If a comma fol-
lows the prompt string, no question mark is printed. This input statement is typically used for debugging
purposes.

3.6.13 Interrupt … End Interrupt

interrupt {Interrupt-Source-Name}
...program statements...
end interrupt

Interrupt handlers can be located anywhere in the program text (e.g., before main).

3.6.14 MOVE.ABORT
MOVE.ABORT stops motor motion and allows continued program execution. Deceleration is determined
by the controlled stop deceleration rate (CS.DEC).

3.6.15 MOVE.GOABS
MOVE.GOABS (Go Absolute) moves the motor to the position specified by MOVE.TARGETPOS. This
position is based on a zero position at electrical home.

36 Kollmorgen | May 2014

AKD BASIC Programming Manual | 3.6.16 MOVE.GOHOME

The motor speed follows a velocity profile as specified by MOVE.ACC, MOVE.RUNSPEED, and
MOVE.DEC . Direction of travel depends on current position and target position only (MOVE.DIR has no
effect). After the program initiates MOVE.GOABS, it immediately goes to the next instruction.
Change MOVE.ACC, MOVE.RUNSPEED, and MOVE.DEC during a move using MOVE.GOUPDATE.

3.6.16 MOVE.GOHOME
MOVE.GOHOME moves the motor shaft to the electrical home position (PL.FB = 0).
The motor speed follows a trapezoidal velocity profile as specified by MOVE.ACC, MOVE.RUNSPEED,
and MOVE.DEC. After the program initiates MOVE.GOHOME, it immediately goes to the next instruc-
tion.
MOVE.GOHOME performs the same action as setting MOVE.TARGETPOS to zero and executing a
MOVE.GOABS function. Change MOVE.ACC, MOVE.DEC and MOVE.RUNSPEED during a move
using MOVE.GOUPDATE

3.6.17 MOVE.GOREL
MOVE.GOREL (Go Relative) moves the motor shaft a relative distance from the current position.
Distance, as specified in MOVE.RELATIVEDIST, is either positive or negative. The motor speed follows
a trapezoidal velocity profile as specified by MOVE.ACC, MOVE.RUNSPEED, and MOVE.DEC.
The program does not wait for motion completion. After the program initiates this move it immediately
goes to the next instruction.
Change MOVE.ACC, MOVE.RUNSPEED, and MOVE.DEC during a move using MOVE.GOUPDATE.

3.6.18 MOVE.GOUPDATE
MOVE.GOUPDATE (Update Move) updates a move in process with new variables. This allows you to
change motion “on the fly” without having to stop and restart the motion function with new variables.

3.6.19 MOVE.GOVEL
MOVE.GOVEL (Go Velocity) moves the motor shaft at a constant speed.
The motor accelerates and reaches maximum speed as specified by MOVE.ACC and
MOVE.RUNSPEED, with direction determined by MOVE.DIR. Stop motion by:
l Programming MOVE.ABORT for maximum deceleration allowed by current limits.
l Programming MOVE.RUNSPEED = 0 for deceleration at rate set by MOVE.DEC.

After the program initiates MOVE.GOVEL, it immediately goes to the ne xt instruction.

Change variables during a move using MOVE.GOUPDATE.

3.6.20 On Error GoTo

On Error Goto Error-Handler-Name

or

On Error Goto 0

When a firmware runtime error condition occurs, Error-Handler-Name is called, the error handler is de-
installed, and an internal flag (in-error-handler) is set. Any subsequent runtime error (including attempting to
set the error handler, or return from the On Error handler) causes an immediate Stop.

Kollmorgen | May 2014 37

 AKD BASIC Programming Manual | 3.6.21 Pause( )

On Error Goto 0 disables the current On Error handler. If an error occurs when no error handler is installed,
Stop is invoked.

3.6.21 Pause( )
Pause(Pause_Time) causes the program to pause the amount of time specified by the Pause_Time argu-
ment. The motion of the motor is not affected.

3.6.22 Print

print expression1 [ [,;] expression2 ] [;]

Print a list of expressions, separated by delimiters to the console. Any number of delimiters (including
zero) can appear before or after the list of expressions. At least one delimiter must appear between each
pair of expressions in the print list. The print statement is primarily used for debugging purposes.
Example:

print ‘ print a newline

print , ‘ advance a single tab stop
print a,b ‘ print a and b, tab between
print a,b, ‘ print a and b, tab between and at end
print ,,,x,,, ‘ tab tab tab x tab tab tab

3.6.23 VM.RESTART
VM.RESTART clears the run time error variables and causes program execution to start again from the
beginning of the program. Any Interrupts, Subroutines, WHEN statements or loops in process are abor-
ted. This statement is used to continue program execution after a Run Time Error Handler or to abort from
WHEN statements without satisfying the condition.
VM.RESTART does not clear the data area or change any program or motion variables.

3.6.24 Select Case

Select Case test-expression

Case expression-list1
...statement block1...
Case expression-list2
...statement block1...
Case expression-list3
...statement block1...
Case Else
...else block...
End Select

test-expression must evaluate to an INTEGER or FLOAT value.

expression-list1 is a non-empty list of case-defn, separated by commas.
There can be only one Case Else and, if present, it must appear as the last case. It is selected only if all
other tests fail.
case-defn can be any of the following:

38 Kollmorgen | May 2014

AKD BASIC Programming Manual | 3.6.25 Static

expr
expr to expr (tests inclusive (closed range))
is relop expr (<, =, =, =, > )
is expr (equiv to “is = expr”)

Select-case statements where the case-defn expressions are composed solely of integer constants are
evaluated much quicker at run-time. (Cases involving variables must be transformed to logically equi-
valent if-then-else statements.)

3.6.25 Static
Static var1 [, var2[...]] as type
where type is:
INTEGER 32 bit integer
FLOAT IEEE single precision float
STRING default length is 32 characters

Static is used for declaring variables before use. All variables (except parameters) must be declared
before they can be used. The Static statement is used in a Function, Sub or Interrupt to specify that the
specified variable's value be remembered even when the Function or Sub is finished. The next time that
the Function, Sub or Interrupt is executed, the value will be available.
Example:

Main
while 1
call MySub
pause(1)
wend
End Main
'-------------- Subroutines and Functions ------------
sub MySub
dim x as integer 'value is forgotten
static y as integer 'value is remembered
x= x + 1
y = y + 1
print x,y
end sub

3.6.26 Stop
Stops the execution of the program.

3.6.27 Sub…End Sub

Sub [argument-list]
...body of the sub-procedure...
End Sub

Declare a subroutine. Invoked via Call. Optionally takes arguments. As with Function, it is illegal to
provide an empty parameter list (‘()’) if the subroutine takes no parameters.

Kollmorgen | May 2014 39

 AKD BASIC Programming Manual | 3.6.28 Swap

3.6.28 Swap

Swap x, y

Swaps the values of the variables. The variable types must be the same. Does not work on arrays or
strings.

3.6.29 When

When when-condition , when-action

When is used for very fast output response to certain input conditions. You specify the condition and
action. Upon encountering When, program execution waits until the defined condition is satisfied. The pro-
gram immediately executes the action and continues with the next line of the program.
The When statement provides latching of several variables when the When condition is satisfied. These
variables are:
WHEN.DRVHANDWHEEL WHEN.FB1MECHPOS
WHEN.PLCMD WHEN.DRVTIME
WHEN.PLFB

The software checks for the defined condition at the 4Khz rate. The when action is queued up and
executed immediately. The when action will be executed within 25 microseconds of the when condition
being met.

3.6.30 While…Wend

While condition
...statement block...
Wend

While...Wend tells the program to execute a series of statements as long as an expression after the While
statement is true.
If the expression is true, the loop statements between While and Wend are executed. The expression is
evaluated again and if the expression is still true, the loop statements are executed again. This continues
until the expression is no longer true. If the expression is not true, the statement immediately following the
Wend statement is executed.

3.7 Built-in Functions

A function that takes a numeric argument (either FLOAT or INTEGER) returns the same type. Coercion
between INTEGER and FLOAT is not performed unless necessary. (notation - the arguments n and m
refer to INTEGER types, as in the definition of the MID$ function, whose signature is MID$(string,
integer, integer).
Name Args Return Semantics
ABS() (pg 72) numeric numeric absolute value
ATAN() (pg 74) float float arc tangent (radians)
CINT() (pg 76) numeric int truncate (round to nearest int)
COS() (pg 77) float float cosine
EXP() (pg 78) float float e ^ arg, arg 88.02969 (o/w overflow)

40 Kollmorgen | May 2014

AKD BASIC Programming Manual | 3.7 Built-in Functions

Name Args Return Semantics

FIX() (pg 79) numeric int truncate (round toward zero)
INT() (pg 83) numeric int truncate (round towards -INFINITY)
LOG() (pg 87) float float natural log
LOG10() (pg
float float log base 10
88)
SGN() (pg 94) numeric integer sign of argument: -1, 0, 1
SIN() (pg 95) float float sine (radians)
SQRT() (pg 97)
float float square root of arg

TAN() (pg 100) float float tangent (radians)

String function Description

ASC() (pg
string int ASCII code for 1st char
73)
CHR$() (pg One-character string containing the character with the
int string
75) ASCII code of arg. If arg 255, returns CHR$(arg % 256).
HEX$() (pg
int string Printable hexadecimal rep of arg (without leading &H).
80)
INKEY$() One-character string, read from serial port.Returns “” if no
string
(pg 81) char available.
INSTR() Index of str2 in str1, or 0 if not found. Optional first arg
[pos],str1,str2 int
(pg 82) specifies where to start search (defaults to position 1).
LCASE$()
str str Returns lower-case copy of arg.
(pg 84)
LEFT$()
str,n str Returns n leftmost chars of str.
(pg 85)
LEN() (pg
str int Returns length of str in bytes.
86)
LTRIM$()
str str Trim leading spaces.
(pg 89)
MID$ (pg Returns substring starting at position n [for up to to m
str,n[,m] str
90) bytes].
OCT$() (pg
n str Octal string representation of arg.
91)
RIGHT$()
str,n str Rightmost n chars of str.
(pg 92)
RTRIM$()
str str Trim trailing spaces.
(pg 93)
SPACE$()
n str Returns a string of n spaces.
(pg 96)
STR$() (pg
n str Decimal string representation of str.
98)
STRING$()
n,str str Return n copies of first char of str.
(pg 99)
TRIM$()
str str Trim leading AND trailing spaces.
(pg 101)

Kollmorgen | May 2014 41

 AKD BASIC Programming Manual | 3.7.1 Parameters and Commands

String function Description

UCASE$()
str str Returns upper-case copy of arg.
(pg 102)
VAL() (pg
str numeric Returns numeric value of str.
103)

3.7.1 Parameters and Commands

The AKD BASIC language is augmented by a set of parameters, input\output parameters, and pre-defined
commands., The parameters set motor-specific control parameters, and the pre-defined commands con-
trol the motor.
For example, MOVE.ACC, MOVE.DEC, and MOVE.RUNSPEED are used to set the acceleration rate,
deceleration rate, and commanded motor speed for the next commanded move:

MOVE.ACC = 1000.0
MOVE.DEC = 1000.0
MOVE.RUNSPEED = 500.0
MOVE.GOVEL

The program fragment above sets up the relevant motion parameters, and commands the motor to move
at the specified velocity.
You cannot create variables (or function names, etc.) that shadow pre-defined ones. For a complete list of
Parameters and commands, refer to the Parameter Guide section in this manual.

3.8 Expressions

3.8.1 Arithmetic Expressions

Arithmetic expressions (expressions involving INTEGER and FLOAT values) use the following operators.

3.8.2 Numeric Operators

Operators higher in the table have greater precedence than those below.
Operator Assoc Name
^ right exponentiation
- right unary minus
* left multiply
/ left divide
MOD left modulo
+ left add
- left subtract

3.8.3 Logical Operators

Operator Assoc Explanation
=, < >, ≥, ≤, <, >, <=, >= left mathematical operators
NOT (pg 111), BNOT (pg 107) right not, bitwise not
AND (pg 105), BAND (pg 106) left and, bitwise and
OR (pg 112), BOR (pg 108), XOR (pg
left or, bitwise or, xor, bitwise xor
116), BXOR (pg 109)

42 Kollmorgen | May 2014

AKD BASIC Programming Manual | 3.8.4 String Operators

Logical expressions (as, for example, in the condition of an ‘if’ statement) also use these operators.
Strings are concatenated with the ‘+’ operator. Logical expressions are formed from strings, using the com-
parison operators, NOT, AND, OR, and BXOR, with the meaning of an empty string being FALSE, and a
non-empty string being TRUE.
Integer values are coerced to floating point values as needed. Floating-point values are rounded when
coerced to integer values.
Logical operators are NOT short-circuiting (i.e., when executing the code).
if a(x) or b(y) or c(z) then ...
if a(x) is true, b(y) and c(z) are still invoked.
Bxxx boolean operators are provided to support bitwise operations on integer values. They operate quite
differently from their logical equivalents. For example:
2 and 1 has the value -1 (TRUE, since each operand is ‘true’), but 2 bitand 1 has the value 0 since no
matching bits are 1).
Similarly, 3 or 4 has the value -1(TRUE since at least one operand is not FALSE), while 3 BOR 4 has the
value 7 (the three lsb’s are set).
Remember that relational and logical operators return numeric values 0 for FALSE and -1 for TRUE. Any
value not equal to FALSE is considered to be logically equivalent to TRUE for purposes of the logical oper-
ators.
It is syntactically incorrect to code:

dim a, b, c, x as integer
x = a < b < c

3.8.4 String Operators

Operator Assoc Name
<, >, ≤, ≥,=, <>,<=, >= nonassoc string comparisons
+ left string concatenation

There is no implicit coercion between strings and numeric types. String comparison is case-sensitive. Rel-
ative comparisons are made using ASCII lexical ordering. The empty string sorts before all other strings.
String comparison operators are non-associative because they evaluate to a numeric value.

3.8.5 Example
It makes no sense to say a$ = b$ = c$.
It is sensible to say x = a$ = b$
x is assigned the value TRUE if a$ is the same as b$, and FALSE otherwise.

3.9 Function Invocation

A function invocation is denoted as:
var = func(arg1, arg2, ..., argn)
The arguments are passed by value (i.e., modifications made to the formal parameters inside a function
are not reflected in the actuals). Arrays are also passed by value to functions. Arrays cannot be returned
by a function. A function of no arguments is invoked by using the function name alone. For example, if
func_none takes no arguments, then func_none is correct and func_none() is invalid.
The return value of a function may not be ignored by the caller. If the return value of a function is regularly
ignored, the function should be rewritten as a subroutine (a function with no return value).

Kollmorgen | May 2014 43

 AKD BASIC Programming Manual | 3.9.1 $INCLUDE

3.9.1 $INCLUDE
Use $INCLUDE to textually include one file in another. The $INCLUDE facility is a simple, powerful way
to create a consistent family of applications. By including source files containing commonly used func-
tions, subroutines, constant definitions, aliases, etc., you have control over the source for each
application. When you change the source, you update each application simply by recompiling (see Optim-
izations).
A file cannot include itself, either directly or indirectly. Include file nesting is allowed, but limited to a pre-
defined maximum depth (currently 16).
The path of an include file is relative to the directory of the included file, not the current working directory of
the compiler. Suppose, for example, the source program is in directory C:\WORK, and includes the file
.C\H\HEADER, and the file HEADER includes COMMON. The compiler looks for COMMON in C:\H, not
in C:\WORK.
C:\WORK
A.BAS
$INCLUDE “..\H\HEADER”
C:\H
HEADER
$INCLUDE “COMMON”
Compilation errors occur when a file is included multiple times. For example, if B.BAS includes files
MATH and INCL, and INCL also includes MATH, MATH is included twice, causing a compile-time error.
B.BAS
$INCLUDE “MATH”
$INCLUDE “INCL”
INCL
$INCLUDE “MATH”

3.10 Arrays and Function Parameter Lists

When an array parameter (formal) of a function or subroutine is declared, the number of dimensions is spe-
cified, but the extent of (number of elements in) each dimension is not specified. This allows the pro-
grammer some freedom when invoking such a function. For example, a function may be defined to take a
one-dimensional array and compute the sum of the elements in the array. A single function can be written
to take a one-dimensional array of any size and correctly compute the sum. (Because AKD BASIC
checks array bounds at run time on each access, there is no risk that a function will read or write outside
the bounds of the array.)
When a formal parameter to a function is an array, instead of specifying the extent of each dimension, a
list of variables is used to both implicitly specify the number of dimensions and to hold the extent of each
dimension. These variables are read-only and cannot be modified within the function.
Adopt a convention for assigning names to placeholders. One such convention is to use the name of the
array with a numerical suffix. For example,

function f(a(a1,a2,a3) as integer) as integer

where a1, a2, and a3 are the variables that get the extents of the array, a.
The function f above would be called as follows:

dim x_array(3,4,5) as integer

dim y_array(1,2,10) as integer
print f(x_array()) + f(y_array())

44 Kollmorgen | May 2014

AKD BASIC Programming Manual | 3.10.1 Optimizations

In both invocations of f, the function correctly determines the extent of each dimension of the passed
array.
Remember that when passing an array to a function, the type of the array must match EXACTLY with the
type expected by the function. Unlike scalar arguments (implicitly coerced from float to int or int to float),
arrays are NOT coerced. An attempt to pass an integer array to a function that expects a float array res-
ults in a compile-time error.

3.10.1 Optimizations
As mentioned in an earlier section, constant definitions are completely ‘folded’ at the point of definition.
This is efficient code. Constant expressions inside AKD BASIC statements are also folded under certain
conditions. For example, in the statement:

const PI = 3.1415926535
Main
Print PI^2
End Main

The value of PI^2 is not computed at run-time. It is detected as a constant value and pre-computed by the
compiler as a single literal constant to be printed.
Similarly, the literal constant 3*4*PI in
x = 3 * 4 * PI * x
is folded at compile-time, leaving only one multiplication to be performed at run-time.
However, certain constant expressions are not folded. For example:
x = 3 * PI * x * 4
is computed at run-time, involving 3 multiplications because the analysis of constant expressions does
not attempt to exploit algebraic commutativity laws. Since the basic arithmetic operators are ‘left asso-
ciative’, you can ensure the best performance by grouping constant factors together towards the left (or
using a new constant definition).
If a function is not referenced (transitively from MAIN, plus any interrupt handlers), the compiler does not
generate code for it. So, you can freely $include libraries with unused code (e.g., a comprehensive library
containing functions supporting several possible axis configurations). Although the compiler parses and
type-checks all the included source, it does not generate code into the downloaded program.
If select-case cases are all constants, more efficient code is generated. If a case is a variable, the gen-
erated code is equivalent to a string of if-then-else statements for all cases.
If any of the cases is an open-ended range (e.g., is 10), or covers a large range (e.g., 1 to 1000), a fast
table-lookup is generated.
If all of the cases are constant, and can be grouped into locally dense subsets, the fastest possible code
is generated — a binary search of dispatch tables, followed by an indirect jump through the table. If speed
is a consideration, keep your cases constant and close together. (values form a reasonably dense set.)
The compiler performs limited dead-code elimination based on simple constant analysis. For example:

const DEBUGGING = FALSE

Main
dim i, sum as integer
for i = 1 to 10
sum = sum + i
if DEBUGGING then
print “partial sum is ”;sum

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 AKD BASIC Programming Manual | 3.11 AKD BASICModBus TCP/IP

next i
End Main

Since the value of DEBUGGING is FALSE, the compiler recognizes that the printing of the partial sum
never happens and does not generate the print statement. This allows you to place debugging code in stra-
tegic locations in your programs and effectively disable it when shipping a production version (shrinks the
size of the generated code).
This dead-code elimination also applies to functions whose only point of reference lies in eliminated code.
The functions themselves become dead-code and no code is generated for their definitions.
The compiler does not eliminate the print statement from the following program:

dim DEBUGGING as integer

Main
dim i, sum as integer
DEBUGGING = FALSE
for i = 1 to 10
sum = sum + i
if DEBUGGING
print“partial sum is ”;sum
next i
End Main

In this case, the print statement never executes, but the code to implement is generated because the
value of the integer DEBUGGING could be changed by the AKD’s Integrated Development Environment
Debugger at runtime, causing the print statement to be executed!

3.11 AKD BASICModBus TCP/IP

Modbus TCP/IP, or Modbus TCP, is a Modbus variant used for communications over TCP/IP networks,
connecting over port 502. A max of 3 masters can be connected to one drive at any time. Modbus stand-
ard limits one master to 256 slaves. Modbus and Workbench (telnet) can be connected to the same drive
at the same time. Because Modbus and Telnet are processed in the AKD’s background task, 5~10mS
delay between messages will prevent over running the back ground task stack limits.

3.11.1 ModBus Parameter Table

For a list of parameters and their Modbus addresses, visit the Modbus Parameter Table in the AKD User
Guide.
for 64 bit to 32 bit mapping, visit Modbus 64-bit Parameters to 32-bit Mapping in the AKD User Guide.

3.11.2 ModBus Register and Data Types

All predefined AKD parameters are Modbus 32 bit or 64 bit (some with and some without sign).
Because most HMI products don’t support 64 bit numbers, the AKD also has a series of matching 32 bit
parameters. Ex: PL.FB is a signed 64 bit integer with address number 588. There is also PL.FB_32 as a
signed 32 bit integer with address number 2072. PL.FB_32 is the lower two 16 bit registers of PL.FB.
Typical HMI tag addressing will need the additional “40000” be added to the Modbus address number. Ex:
To create a tag in an HMI to read PL.FB_32, the address number 42072 should be used.
All AKD command parameter will require writing a “1” to trigger the command. Ex: DRV.EN is used to
enable the drive. To trigger the command, send “1” as a 32 bit integer to address 254.

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AKD BASIC Programming Manual | 3.11.3 User Created Variables with Assigned Modbus Address Numbers

3.11.3 User Created Variables with Assigned Modbus Address Numbers

User variables can be assigned an Modbus address number. The range of available numbers is from 5000
to 5999. An example program:

Dim int2 as integer

Dim flt1 as float
Dim long1 as long
MBInfo
$MBMap32(5001, int2)
$MBMap64(5003, long1)
$MBMapfloat(5007, flt1)
End

'-------------- Main Program -------------------------

Main
'setup some data to be read
int2 = 262144
flt1 = 1.234
Long1 = 17179869184
End Main

Notice that address numbers have to be skipped for mapped varables larger than 16 bit. Ex: In the pro-
gram above, 5001 was assigned for a 32 bit integer and then next number available would be 5003.

3.11.4 Drive Fault Table

The parameter MODBUS.FAULT1 to MODBUS.FAULT10 is used to read any drive fault condition. The
fault parameters are loaded with the AKD fault code, starting with parameter MODOBUS.FAULT1.
DRV.CLRFAULT will reset the drive and clear out any data in MODBUS.FAULT1 to
MODBUS.FAULT10.
HMI fault tables only need to monitor MODBUS.FAULT1, but report faults, if present, in 1 to 10.

3.11.5 Drive Parameter Scaling Over Modbus

The predefined AKD velocity, position, acceleration, and deceleration parameters use the Modbus scaling
and do not use the “user units” configured in Workbench.
MODBUS.PSCALE
MODBUS.PIN
MODBUS.POUT
The default is 2^20 counts/ rev, 2^20 counts/sec, and 2^20 counts/sec^2
User defined variables, which have assigned Modbus address numbers, are not effected by this scaling.

3.11.6 Special Modbus AKD Parameters

MODBUS.DIO
Bit 0 to 6 DIN.STATES
Bit 16 and 17 DOUT.STATES

MODBUS.DRVSTAT
Bit 0 Drive Active
Bit 1 STO Status

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 AKD BASIC Programming Manual | 3.11.7 ModBus Dynamic Mapping

Bit 2 Pos Hw Limit

Bit 3 Neg Hw Limit
Bit 4 Pos Sw Limit
Bit 5 Neg Sw Limit

MODBUS.DRV
Bit 0 Stop
Bit 1 Enable

MODBUS.MOTOR
Bit 0 Has Brake
Bit 1 Brake Release

MODBUS.HOME
Bit 0 Start Homing
Bit 1 Set (current position as home position)

MODBUS.MT
Bit 0 Clear (clears motion task MT.NUM)
Bit 1 Continue
Bit 2 Load (load motion task MT.NUM)
Bit 3 Set
Bit 4 Move (start move of MT.NUM)

MODBUS.SM
Bit 0 One Direction (sets SM.MODE to either 0 or 1)
Start Move:
Edge triggered
Bit 1
0 → 1 : Start motion (execution of SM.MOVE)
1 → 0 : Stop motion (execution of DRV.STOP)

3.11.7 ModBus Dynamic Mapping

For information on Modbus Dynamic Mapping visit Modbus Dynamic Mapping in the AKD User Guide.

3.12 Cam Profiling

In the AKD, a cam is a cyclic, generally non-linear relationship between master encoder position and
slave (motor) position. The relationship between slave and master counts is no longer a constant ratio, but
changes as a function of master counts. As in electronic gearing, once a cam is active, the program no
longer needs to do anything special to maintain it – the motion profile is repeated indefinitely until the cam
is deactivated.
In camming terminology, a master is typically an external encoder. The encoder is wired into the AKD
BASIC encoder input port on X9. It is also possible to use the AKD BASIC’s virtual (internal) encoder.

3.12.1 Procedure
To use a cam profile on the AKD BASIC, you must:
1. Create the cam profile (CAM.CREATE).
2. Activate the cam profile (CAM.ACTIVATE).

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AKD BASIC Programming Manual | 3.12.2 Related Variables

3.12.2 Related Variables

CAM.MASTER: Specifies the source of the input to the cam table for cam profiling.
CAM.CORRECTDIR: Specifies the direction of the correction move that is done when a new cam table is
activated (by setting CAM.ACTIVATE = n).
CAM.ADDPOINT: Adds the specified “point” (master position and corresponding slave position) to the
cam table being created.

3.12.3 Cam Wizard

The Cam Wizard is designed to solve cut to length applications. The picture below shows a typical setup:

In this application, material is being fed beneath a rotary knife. The master encoder measures forward
movement of the material under the knife. The slave motor controls rotation of the knife. In order for this to
work properly, the slave motor must be controlled (as a function of master encoder counts) so the blade of
the rotary knife:
1. Stays out of the way until the proper amount of material has passed
2. Accelerates so the speed of the knife matches the speed of the material during the
cut
3. Decelerates back to the original speed until the material is almost in position for the
next cut

The rotary knife either accelerates or decelerates to match the speed of the material in
the cut phase, depending on whether or not the circumference of the rotary knife is less
than or greater than the length of the piece to be cut. You may need to interchange the
terms ‘accelerate’ and ‘decelerate’, or simply think of them as signed quantities.
AKD BASIC’s CAM.ADDPOINT statement specifies a cam profile as a mapping from master position to
slave position. The problem refers to relative velocities and accelerations. It is not always clear how to get
from velocity and acceleration to position.
The Cam Wizard was designed to make such applications easy to implement. You provide:
1. The master positions corresponding to the length of material to be cut
2. The slave positions corresponding to one complete rotation of the knife with respect
to the master positions

Once you have provided these three pieces of information, the Cam Wizard automatically:
1. Generates a subroutine to create the cam table

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 AKD BASIC Programming Manual | 3.12.4 Example

2. Generates a subroutine to activate the cam

3.12.4 Example
You can create a cam to approximate any continuous function, but the Cam Wizard cannot help you with
it. The basic technique is to develop an AKD BASIC expression (or function)defining the slave position as
a function of master position and use it to generate a series of CAM.ADDPOINT statements at appro-
priate master position intervals, such as the one shown in the next figure.

3.12.5 Program

'-------------- Device Params -----------------------_

Params
End Params
'-------------- Define (dim) Global Variables --------
const MC = 10000 'master counts in total cycle
const NPOINTS = 501 'number of points in cam profile
const pi = 3.1415926535
const k = 0.69314718 / 100
const w = 1 / (7.5 * pi)

'-------------- Main Program -------------------------

Main
CAM.ACTIVATE = 0 'Turn off any active cams
'sets resolution in counts/rev of Virtual Encoder
FB2.ENCRES = 2500
CAM.MASTER = 1 'Master = virtual encoder only
CAMVM.DIR = 0 'set direction of virtual master
CAMVM.FREQ = 1000 'set virtual master speed
call CamCreate_2
'Generate a cam that does exponentially-
'damped sinusoidal motion and activate it.
'Please note that since we are computing
'500 points of slave profile here several
'seconds will elapse during the calculation
'of the cam table.
call ActivateCam_2
CAMVM.GOVEL'virtual master to run at CAMVM.FREQ
While 1 : Wend

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AKD BASIC Programming Manual | 3.12.6 Virtual encoder (virtual master)

End Main
'-------------- Subroutines and Functions ------------
Sub CamCreate_2
'This code creates a cam whose profile
'is an exponentially damped sine wave.
dim m, s as float
dim i as integer
CAM.CREATE (2,501)
for i = 0 to NPOINTS-1
m = i * (MC / (NPOINTS-1))'master position
s = (1 / exp (1.5 * k * i)) * sin (2 * pi * w * i)
's = computed slave position
CAM.ADDPOINT(m, 65536 * s)
Next i
End
CAM.CREATE
End Sub
Sub ActivateCam_2
'Need to disable the drive before changing positions
DRV.SWENABLE = 0
MOVE.POSCOMMAND = 0 'Zero out slave position
EXTENCODER.POSITION = 0 'Zero out real master encoder position
CAMVM.POSITION = 0 'Zero out virtual master encoder position
EXTENCODER.POSMODULO = MC 'Set master modulo value
PL.MODPEN = 1 'Enable slave modulo
PL.MODP2 = 65536 'Set slave modulo value
DRV.SWENABLE = 1 'Enable drive
CAM.ACTIVATE = 2 'Start the cam
End Sub

3.12.6 Virtual encoder (virtual master)

The virtual encoder is an internal count generator that is used as the input to the cam. It is controlled much
like the profile generator used to control the motion of the motor. The Parameters and statements asso-
ciated with the virtual encoder are listed below:
CAMVM.DIR
CAMVM.FREQ
CAMVM.GOREL
CAMVM.GOUPDATE
CAMVM.GOVEL
CAMVM.MOVING
CAMVM.POSITION
CAMVM.RELATIVEDIST
CAMVM.STOP

3.12.7 Move Parameters

CAMVM.DIR specifies direction for CAMVM.GOVEL
CAMVM.RELATIVEDIST specifies distance for CAMVM.GOREL
CAMVM.FREQ specifies speed (frequency) for CAMVM.GOREL and CAMVM.GOVEL

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 AKD BASIC Programming Manual | 3.12.8 Move Statements

3.12.8 Move Statements

CAMVM.GOREL executes incremental move
CAMVM.GOVEL executes velocity move
CAMVM.GOUPDATE updates move parameters on move in progress
CAMVM.STOP stops motion

3.12.9 Other Variables for Virtual Encoder

CAMVM.POSITION gives the value of the internal counter. This should be set to zero before activating
the cam.
CAMVM.MOVING indicates whether a move is in progress
The virtual encoder is used as the input to the cam, either alone (as a virtual master) or in combination with
the actual encoder (EXTENCODER.POSITION), to add an offset to the master position. This func-
tionality is controlled by the variable, CAM.MASTER.
FB2.ENCRES (resolution of the external encoder and/or virtual encoder) must be set to a realistic value in
counts/rev when using the Virtual Encoder only. When using both the Virtual Encoder and a Real Encoder
for the Master Encoder, the Virtual Encoder uses the resolution of the Real Encoder (FB2.ENCRES).

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AKD BASIC Programming Manual | 4 Quick Reference: Parameters, Functions, Operators

4 Quick Reference: Parameters, Functions, Oper-

ators
This section contains the functions, parameters, statements and variables available for AKD BASIC. The
tables below list all the parameters that can be called in the program view.

4.1 AKD Parameters and Commands

This table lists the parameters and commands from the AKD Base Drive documentation that are available
in AKD BASIC. For detailed descriptions of each parameter click the links below or visit Appendix A of the
AKD User Manual.
Parameter or Command Type Description
Analog Input (AIN)
AIN.CUTOFF (pg 142) NV Sets the analog input low-pass filter cutoff frequency. (pg 142)
AIN.DEADBAND (pg NV Sets the analog input signal deadband. (pg 143)
143)
AIN.DEADBANDMODE NV Sets the analog input deadband mode. (pg 145)
(pg 145)
AIN.ISCALE (pg 147) NV Sets the analog current scale factor. (pg 147)
AIN.MODE (pg 148) NV Analog input mode (pg 148)
AIN.OFFSET (pg 150) NV Sets the analog input offset. (pg 150)
AIN.PSCALE (pg 151) NV Sets the analog position scale factor. (pg 151)
AIN.VALUE (pg 153) R/O Reads the value of the analog input signal. (pg 153)
AIN.VSCALE (pg 154) NV Sets analog velocity scale factor. (pg 154)
AIN.ZERO (pg 156) Command Zeroes the analog input signal. (pg 156)
Analog Input 2 (AIN2)
AIN2.CUTOFF (pg 158) NV Sets the analog input 2 low-pass filter cutoff frequency. (pg 158)
AIN2.DEADBAND (pg NV Sets the analog input 2 signal deadband. (pg 159)
159)
AIN2.DEADBANDMODE NV Sets the analog input 2 deadband mode. (pg 160)
(pg 160)
AIN2.MODE (pg 161) NV Analog input 2 mode (pg 161)
AIN2.OFFSET (pg 162) NV Sets the analog input 2 offset. (pg 162)
AIN2.VALUE (pg 163) R/O Reads the value of the analog input 2 signal. (pg 163)
AIN2.ZERO (pg 164) Command Zeroes the analog input 2 signal. (pg 164)
Analog Output (AOUT)
AOUT.CUTOFF (pg 166) NV Sets the analog output low-pass filter cutoff frequency. (pg 166)
AOUT.ISCALE (pg 170) NV Sets the analog current scale factor. (pg 170)
AOUT.MODE (pg 171) NV Sets the analog output mode. (pg 171)
AOUT.OFFSET (pg 173) NV Sets the analog output offset. (pg 173)
AOUT.PSCALE (pg 174) NV Sets the analog position scale factor. (pg 174)
AOUT.VALUE (pg 176) NV Reads the analog output value. (pg 176)
AOUT.VALUEU (pg 177) R/W Sets the analog output value. (pg 177)
AOUT.VSCALE (pg 178) NV Sets the velocity scale factor for analog output. (pg 178)
Analog Output 2
(AOUT2)

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 AKD BASIC Programming Manual | 4.1 AKD Parameters and Commands

Parameter or Command Type Description

AOUT2.CUTOFF (pg NV Sets the analog output 2 low-pass filter cutoff frequency. (pg 181)
181)
AOUT2.MODE (pg 182) NV Sets the analog output 2 mode. (pg 182)
AOUT2.OFFSET (pg 183) NV Sets the analog output 2 offset. (pg 183)
AOUT2.VALUE (pg 184) NV Reads the analog output 2 value. (pg 184)
AOUT.VALUEU (pg 185) R/W Sets the analog output 2 value. (pg 185)
Capture (CAP)
CAP0.EDGE, NV Selects the capture edge. (pg 230)
CAP1.EDGE (pg 230)
CAP0.EN, CAP1.EN (pg NV Enables or disables the related capture engine. (pg 232)
232)
CAP0.EVENT, NV Controls the precondition logic. (pg 233)
CAP1.EVENT (pg 233)
CAP0.FILTER, R/W Controls the precondition logic. (pg 233)
CAP1.FILTER (pg 237)
CAP0.MODE, NV Selects the captured value. (pg 238)
CAP1.MODE (pg 238)
CAP0.PLFB, R/O Reads captured position value. (pg 240)
CAP1.PLFB (pg 240)
CAP0.PREEDGE, NV Selects the capture precondition edge. (pg 242)
CAP1.PREEDGE (pg
242)
CAP0.PREFILTER, NV Sets the filter for the precondition input source. (pg 244)
CAP1.PREFILTER (pg
244)
CAP0.PRESELECT, NV Sets the precondition trigger. (pg 245)
CAP1.PRESELECT (pg
245)
CAP0.STATE, R/O Indicates whether or not trigger source was captured. (pg 247)
CAP1.STATE (pg 247)
CAP0.T, CAP1.T (pg R/O Reads time capture (if time capture was configured). (pg 248)
248)
CAP0.TRIGGER, NV Specifies the trigger source for the position capture. (pg 250)
CAP1.TRIGGER (pg
250)
Controlled Stop (CS)
CS.DEC (pg 253) NV Sets the deceleration value for the controlled stop process. (pg
253)
CS.STATE (pg 255) NV Returns the internal status of the controlled stop process. (pg 255)
CS.TO (pg 256) NV Sets the time value for the drive velocity to be within
CS.VTHRESH (pg 258). (pg 256)
CS.VTHRESH (pg 258) NV Sets the velocity threshold for the controlled stop. (pg 258)
Digital Input (DIN)
DIN.ROTARY (PG 265) R/O Reads the rotary knob value. (pg 265)
DIN.STATES (PG 267) R/O Reads the digital input states. (pg 267)
DIN1.FILTER TO R/W Filter mode for digital inputs 1 to 7. (pg 268)
DIN7.FILTER (pg 268)

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AKD BASIC Programming Manual | 4.1 AKD Parameters and Commands

Parameter or Command Type Description

DIO9.INV to DIO11.INV R/W DIO9.INV to DIO11.INV (pg 283)
(pg 283)
DIN1.MODE TO NV Sets the digital input modes. (pg 272)
DIN7.MODE (pg 272)
DIN1.STATE TO R/O Reads a specific digital input state. (pg 274)
DIN7.STATE (pg 274)
DIN9.STATE to NV Shows on selected pin if signal is high or low. (pg 276)
DIN11.STATE (pg 276)
DIN21.FILTER to R/W Filter mode for digital inputs 21 to 32. (pg 277)
DIN32.FILTER (pg 277)
DIN21.STATE to R/O Reads a specific digital input state. (pg 279)
DIN32.STATE (pg 279)
DIO
DIO9.INV to DIO11.INV NV Inverting the output voltage of the IO, when in the output direction.
(pg 283) (pg 283)
DIO9.DIR to DIO11.DIR NV Changing direction of the IOs from the X9 connector. (pg 282)
(pg 282)
Digital Output (DOUT)
DOUT.RELAYMODE (pg R/W Indicates faults relay mode. (pg 286)
286)
DOUT.STATES (PG 287) R/O Reads the state of the digital output(s). (pg 287)
DOUT1.MODE to NV Sets the digital output mode. (pg 288)
DOUT2.MODE (pg 288)
DOUT1.PARAM AND NV Sets extra parameters for the digital output(s). (pg 290)
DOUT2.PARAM (pg 290)
DOUT1.STATE AND R/O Reads the digital output state. (pg 292)
DOUT2.STATE (pg 292)
DOUT1.STATEU AND R/W Sets the state of the digital output node. (pg 293)
DOUT2.STATEU (pg
293)
DOUT9.STATE to NV Shows on selected pin if signal is high or low. (pg 294)
DOUT11.STATE (pg 294)
DOUT9.STATEU to NV Allows user to set level of selected pin to high or low. (pg 295)
DOUT11.STATEU (pg
295)
DOUT21.STATE to R/O Reads the digital output state. (pg 297)
DOUT32.STATE (pg 297)
DOUT21.STATEU to R/W Sets the state of the digital output node. (pg 299)
DOUT32.STATEU (pg
299)
Drive (DRV)
DRV.ACC (pg 303) NV Describes the acceleration ramp for the velocity loop. (pg 303)
DRV.ACTIVE (pg 305) R/O Reads the enable status of an axis. (pg 305)
DRV.BLINKDISPLAY Command Causes the display to blink for 10 seconds. (pg 306)
(PG 306)
DRV.CLRFAULTHIST Command Clears the fault history log in the NV. (pg 309)
(PG 309)

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 AKD BASIC Programming Manual | 4.1 AKD Parameters and Commands

Parameter or Command Type Description

DRV.CLRFAULTS (PG Command Tries to clear all active faults in the drive. (pg 310)
310)
DRV.CMDSOURCE (PG NV Sets the command source (service, fieldbus, analog input, gear-
312) ing, digital, or Bode). (pg 312)
DRV.DBILIMIT (pg 315) NV Sets the maximum amplitude of the current for dynamic braking.
(pg 315)
DRV.DEC (pg 316) NV Sets the deceleration value for the velocity loop. (pg 316)
DRV.DIR (pg 319) R/W Changes drive direction. (pg 319)
DRV.DIS (PG 320) Command Disables the axis (software). (pg 320)
DRV.DISSOURCES R/O Returns the possible reason for a drive disable. (pg 323)
(PG 323)
DRV.DISTO (pg 325) R/W Sets the emergency timeout (pg 325).
DRV.EMUEDIR (pg 327) R/W Sets the direction of the emulated encoder output (EEO) signal.
(pg 327)
DRV.EMUEMODE (pg R/W Sets the mode of the emulated encoder output (EEO) connector.
328) (pg 328)
DRV.EMUEMTURN (pg R/W Defines the location of the index pulse on the EEO (emulated
330) encoder output) when DRV.EMUEMODE=2. (pg 330)
DRV.EMUERES (pg R/W Sets the resolution of the EEO (emulated encoder output). (pg
334) 334)
DRV.EMUEZOFFSET R/W Sets the location of the EEO (emulated encoder output) index
(pg 335) pulse (when DRV.EMUEMODE=1). (pg 335)
DRV.EN (PG 337) Command Enables the axis (software). (pg 337)
DRV.FAULT1 to R/O Location of fault codes for any active fault conditions. (pg 341)
DRV.FAULT10 (pg 341)
DRV.HANDWHEEL (pg R/O Reads the EEO input value. (pg 343)
343)
DRV.HANDWHEELSRC NV Selects the feedback for handwheel operation. (pg 345)
(pg 345)
DRV.HWENABLE (pg R/O Status of the hardware enable. (pg 348)
348)
DRV.ICONT (PG 351) R/O Reads the continuous rated current value. (pg 351)
DRV.IPEAK (PG 355) R/O Reads the peak rated current value. (pg 355)
DRV.NAME (PG 364) NV Sets and reads the name of the drive. (pg 364)
DRV.NVLOAD (pg 367) W/O Loads all data from the NV memory of the drive into the RAM para-
meters. (pg 367)
DRV.NVSAVE (PG 368) Command Saves the drive parameters from the RAM to the NV memory. (pg
368)
DRV.OPMODE (PG 370) NV Sets the drive operation mode (current, velocity, or position). (pg
370)
DRV.RSTVAR (PG 373) Command Sets default values in the drive without re-booting the drive and
without resetting the NV memory. (pg 373)
DRV.SETUPREQBITS R/O Reads the bitwise set status of parameters that must be set
(pg 375) before the drive can be enabled. (pg 375)
DRV.STOP (PG 378) Command This command stops all drive motion. (pg 378)
DRV.TIME (pg 381) R/W A continuous time counter in the drive. (pg 381)

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AKD BASIC Programming Manual | 4.1 AKD Parameters and Commands

Parameter or Command Type Description

DRV.WARNING1 to R/O Location of fault codes for any active warning conditions. (pg 387)
DRV.WARNING3 (pg
387)
Fault (FAULT)
FAULTx.ACTION (pg R/W Gets/Sets the Fault Action for Fault 130, 131, 132, 134, 139, 451,
407) and 702. (pg 407)
Feedback 1 (FB1)
FB1.BISSBITS (PG 410) NV Specifies the number of Biss Sensor (Position) Bits for the BiSS
Mode C encoder in use. (pg 410)
FB1.ENCRES (PG 411) NV Sets the resolution of the motor encoder. (pg 411)
FB1.HALLSTATE (PG R/O Reads the Hall switch values (encoder feedback only). (pg 413)
413)
FB1.HALLSTATEU (pg R/O Reads the state of Hall switch U. (pg 415)
415)
FB1.HALLSTATEV (pg R/O Reads the state of Hall switch V. (pg 416)
416)
FB1.HALLSTATEW (pg R/O Reads the state of Hall switch W. (pg 417)
417)
FB1.IDENTIFIED (PG R/O Reads the type of feedback device used by the drive/motor. (pg
418) 418)
FB1.INITSIGNED (pg NV Sets initial feedback value as signed or unsigned. (pg 420)
420)
FB1.MECHPOS (PG R/O Reads the mechanical position. (pg 422)
422)
FB1.MEMVER (PG 423) R/O Returns the memory feedback version. (pg 423)
FB1.ORIGIN (pg 428) NV Adds to the initial feedback position. (pg 428)
FB1.P (pg 430) R/O Reads position from the primary feedback. (pg 430)
FB1.PDIR (pg 431) NV Sets the counting direction for feedback channel 1. (pg 431)
FB1.POFFSET (PG 434) NV FB1.POFFSET (pg 434)
FB1.POLES (PG 435) R/O Reads the number of feedback poles. (pg 435)
FB1.PSCALE (pg 436) R/W Sets position scaling value for fieldbus transferred position
objects. (pg 436)
FB1.PUNIT (pg 438) NV Sets the unit for FB1.P. (pg 438)
FB1.SELECT (PG 441) NV Sets user entered type or identified type (–1). (pg 441)
Feedback 2 (FB2)
FB2.DIR (pg 456) R/W FB2.DIR (pg 456)
FB2.ENCRES (pg 451) NV Sets the secondary feedback (FB2) resolution (also defines res-
olution of virtual encoder in AKD BASIC). (pg 451)
FB2.MODE (pg 452) R/W Sets the mode for the second feedback inputs, EEO connector
(X9) and high speed opto inputs (pins 9 and 10 on X7). (pg 452)
FB2.P (pg 455) R/O Reads position from the secondary feedback. (pg 455)
FB2.DIR (pg 456) NV Sets the counting direction for feedback channel 2. (pg 456)
FB2.POFFSET (pg 457) NV Sets the offset for secondary feedback. (pg 457)
FB2.PUNIT (pg 458) NV Sets the unit for FB2.P. (pg 458)
FB2.SOURCE (pg 459) R/W Sets the source for the second feedback input. Choices are the
EEO connectors (X9) which are RS485 inputs, or the X7 con-
nector’s high speed opto inputs (pins 9 and 10). (pg 459)

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 AKD BASIC Programming Manual | 4.1 AKD Parameters and Commands

Parameter or Command Type Description

Feedback 3 (FB3)
FB3.MODE (pg 462) NV Selects the type of feedback connected to X9. (pg 462)
FB3.POFFSET (pg 467) NV Sets the offset for tertiary feedback. (pg 467)
FB3.PUNIT (pg 468) NV Sets the unit for FB3.P. (pg 468)
Hardware Limit Switch
(HWLS)
HWLS.NEGSTATE (pg R/O Reads the status of the negative hardware limit switch. (pg 482)
482)
HWLS.POSSTATE (pg R/O Reads the status of the positive hardware limit switch. (pg 483)
483)
Current Loop (IL)
IL.BUSFF (pg 485) R/O Displays the current feedforward value injected by the fieldbus.
(pg 485)
IL.CMD (PG 486) R/O Reads the value of the q-component current command. (pg 486)
IL.CMDU (PG 487) R/W Sets the user current command. (pg 487)
IL.DIFOLD (PG 489) R/O Reads the drive foldback current limit. (pg 489)
IL.FB (PG 490) R/O Reads the actual value of the d-component current. (pg 490)
IL.FF (pg 491) R/O Displays the current loop overall feedforward value (pg 491).
IL.FOLDFTHRESH (PG NV Reads the foldback fault level. (pg 492)
492)
IL.FOLDWTHRESH (PG NV Sets the foldback warning level. (pg 494)
494)
IL.IFOLD (pg 496) R/O Reads the overall foldback current limit. (pg 496)
IL.IUFB (PG 497) R/O Reads the sigma-delta measured current in the u-winding of the
motor. (pg 497)
IL.IVFB (PG 498) R/W Sets the sigma-delta measured current in the u-winding of the
motor. (pg 498)
IL.KP (PG 501) NV Sets the proportional gain of the q-component of the PI regulator.
(pg 501)
IL.KPDRATIO (PG 502) NV Sets the proportional gain of the d-component current PI-regulator
as a percentage of IL.KP (pg 502)
IL.LIMITN (PG 508) NV Sets the negative user (application-specific) current limit. (pg 508)
IL.LIMITP (PG 509) NV Sets the positive user (application-specific) current limit. (pg 509)
IL.MFOLDD (PG 510) NV Sets the motor foldback maximum time at motor peak current. (pg
510)
IL.MFOLDR (PG 511) R/O Sets the motor foldback recovery time. (pg 511)
IL.MFOLDT (PG 512) NV Sets the motor foldback time constant of the exponential current
drop (foldback). (pg 512)
IL.MIFOLD (PG 515) R/O Sets the motor foldback current limit. (pg 515)
IL.VCMD (PG 518) R/O Sets the output of the q-component PI regulator. (pg 518)
IL.VUFB (PG 519) R/O Reads the measured voltage on the u-winding of the motor. (pg
519)
IL.VVFB (PG 520) R/O Reads the measured voltage on the v-winding of the motor. (pg
520)
LOAD Parameters
LOAD.INERTIA (pg 537) NV Sets the load inertia. (pg 537)

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Motor Parameters
MOTOR.BRAKE (PG NV Sets the presence or absence of a motor brake. (pg 550)
550)
MOTOR.BRAKERLS Command Allows a user to release or apply the motor brake. (pg 553)
(pg 553)
MOTOR.ICONT (PG NV Sets the motor continuous current. (pg 556)
556)
MOTOR.INERTIA (PG NV Sets the motor inertia. (pg 559)
559)
MOTOR.IPEAK (PG NV Sets the motor peak current. (pg 560)
560)
MOTOR.KE (pg 561) NV Sets the motor back EMF constant. (pg 561)
MOTOR.KT (PG 562) NV Sets the torque constant of the motor. (pg 562)
MOTOR.LQLL (PG NV Sets the line-to-line motor Lq. (pg 565)
565)
MOTOR.NAME (PG NV Sets the motor name. (pg 566)
566)
MOTOR.PHASE (PG NV Sets the motor phase. (pg 567)
567)
MOTOR.PITCH (PG NV Sets the motor pitch. (pg 570)
570)
MOTOR.POLES (PG NV Sets the number of motor poles. (pg 571)
571)
MOTOR.R (PG 572) NV Sets the stator winding resistance phase-phase in ohms. (pg 572)
MOTOR.TBRAKEAPP NV The delay time used for applying the motor brake. (pg 574)
(PG 574)
MOTOR.TBRAKERLS NV The delay time used for releasing the motor brake. (pg 575)
(PG 575)
MOTOR.TEMP (pg R/O Reads the motor temperature represented as the resistance of the
577) motor PTC or NTC. (pg 577)
MOTOR.TEMPFAULT NV Sets the motor temperature fault level. (pg 579)
(pg 579)
MOTOR.TEMPWARN NV Sets the motor temperature warning level. (pg 580)
(pg 580)
MOTOR.TYPE (PG NV Sets the motor type. (pg 581)
581)
MOTOR.VOLTMAX NV Sets the motor maximum voltage. (pg 584)
(PG 584)
Position Loop (PL)
PL.CMD (PG 612) NV Reads the position command directly from the entry to the position
loop. (pg 612)
PL.ERR (PG 613) NV Reads the position error present when the drive is controlling the pos-
ition loop. (pg 613)
PL.ERRFTHRESH (pg NV Sets the maximum position error. (pg 615)
615)
PL.ERRMODE (pg R/W Sets the type of following error warning and fault usage. (pg 617)
617)
PL.ERRWTHRESH NV Sets the position error warning level. (pg 619)
(pg 619)

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 AKD BASIC Programming Manual | 4.1 AKD Parameters and Commands

PL.FB (PG 621) R/O Reads the position feedback value. (pg 621)
PL.FBSOURCE (pg NV Sets the feedback source for the position loop. (pg 623)
623)
PL.INTINMAX (PG NV Limits the input of the position loop integrator by setting the input sat-
624) uration. (pg 624)
PL.INTOUTMAX (PG NV Limits the output of the position loop integrator by setting the output
626) saturation. (pg 626)
PL.KI (PG 628) NV Sets the integral gain of the position loop. (pg 628)
PL.KP (PG 629) NV Sets the proportional gain of the position regulator PID loop. (pg 629)
PL.MODP1 (pg 630) R/W Sets modulo range parameter. (pg 630)
PL.MODP2 (pg 632) R/W Sets the beginning or end modulo range parameter. (pg 632)
Programmable Limit
Switch (PLS)
PLS.EN (pg 639) R/W Enables programmable limit switch (PLS). (pg 639)
PLS.MODE (pg 641) NV Selects programmable limit switch mode. (pg 641)
PLS.P1 TO PLS.P8 NV Sets the trigger point for programmable limit switches. (pg 643)
(pg 643)
PLS.RESET (pg 645) W/O Resets programmable limit switch. (pg 645)
PLS.STATE (pg 647) R/O Reads the programmable limit switch state. (pg 647)
PLS.T1 TO PLS.T8 (pg R/W Sets programmable limit switch time (pg 649).
649)
PLS.UNITS (pg 651) R/W Sets programmable limit switch (PLS) units. (pg 651)
PLS.WIDTH1 TO R/W Programmable Limit Switch Width (pg 654)
PLS.WIDTH8 (pg 654)
Recorder (REC)
REC.ACTIVE (PG R/O Indicates if data recording is in progress (active). (pg 657)
657)
REC.DONE (PG 659) R/O Checks whether or not the recorder has finished recording. (pg 659)
REC.OFF (PG 662) R/W Turns the recorder OFF. (pg 662)
REC.TRIG (PG 671) Command Triggers the recorder. (pg 671)
Regen Resistor
(REGEN)
REGEN.POWER (PG R/O READS REGEN RESISTOR'S CALCULATED POWER. (PG 680)
680)
REGEN.REXT (PG N/V SETS THE EXTERNAL, USER-DEFINED REGEN RESISTOR
681) RESISTANCE. (PG 681)
REGEN.TEXT (pg R/W Sets the external regen resistor thermal protection time constant.
682) (pg 682)
REGEN.TYPE (PG N/V SETS THE REGEN RESISTOR TYPE. (PG 684)
684)
REGEN.WATTEXT R/W SETS THE REGEN RESISTOR'S POWER FAULT LEVEL FOR
(PG 685) AN EXTERNAL REGEN RESISTOR. (PG 685)
SD card (SD)
SD.LOAD (pg 687) Command Loads the drive state (BASIC program and NV parameters)from the
SD card to the AKD (AKDs equipped with IO option card only). (pg
687)
SD.SAVE (pg 688) Command Saves the drive state (BASIC program and NV parameters) to the
SD card (AKDs equipped with IO option card only). (pg 688)

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AKD BASIC Programming Manual | 4.1 AKD Parameters and Commands

SD.STATUS (pg 689) R/O Reads the status of the SD card. (pg 689)
STO
STO.STATE (pg 704) R/O Returns the status of the safe torque off. (pg 704)
SWLS
SWLS.EN (pg 706) NV Enables and disables software travel limit switches. (pg 706)
SWLS.LIMIT0 (pg 708) NV Sets the position of the software travel limit switch 0. (pg 708)
SWLS.LIMIT1 (pg 709) NV Sets the position of the software travel limit switch 0. (pg 709)
SWLS.STATE (pg 710) R/O Reads the actual status of software limit switches. (pg 710)
Units (UNIT)
UNIT.ACCLINEAR NV Sets the linear acceleration/deceleration units. (pg 712)
(PG 712)
UNIT.ACCROTARY NV Sets the rotary acceleration/deceleration units. (pg 713)
(PG 713)
UNIT.LABEL (pg 714) NV Sets user-defined name for user-defined position units. (pg 714)
UNIT.PIN (PG 715) NV Sets gear IN for the unit conversion. (pg 715)
UNIT.PLINEAR (PG NV Sets the linear position units. (pg 716)
716)
UNIT.POUT (PG 717) NV Sets gear out for the unit conversion. (pg 717)
UNIT.PROTARY (PG NV Sets the position units when the motor type (MOTOR.TYPE (pg
718) 581)) is rotary. (pg 718)
UNIT.VLINEAR (PG NV Sets the linear velocity units. (pg 719)
719)
UNIT.VROTARY (PG NV Sets the velocity units when the motor type (MOTOR.TYPE (pg
720) 581)) is rotary. (pg 720)
Bus Voltage (VBUS)
VBUS.OVFTHRESH R/O Reads the over voltage fault level. (pg 724)
(pg 724)
VBUS.OVWTHRESH NV Sets voltage level for over voltage warning. (pg 725)
(pg 725)
VBUS.RMSLIMIT (pg R/O Reads the limit for the bus capacitors load. (pg 726)
726)
VBUS.UVFTHRESH R/W Sets the under voltage fault level. (pg 727)
(pg 727)
VBUS.UVMODE (pg NV Indicates undervoltage (UV) mode. (pg 728)
728)
VBUS.UVWTHRESH NV Sets voltage level for undervoltage warning. (pg 729)
(pg 729)
VBUS.VALUE (pg 730) R/O Reads DC bus voltage. (pg 730)
Velocity Loop (VL)
VL.ARPF1 TO R/W Sets the natural frequency of the pole (denominator) of anti-res-
VL.ARPF4 (pg 732) onance (AR) filters 1, 2, 3, and 4; active in opmodes 1 (velocity) and
2 (position) only. (pg 732)
VL.ARPQ1 TO R/W Sets the Q of the pole (denominator) of anti-resonance (AR) filter 1;
VL.ARPQ4 (pg 734) active in opmodes 1 (velocity) and 2 (position) only. (pg 734)
VL.ARTYPE1 TO NV Indicates the method used to calculate BiQuad coefficients; active
VL.ARTYPE4 (pg 736) in opmodes 1 (velocity) and 2 (position) only. (pg 736)
VL.ARZF1 TO R/W Sets the natural frequency of the zero (numerator) of anti-resonance
VL.ARZF4 (pg 738) (AR)filter 1; active in opmodes 1 (velocity) and 2 (position) only. (pg
738)

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VL.ARZQ1 TO R/W Sets the Q of the zero (numerator) of anti-resonance filter #1; active
VL.ARZQ4 (pg 740) in opmodes 1 (velocity) and 2 (position) only. (pg 740)
VL.BUSFF (pg 742) R/O Displays the velocity loop feedforward value injected by the field-
bus; active in opmodes 1 (velocity) and 2 (position) only. (pg 742)
VL.CMD (PG 743) R/O Reads the actual velocity command; active in opmodes 1 (velocity)
and 2 (position) only. (pg 743)
VL.CMDU (PG 744) R/W Sets the user velocity command; active in opmodes 1 (velocity) and
2 (position) only. (pg 744)
VL.ERR (PG 746) R/O Sets the velocity error; active in opmodes 1 (velocity) and 2 (pos-
ition) only. (pg 746)
VL.FB (PG 747) R/O Reads the velocity feedback; active in opmodes 1 (velocity) and 2
(position) only. (pg 747)
VL.FBFILTER (pg 748) R/O Filters VL.FB (pg 747) value; active in opmodes 1 (velocity) and 2
(position) only. (pg 748)
VL.FBSOURCE (pg NV Sets feedback source for the velocity loop; active in opmodes 1
749) (velocity) and 2 (position) only. (pg 749)
VL.FBUNFILTERED R/O Reads the velocity feedback. (pg 750)
(pg 750)
VL.FF (pg 751) R/O Displays the velocity loop overall feedforward value; active in
opmodes 1 (velocity) and 2 (position) only. (pg 751)
VL.GENMODE (PG NV Selects mode of velocity generation (Observer, d/dt); active in
752) opmodes 1 (velocity) and 2 (position) only. (pg 752)
VL.KBUSFF (pg 753) R/W Sets the velocity loop acceleration feedforward gain value; active in
opmodes 1 (velocity) and 2 (position) only. (pg 753)
VL.KI (pg 754) NV Sets the velocity loop integral gain for the PI controller; active in
opmodes 1 (velocity) and 2 (position) only. (pg 754)
VL.KP (pg 757) NV Sets velocity loop proportional gain for the PI controller; active in
opmodes 1 (velocity) and 2 (position) only. (pg 757)
VL.KVFF (pg 759) R/W Sets the velocity loop velocity feedforward gain value; active in
opmodes 1 (velocity) and 2 (position) only. (pg 759)
VL.LIMITN (PG 760) NV Sets the velocity lower limit; active in opmodes 1 (velocity) and 2
(position) only. (pg 760)
VL.LIMITP (PG 762) NV Sets the velocity high limit; active in opmodes 1 (velocity) and 2 (pos-
ition) only. (pg 762)
VL.LMJR (pg 764) 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 (pos-
ition) only. (pg 764)
VL.THRESH (PG 768) NV Sets the user over speed fault level. (pg 768)
Wake and Shake
(WS)
WS.ARM (pg 793) Command Sets wake and shake to start at the next drive enable. (pg 793)
WS.DISARM (pg 798) Command Cancels ARM requests and resets wake and shake to the IDLE
state. (pg 798)
WS.DISTMAX (pg 799) R/W Sets maximum movement allowed for wake and shake. (pg 799)
WS.DISTMIN (pg 800) R/W Sets the minimum movement required for wake and shake. (pg 800)
WS.IMAX (pg 802) R/W Sets maximum current used for wake and shake. (pg 802)
WS.MODE (pg 803) R/W Sets the method used for wake and shake. (pg 803)

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WS.NUMLOOPS (pg R/W Sets the number of repetitions for wake and shake. (pg 804)
804)
WS.STATE (pg 805) R/O Reads wake and shake status. (pg 805)
WS.T (pg 806) R/W Sets wake and shake current-vector appliance time. (pg 806)
WS.TDELAY1 (pg 807) NV Delay for wake and shake timing. (pg 807)
WS.TDELAY2 (pg 808) NV Sets the delay for wake and shake timing. (pg 808)
WS.TDELAY3 (pg 809) NV Sets the delay for wake and shake between loops in mode 0. (pg
809)
WS.VTHRESH (pg NV Defines the maximum allowed velocity for Wake & Shake. (pg 812)
812)

4.2 AKD BASIC Parameters and Commands

The following table lists parameters, commands, functions, and operators unique to AKD BASIC. For
detailed descriptions of each parameter click the links below or visit the AKD BASIC Parameters chapter
of the AKD BASIC User Manual.
Parameter Type Description
Additional Statements
$Include (pg 119) Statement The $Include statement allows you to textually include mul-
tiple separate files in a single source file. (pg 119)
Alias (pg 120) Statement Allows you to define your own names for system
resources, such as Input or Output pins. (pg 120)
Call (pg 121) Statement Transfer program control to a subroutine. When the sub-
routine is finished then control is transferred to the line fol-
lowing the CALL. (pg 121)
Cls (pg 122) Statement This statement transmits 40 line feed characters (ASCII
code = 10) to the serial port. Cls clears the display of a ter-
minal. (pg 122)
Const (pg 123) Statement Declares symbolic constants to be used instead of
numeric values. (pg 123)
Dim (pg 124) Statement Used for declaring variables before use. All variables
(except predefined variables) must be declared before they
can be used. (pg 124)
Exit (pg 125) Statement The Exit statement is used to exit from a subroutine, a
function, an interrupt, a For...Next or a While...Wend. (pg
125)
For...Next (pg 126) Statement Allows a series of lines to be executed in a loop a specified
number of times. (pg 126)
Function (pg 127) Statement The Function statement is used to declare and define the
name, arguments and type of a user defined function. (pg
127)
GoTo (pg 128) Statement GOTO causes the software to jump to the specified label
and continue executing from there. (pg 128)
If...Then...Else (pg 129) Statement If...Then...Else statements controls program execution
based on the evaluation of numeric or string expressions.
(pg 129)
Input (pg 130) Statement The Input statement reads a character string received from
the console tab screen below the program editor window,
terminated by a carriage-return. (pg 130)

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 AKD BASIC Programming Manual | 4.2 AKD BASIC Parameters and Commands

Parameter Type Description

On Error GoTo (pg 131) Statement On Error Goto allows you to define a run-time error handler
to prevent run-time errors from halting program execution.
(pg 131)
Pause() (pg 132) Statement Causes the program execution to pause for a specified
amount of time. The motion of the motor is not affected.
(pg 132)
Print (pg 133) Statement Displays formatted output through the console while the
program is running. (pg 133)
Restart (pg 134) Statement Causes program execution to begin again from the begin-
ning of the program. (pg 134)
Select Case (pg 135) Statement Select Case executes one of several statement blocks
depending upon the value of an expression. (pg 135)
Static (pg 136) Statement Static (pg 136)
Stop (pg 137) Statement Stops execution of the user program. (pg 137)
Sub...End Sub (pg 138) Statement The Sub statement declares a sub procedure and defines
the sub procedures format. (pg 138)
Swap (pg 139) Statement Exchanges the value of two variables. (pg 139)
While...Wend (pg 140) Statement Executes a series of lines for as long as the condition after
the WHILE is True. (pg 140)
BASIC Operators
AND (pg 105) Operator Performs a logical AND operation on two expressions. (pg
105)
BAND (pg 106) Operator Performs a bitwise AND of two integer expressions. (pg
106)
BNOT (pg 107) Operator Performs a bitwise NOT of the integer expression. (pg
107)
BOR (pg 108) Operator Performs a bitwise OR of two integer expressions. (pg
108)
BXOR (pg 109) Operator Performs a bitwise XOR of two integer expressions. (pg
109)
MOD (pg 110) Operator This is the modulus or "remainder" operator. It divides one
number by another and returns the remainder. (pg 110)
NOT (pg 111) Operator Performs a logical NOT operation on a boolean expres-
sion. (pg 111)
OR (pg 112) Operator Performs a logical OR operation on two expressions. (pg
112)
SHL (pg 113) Operator Left Shift Operator (pg 113)
SHRA (pg 114) Operator Arithmetic Right Shift Operator (pg 114)
SHRA (pg 114) Operator Arithmetic Right Shift Operator (pg 114)
XOR (pg 116) Operator Performs a logical XOR operation on two expressions. (pg
116)
BASIC Functions
ABS() (pg 72) Function ABS(x) converts the associated value (x) to an absolute
value. If the value is negative, it is converted to a positive
value. If the value is positive, it is not changed. (pg 72)
ASC() (pg 73) Function ASC(string expression)returns a decimal numeric value
that is the ASCII code for the first character of the string
expression(x$). (pg 73)

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AKD BASIC Programming Manual | 4.2 AKD BASIC Parameters and Commands

Parameter Type Description

ATAN() (pg 74) Function ATAN() (arc tangent) returns the arctangent of its argu-
ment in radians. (pg 74)
CHR$() (pg 75) Function Returns a one character string whose ASCII value is the
argument. (pg 75)
CINT() (pg 76) Function Converts a numeric expression to the closest integer num-
ber. (pg 76)
COS() (pg 77) Function COS(x) returns the cosine of x, where x is in radians. (pg
77)
EXP() (pg 78) Function Returns e (the base of natural logarithms) raised to a
power. (pg 78)
FIX() (pg 79) Function Fix() returns the truncated integer part of x. (pg 79)
HEX$() (pg 80) Function HEX$() converts an integer number to its equivalent hexa-
decimal ASCII string. (pg 80)
INKEY$() (pg 81) Function Returns a 1 character string corresponding to the char-
acter in the serial port receive buffer. If there is no char-
acter waiting the INKEY$ will be the Null string (""). If
several characters are pending only the first one is
returned. (pg 81)
INSTR() (pg 82) Function Returns the starting location of a substring within a string.
(pg 82)
INT() (pg 83) Function INT() (convert to largest integer) truncates an expression
to a whole number. (pg 83)
LCASE$() (pg 84) Function Converts a string expression to lowercase characters. (pg
84)
LEFT$() (pg 85) Function Returns a string of the n leftmost characters in a string
expression. (pg 85)
LEN() (pg 86) Function Returns the number of characters in a string expression.
(pg 86)
LOG() (pg 87) Function Returns the natural logarithm of a numeric expression. (pg
87)
LOG10() (pg 88) Function Returns the base 10 logarithm of a numeric expression.
(pg 88)
LTRIM$() (pg 89) Function Returns a copy of the original string with leading blanks
removed. (pg 89)
MID$ (pg 90) Function Returns a substring of the original string that begins at the
specified offset location and is of the specified (optional)
length. (pg 90)
OCT$() (pg 91) Function OCT$() converts an integer number to its equivalent octal
ASCII string. (pg 91)
RIGHT$() (pg 92) Function Returns a string of the n rightmost characters in a string
expression. (pg 92)
RTRIM$() (pg 93) Function Returns a copy of the original string with trailing blanks
removed. (pg 93)
SGN() (pg 94) Function Returns the sign of a numeric expression. (pg 94)
SIN() (pg 95) Function SIN(x) returns the sine of x, where x is in radians. (pg 95)
SPACE$() (pg 96) Function Returns a string of n spaces. (pg 96)
SQRT() (pg 97) Function Returns the square root of a numeric expression. (pg 97)

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 AKD BASIC Programming Manual | 4.2 AKD BASIC Parameters and Commands

Parameter Type Description

STR$() (pg 98) Function Returns a string representing the value of a numeric
expression. (pg 98)
STRING$() (pg 99) Function Returns a string containing the specified number of occur-
rences of the specified character. (pg 99)
TAN() (pg 100) Function TAN(x) returns the tangent of x, where x is in radians. (pg
100)
TRIM$() (pg 101) Function Returns a copy of the original string with leading and trail-
ing blanks removed. (pg 101)
UCASE$() (pg 102) Function Converts a string expression to uppercase characters. (pg
102)
VAL() (pg 103) Function Returns the numerical value of a string. (pg 103)
Camming (CAM)
CAM.ACTIVATE (pg 210) Statement Activates the specified cam table. (pg 210)
CAM.ADDPOINT (pg 212) Statement CAM.ADDPOINT(Master Position, Slave Position) Adds
the specified "point" to the cam table being created. (pg
212)
CAM.CORRECTDIR (pg 214) R/W Specifies the direction of the correction move when a new
cam table is activated (set CAM.ACTIVATE = n) or when
speed synchronization is achieved. (pg 214)
CAM.CREATE (pg 215) Statement CAM.CREATE (x, y) Initiates the creation of a cam table.
(pg 215)
CAM.MASTER (pg 217) R/W Specifies the source of the input to the cam table for cam
profiling. (pg 217)
CAM.MASTERPOS (pg 218) R/O Gives the value of the master position presently being
used as the input to the cam table. (pg 218)
CAM.SLAVEOFFSET (pg 219) R/O CAM.SLAVEOFFSET indicates the offset (or difference)
between MOVE.POSCOMMAND and the position com-
mand that is calculated from the active cam table based
upon the present value of EXTENCODER.POSITION
and/or CAMVM.POSITION. (pg 219)
CAMVM.DIR (pg 220) R/W Specifies the direction the virtual encoder goes when
CAMVM.GOVEL is executed. (pg 220)
CAMVM.FREQ (pg 221) R/W CAMVM.FREQ sets the maximum frequency allowed dur-
ing a relative (CAMVM.GOREL) move, and sets the com-
manded speed during a velocity move (CAMVM.GOVEL)
(pg 221)
CAMVM.GOREL (pg 222) Statement Makes the virtual master move the distance specified by
CAMVM.RELATIVEDIST. (pg 222)
CAMVM.GOUPDATE (pg 223) Statement Updates a move in progress with new move parameters.
(pg 223)
CAMVM.GOVEL (pg 224) Statement CAMVM.GOVEL (Go at Velocity) causes the virtual mas-
ter to move continuously at the frequency specified by
CAMVM.FREQ in the direction (positive or negative) spe-
cified by CAMVM.DIR. The frequency or direction is mod-
ified during the move using CAMVM.GOUPDATE. (pg
224)
CAMVM.MOVING (pg 225) R/O Indicates if the virtual encoder is moving. (pg 225)

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AKD BASIC Programming Manual | 4.2 AKD BASIC Parameters and Commands

Parameter Type Description

CAMVM.POSITION (pg 226) R/W Contains the current value of the virtual encoder counter.
(pg 226)
CAMVM.RELATIVEDIST (pg R/W Specifies the number or counts that the virtual encoder (vir-
227) tual master) will put out during an incremental move
(CAMVM.GOREL). (pg 227)
CAMVM.STOP (pg 228) Statement CAMVM.STOP stops the virtual encoder (pg 228)
Drive (DRV)
DRV.SWENABLE (pg 379) R/W Controls whether power can flow to the motor. (pg 379)
Electronic Gearing (EGEAR)
EGEAR.ACCLIMIT (pg 391) R/W EGEAR.ACCLIMIT sets the maximum acceleration. (pg
391)
EGEAR.DECLIMIT (pg 393) R/W EGEAR.DECLIMIT sets the maximum deceleration that
will be commanded on the follower when EGEAR.ON is
turned OFF or the electronic gearing ratio (EGEAR.RATIO
or EGEAR.PULSESOUT / EGEAR.PUSLESIN ) is
decreased. (pg 393)
EGEAR.ERROR (pg 395) R/W Indicates the amount of position deviation that has accu-
mulated on the slave axis (in an electronic gearing applic-
ation) as a result of the slave axis limiting its acceleration
or deceleration while achieving velocity synchronization.
(pg 395)
EGEAR.LOCK (pg 396) R/O EGEAR.LOCK indicates when the slave axis (follower
axis) in an electronic gearing application has achieved velo-
city synchronization with the electronic gearing master.
(pg 396)
EGEAR.ON (pg 397) Command Starts the electronic gearing; active in opmode 2 (position)
only. (pg 397)
EGEAR.PULSESIN (pg 398) R/W Specifies the number of encoder counts used when spe-
cifying an exact electronic gearing ratio. (pg 398)
EGEAR.PULSESOUT (pg 399) R/W Specifies the number of position counts used in an exact
electronic gearing ratio. (pg 399)
EGEAR.RATIO (pg 400) R/W Sets the electronic gearing ratio (rev to rev) between the
encoder shaft (master) and the motor shaft (slave). (pg
400)
EGEAR.TYPE (pg 401) R/W Sets the allowed direction of motion for electronic gearing.
(pg 401)
External Encoder
(EXTENCODER)
EXTENCODER.FREQ (pg 403) R/O Gets the external encoder (EEO) velocity. (pg 403)
EXTENCODER.POSITION (pg R/O Gets the external encoder (EEO) position. (pg 404)
404)
EXTENCODER.POSMODULO R/W Sets/gets the external encoder (EEO) modulo position. (pg
(pg 405) 405)
Interrupt (INTR)
Interrupt...End Interrupt (pg 535) Statement The interrupt feature permits execution of a user-defined
subroutine upon receipt of a hardware interrupt signal or a
pre-defined interrupt event. (pg 535)

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 AKD BASIC Programming Manual | 4.2 AKD BASIC Parameters and Commands

Parameter Type Description

INTR.DIN1HI (pg 533) Enables interrupt for when DIN1.STATE to DIN7.STATE
goes from 0 to 1, respectively.
INTR.DIN1LO (pg 533) Enables interrupt for when DIN1.STATE to DIN7.STATE
goes from 1 to 0, respectively.
INTR.DISABLE (pg 534) Enables interrupt for when the drive gets disabled.
INTR.DRV.FAULTS (pg 534) Enables interrupt for when the drive faults.
INTR.DRV.HWENABLE (pg Enables interrupt for when DRV.HWENABLE goes from 0
534) to 1.
INTR.DRV.WARNINGS (pg Enables interrupt for when the drive produces a warning.
534)
INTR.HWLS.NEGSTATE (pg Enables interrupt for when HWLS.NEGSTATE goes from
534) 0 to 1.
INTR.HWLS.POSSTATE (pg Enables interrupt for when HWLS.POSSTATE goes from
534) 0 to 1.
INTR.MODBUS (pg 534) Enables interrupt for when a Modbus User Parameter
changes.
INTR.PL.ERR (pg 534) Enables interrupt for when PL.ERR = PL.ERRFTHRESH.
INTR.PLS.P1 to INTR.PLS.P8 Enables interrupt for when PLS1 to PLS8 is enabled and
(pg 534) goes high, respectively.
INTR.SWLS.LIMIT0 (pg 534) Enables interrupt for when PL.FB > SWLS.LIMIT0 (if
SWLS.LIMIT0 is the upper limit)
INTR.SWLS.LIMIT1 (pg 534) Enables interrupt for when PL.FB < SWLS.LIMIT1 (if
SWLS.LIMIT1 is the lower limit)
INTR.TIMER (pg 534) Executes interrupt after a number of milliseconds spe-
cified by VM.INTRTIMER.
MODBUS Parameters
MODBUS.PIN (pg 539) R/W Gets / Sets the Modbus User Units Input parameter.
MODBUS.POUT (pg 541) R/W Gets / Sets the Modbus User Units Output parameter.
MODBUS.PSCALE (pg 543) R/W Gets/Sets the Feedback Resolution (per rev) over Mod-
bus.
MODBUS.SCALING (pg 545) NV Selects the scaling mode for Modbus values.
Move Parameters (MOVE)
MOVE.ABORT (pg 590) Command MOVE.ABORT stops motor motion and allows continued
program execution. (pg 590)
MOVE.ACC (pg 591) R/W Sets the maximum commanded acceleration rate when
the speed is increased. (pg 591)
MOVE.DEC (pg 593) R/W Sets the maximum commanded deceleration rate when
the speed is decreased. (pg 593)
MOVE.DIR (pg 595) R/W MOVE.DIR specifies the direction the motor turns when a
MOVE.GOVEL statement is executed. (pg 595)
MOVE.GOABS (pg 597) Command MOVE.GOABS moves the motor to the position specified
by MOVE.TARGETPOS. (pg 597)
MOVE.GOHOME (pg 598) Command MOVE.GOHOME causes the motor to move to the pos-
ition specified where PL.FB = 0. (pg 598)
MOVE.GOREL (pg 599) Command MOVE.GOREL moves the motor a distance specified by
MOVE.RELATIVEDIST. (pg 599)

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AKD BASIC Programming Manual | 4.2 AKD BASIC Parameters and Commands

Parameter Type Description

MOVE.GOUPDATE (pg 600) Command MOVE.GOUPDATE updates a move in progress with new
move parameters. (pg 600)
MOVE.GOVEL (pg 601) Command MOVE.GOVEL moves the motor at a constant speed spe-
cified by MOVE.RUNSPEED and direction specified by
MOVE.DIR. (pg 601)
MOVE.INPOSITION (pg 602) R/O Indicates whether or not the motor has achieved command
position. (pg 602)
MOVE.INPOSLIMIT (pg 603) R/W Specifies the tolerance of Position Error (PL.ERR) within
which the MOVE.INPOSITION flag will be set to 1 (True).
(pg 603)
MOVE.MOVING (pg 604) R/O Indicates whether or not the commanded motion profile is
complete. (pg 604)
MOVE.POSCOMMAND (pg R/W Current Position Command from Trajectory Generator. (pg
605) 605)
MOVE.RELATIVEDIST (pg 606) R/W Specifies the distance the motor turns during a relative
move (MOVE.GOREL). (pg 606)
MOVE.RUNSPEED (pg 607) R/W Sets the maximum speed allowed during a relative
(MOVE.GOREL) or absolute (MOVE.GOABS) move, and
sets the commanded speed during a velocity move
(MOVE.GOVEL). (pg 607)
MOVE.SCURVETIME (pg 608) R/W Sets the amount of S-curve smoothing applied to all velo-
city profiles. (pg 608)
MOVE.TARGETPOS (pg 609) R/W MOVE.TARGETPOS specifies the target position for an
absolute (MOVE.GOABS) move. (pg 609)
MOVE.VCMD (pg 610) R/O Trajectory Generator Velocity Command. (pg 610)
Virtual Machine (VM)
VM.AUTOSTART (pg 772) R/W VM.AUTOSTART specifies whether or not the program in
the AKD BASIC starts executing automatically when AC
power is applied. (pg 772)
VM.PGMCOMPILERVERSION R/O Returns the compiler version of the most recent
(pg 776) BASIC program downloaded to the drive.
VM.ERR (pg 773) R/W Indicates what caused the most recent Runtime Error. (pg
773)
VM.INTRTIMER (pg 775) R/W Sets a number of milliseconds before
INTR.TIMER executes after it is called. (pg 775)
VM.PGMERRORLIST (pg 777) R/O Returns a list of unsupported items from the most recent
BASIC program downloaded to the drive.
VM.RESTART (pg 778) Command Causes program execution to start again from the begin-
ning of the program. (pg 778)
VM.START (pg 779) Command Starts program execution if program has been stopped. (pg
779)
VM.STATE (pg 780) R/O Returns the state of the AKD Virtual Machine. (pg 780)
VM.STOP (pg 781) Command Stops Execution of the program (pg 781)
WHEN
When (pg 783) Statement The When statement is used for very fast response to cer-
tain input conditions. (pg 783)
When Conditons
PL.FB < value

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 AKD BASIC Programming Manual | 4.2 AKD BASIC Parameters and Commands

Parameter Type Description

PL.FB > value
PL.CMD < value
PL.CMD > value
DRV.HANDWHEEL < value
DRV.HANDWHEEL > value
DRV.TIME > value
DINx.STATE = 0 or 1
FB3.P < value
FB3.P > value
MOVE.MOVING = 0 or 1
MOVE.INPOSITION = 0 or 1
When Actions
Continue
CAMVM.GOREL
CAMVM.GOUPDATE
CAMVM.GOVEL
CAMVM.STOP
DOUT1.STATEU = 0 or 1
DOUT2.STATEU = 0 or 1
EGEAR.RATIO = value
MOVE.ABORT
MOVE.GOABS
MOVE.GOREL
MOVE.GOVEL
MOVE.GOABSREG
MOVE.GOHOME
MOVE.GORELREG
MOVE.GOUPDATE

WHEN.DRVHANDWHEEL (pg R/O Records the value of DRV.HANDWHEEL when the

786) when-condition is satisfied. (pg 786)
WHEN.DRVTIME (pg 787) R/O Records the value of Time when the when-condition is sat-
isfied. (pg 787)
WHEN.FB1MECHPOS (pg 788) R/O Records the value of FB1.MECHPOS when the when-con-
dition is satisfied. (pg 788)
WHEN.FB3P (pg 789) R/O Records the value of FB3.P when the when-condition is
satisfied. (pg 789)
WHEN.PLCMD (pg 790) R/O Records the value of PL.CMD when the when-condition is
satisfied. (pg 790)
WHEN.PLFB (pg 791) R/O Records the value of Position when the when-condition is
satisfied. (pg 791)

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AKD BASIC Programming Manual | 5 AKD BASIC Functions

5 AKD BASIC Functions

This section describes the functions available in AKD BASIC.

5.1 ABS() 72
5.2 ASC() 73
5.3 ATAN() 74
5.4 CHR$() 75
5.5 CINT() 76
5.6 COS() 77
5.7 EXP() 78
5.8 FIX() 79
5.9 HEX$() 80
5.10 INKEY$() 81
5.11 INSTR() 82
5.12 INT() 83
5.13 LCASE$() 84
5.14 LEFT$() 85
5.15 LEN() 86
5.16 LOG() 87
5.17 LOG10() 88
5.18 LTRIM$() 89
5.19 MID$ 90
5.20 OCT$() 91
5.21 RIGHT$() 92
5.22 RTRIM$() 93
5.23 SGN() 94
5.24 SIN() 95
5.25 SPACE$() 96
5.26 SQRT() 97
5.27 STR$() 98
5.28 STRING$() 99
5.29 TAN() 100
5.30 TRIM$() 101
5.31 UCASE$() 102
5.32 VAL() 103

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 AKD BASIC Programming Manual | 5.1 ABS()

5.1 ABS()
General Information
Type Function
ABS(x) converts the associated value (x) to an absolute value. If the value is negative, it
Description
is converted to a positive value. If the value is positive, it is not changed.

Instructions
Enter the argument (the value) in parentheses immediately following the term ABS.

Example

For x = -10 To 10
Print ABS(x)
Next

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AKD BASIC Programming Manual | 5.2 ASC()

5.2 ASC()
General Information
Type Function
ASC(string expression)returns a decimal numeric value that is the ASCII code for the first
Description
character of the string expression(x$).

Syntax
x = ASC(s$)

Instructions
If the string begins with an uppercase letter, the value of ASC() will be between 65 and 90.
If the string begins with a lowercase letter, the value of ASC() will be between 97 and 122.
Values "0" to "9" return 48 to 57.

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 AKD BASIC Programming Manual | 5.3 ATAN()

5.3 ATAN()
General Information
Type Function
Description ATAN() (arc tangent) returns the arctangent of its argument in radians.

Instructions
The result is always between -pi/2 and pi/2.
The value of x may be any numeric type.
To convert from degrees to radians, multiply by 0.01745329

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AKD BASIC Programming Manual | 5.4 CHR$()

5.4 CHR$()
General Information
Type Function
Description Returns a one character string whose ASCII value is the argument.

Syntax
s$ = CHR$(x)

Instructions
The argument to Chr$() must be a numeric value in the range 0 to 255.

Example
'this example will print an uppercase B
Dim a$ as string
a$ = CHR$(66)
Print a$

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 AKD BASIC Programming Manual | 5.5 CINT()

5.5 CINT()
General Information
Type Function
Description Converts a numeric expression to the closest integer number.

Instructions
X = CINT( numeric-expression )

Related Topics
INT() (pg 83) | FIX() (pg 79)

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AKD BASIC Programming Manual | 5.6 COS()

5.6 COS()
General Information
Type Function
Description COS(x) returns the cosine of x, where x is in radians.

Instructions
X must be in radians. To convert from degrees to radians, multiply by 0.017453.

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 AKD BASIC Programming Manual | 5.7 EXP()

5.7 EXP()
General Information
Type Function
Description Returns e (the base of natural logarithms) raised to a power.

Instructions
The Exp() function complements the action of the Log() function. For those of you keeping score, the
value of e is 2.71828182.

Related Topics
LOG() (pg 87) | LOG10() (pg 88)

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AKD BASIC Programming Manual | 5.8 FIX()

5.8 FIX()
General Information
Type Function
Description Fix() returns the truncated integer part of x.

Instructions
Fix() does not round off numbers, it simply eliminates the decimal point and all digits to the right of the
decimal point.

Related Topics
ABS() (pg 72) | CINT() (pg 76) | INT() (pg 83)

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 AKD BASIC Programming Manual | 5.9 HEX$()

5.9 HEX$()
General Information
Type Function
Description HEX$() converts an integer number to its equivalent hexadecimal ASCII string.

Syntax
result$ = HEX$(x)

Instructions
Hexadecimal numbers are numbers to the base 16 (rather than base 10).
The argument to HEX$() is rounded to an integer before HEX$(x) is evaluated.

Example
Dim x,y as integer
Dim result1$, result2$ as string
x = 20
y = $H6A
result1$ = HEX$(x)
result2$ = HEX$(y)
Print result1$, result2$
'prints 14 6A

Related Topics
OCT$() (pg 91) | STR$() (pg 98)

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AKD BASIC Programming Manual | 5.10 INKEY$()

5.10 INKEY$()
General Information
Type Function
Returns a 1 character string corresponding to the character in the serial port receive buf-
Description fer. If there is no character waiting the INKEY$ will be the Null string (""). If several char-
acters are pending only the first one is returned.

Syntax
x$ = INKEY$

Instructions
Assigning a string from INKEY$ removes the character from the serial port's receive buffer.

Example
' remove all characters from the receive buffer and put them into
'A$.
new$ = INKEY$
While new$ <> ""
A$ = A$ + new$
new$ = INKEY$
Wend

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 AKD BASIC Programming Manual | 5.11 INSTR()

5.11 INSTR()
General Information
Type Function
Description Returns the starting location of a substring within a string.

Syntax
result = INSTR( [n], x$, y$ )
x$ is the string
y$ is the substring
n optionally sets the start of the search

Instructions
n must be in the range 1 to 255
INSTR() returns 0 if:
n > LEN(x$)
y$ cannot be found in x$
If y$ iis null (empty, ""), INSTR() returns n

Related Topics
LEN() (pg 86)

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AKD BASIC Programming Manual | 5.12 INT()

5.12 INT()
General Information
Type Function
Description INT() (convert to largest integer) truncates an expression to a whole number.

Instructions
INT() behaves the same as FIX() for positive numbers. They behave differently for negative numbers.

Example
Print INT(12.34) 'prints the value 12
Print INT(-12.34) 'prints the value -13

Related Topics
CINT() (pg 76) | FIX() (pg 79)

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 AKD BASIC Programming Manual | 5.13 LCASE$()

5.13 LCASE$()
General Information
Type Function
Description Converts a string expression to lowercase characters.

Syntax
result$ = LCASE$(string-expression)

Instructions
LCASE$() affects only letters in the string expression. Other characters (such as numbers) are not
changed.

Example
Dim x$ as string
x$ = "U.S.A"
Print LCASE$(x$) 'prints: u.s.a

Related Topics
UCASE$() (pg 102)

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AKD BASIC Programming Manual | 5.14 LEFT$()

5.14 LEFT$()
General Information
Type Function
Description Returns a string of the n leftmost characters in a string expression.

Syntax
result$ = LEFT$(x$, n)

Instructions
If n is greater than LEN( x$ ) then the entire string will be returned.

Example
a$ = "Mississippi"
Print LEFT$(a$, 5) 'prints: Missi

Related Topics
LEN() (pg 86) | MID$ (pg 90) | RIGHT$() (pg 92)

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 AKD BASIC Programming Manual | 5.15 LEN()

5.15 LEN()
General Information
Type Function
Description Returns the number of characters in a string expression.

Syntax
result = Len( x$ )

Instructions
Non-printing characters and blanks are included.

Example
x$ = "New York, New York"
Print LEN(x$) 'prints 18

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AKD BASIC Programming Manual | 5.16 LOG()

5.16 LOG()
General Information
Type Function
Description Returns the natural logarithm of a numeric expression.

Instructions
X must be greater than 0.

Example
Print LOG (45.0 / 7.0) 'prints 1.860752
Print LOG(1) 'prints 0

Related Topics
EXP() (pg 78) | LOG10() (pg 88)

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 AKD BASIC Programming Manual | 5.17 LOG10()

5.17 LOG10()
General Information
Type Function
Description Returns the base 10 logarithm of a numeric expression.

Instructions
X must be greater than 0.

Example
Print LOG10(100) 'prints 2
Print LOG10(1) 'prints 0

Related Topics
EXP() (pg 78) | LOG() (pg 87)

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AKD BASIC Programming Manual | 5.18 LTRIM$()

5.18 LTRIM$()
General Information
Type Function
Description Returns a copy of the original string with leading blanks removed.

Syntax
result$ = LTRIM$(x$)

Instructions
x$ can be any string-expression

Example
x$ = " Hello "
Print "(" + LTRIM$(x$) + ")"
'prints: (Hello )

Related Topics
RTRIM$() (pg 93) | TRIM$() (pg 101)

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 AKD BASIC Programming Manual | 5.19 MID$

5.19 MID$
General Information
Type Function
Returns a substring of the original string that begins at the specified offset location and is
Description
of the specified (optional) length.

Syntax
result = MID$(x$, start, [length])

Instructions
Start and Length must both be numeric expressions.
If Length is omitted then MID$() returns a substring that starts at start and goes to the end of x$.

Example
x$ = "abcdefghi"
Print MID$ (x$, 1, 5) 'prints: abcde
Print MID$ (x$, 6) 'prints: fghi

Related Topics
INSTR() (pg 82) | LEFT$() (pg 85) | LEN() (pg 86) | RIGHT$() (pg 92)

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AKD BASIC Programming Manual | 5.20 OCT$()

5.20 OCT$()
General Information
Type Function
Description OCT$() converts an integer number to its equivalent octal ASCII string.

Syntax
result$ = OCT$(x)

Instructions
Octal numbers are numbers to the base 8 (rather than base 10).
The argument to HEX$() is rounded to an integer before OCT$(x) is evaluated.

Example
Dim x, y as integer
Dim result1$, result2$ as string

x = 20
y = &H6A
result1$ = OCT$(x)
result2$ = OCT$(y)
print result1$, result2$ 'prints: 24 152

Related Topics
HEX$() (pg 80) | STR$() (pg 98)

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 AKD BASIC Programming Manual | 5.21 RIGHT$()

5.21 RIGHT$()
General Information
Type Function
Description Returns a string of the n rightmost characters in a string expression.

Syntax
result$ = RIGHT$(x$, n)

Instructions
If n is greater than Len( x$ ) then the entire string will be returned.

Example
a$ = "Mississippi"
Print RIGHT$(a$, 5) 'prints: sippi

Related Topics
LEN() (pg 86) | MID$ (pg 90) | LEFT$() (pg 85)

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AKD BASIC Programming Manual | 5.22 RTRIM$()

5.22 RTRIM$()
General Information
Type Function
Description Returns a copy of the original string with trailing blanks removed.

Syntax
result$ = RTRIM$( x$ )

Instructions
x$ can be any string-expression.

Example
x$ = " Hello "
Print "(" + RTRIM$(x$) + ")"
'prints: ( Hello)

Related Topics
LTRIM$() (pg 89) | TRIM$() (pg 101)

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 AKD BASIC Programming Manual | 5.23 SGN()

5.23 SGN()
General Information
Type Function
Description Returns the sign of a numeric expression.

Instructions
X is any numeric expression

Example
Print SGN(-33) 'prints -1
Print SGN(0) 'prints 0
Print SGN(45.77) 'prints 1

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AKD BASIC Programming Manual | 5.24 SIN()

5.24 SIN()
General Information
Type Function
Description SIN(x) returns the sine of x, where x is in radians.

Instructions
X must be in radians. To convert from degrees to radians, multiply by 0.017453.

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 AKD BASIC Programming Manual | 5.25 SPACE$()

5.25 SPACE$()
General Information
Type Function
Description Returns a string of n spaces.

Syntax
result$ = SPACE$(n)
n is 0 to 255

Instructions
N is rounded to an integer before SPACE$() is evaluated.

Example
x$ = "(" + SPACE$(1) + "hello" + SPACE$(4) + ")"
Print x$
'prints: ( hello )

Related Topics
STRING$() (pg 99)

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AKD BASIC Programming Manual | 5.26 SQRT()

5.26 SQRT()
General Information
Type Function
Description Returns the square root of a numeric expression.

Instructions
X must be greater than or equal to zero.

Example
x = 10
print SQRT(x) 'prints 3.162278

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 AKD BASIC Programming Manual | 5.27 STR$()

5.27 STR$()
General Information
Type Function
Description Returns a string representing the value of a numeric expression.

Syntax
result$ = STR$(x)

Instructions
Enter a numeric expression as x and STR$ will return its result as a string.

Example
x = 45.2 / 7
Print STR$(x) 'prints: 6.457

Related Topics
HEX$() (pg 80) | OCT$() (pg 91)

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AKD BASIC Programming Manual | 5.28 STRING$()

5.28 STRING$()
General Information
Type Function
Returns a string containing the specified number of occurrences of the specified char-
Description
acter.

Syntax
1) x$ = STRING$(n, a$)
or
2) x$ = STRING$(n, m)

Instructions
n is the number of occurrences of the desired character (the length of the returned string).
In 1), the returned string will consist of the first character in a$
In 2), the returned string will consist of the ASCII value of m.

Example
Print String$(5, 45) 'prints: -----
Print String$(5, "A") 'prints: AAAAA

Related Topics
SPACE$() (pg 96)

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 AKD BASIC Programming Manual | 5.29 TAN()

5.29 TAN()
General Information
Type Function
Description TAN(x) returns the tangent of x, where x is in radians.

Instructions
X must be in radians. To convert from degrees to radians, multiply by 0.017453.

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AKD BASIC Programming Manual | 5.30 TRIM$()

5.30 TRIM$()
General Information
Type Function
Description Returns a copy of the original string with leading and trailing blanks removed.

Syntax
result$ = TRIM$(x$)

Instructions
x$ can be any string-expression

Example
x$ = " Hello "
Print "(" + TRIM$(x$) + ")"
'prints: (Hello)

Related Topics
LTRIM$() (pg 89) | RTRIM$() (pg 93)

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 AKD BASIC Programming Manual | 5.31 UCASE$()

5.31 UCASE$()
General Information
Type Function
Description Converts a string expression to uppercase characters.

Syntax
result$ = UCASE$(string-expression)

Instructions
UCASE$() affects only letters in the string expression. Other characters (such as numbers) are not
changed.

Example
Dim x$ as string
x$ = "u.s.a"
Print UCASE$( x$) 'prints: U.S.A

Related Topics
LCASE$() (pg 84)

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AKD BASIC Programming Manual | 5.32 VAL()

5.32 VAL()
General Information
Type Function
Description Returns the numerical value of a string.

Syntax
result = VAL(a$)

Instructions
If the first character of a$ is not numeric then Val() will return 0.

Related Topics
STR$() (pg 98)

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 AKD BASIC Programming Manual | 6 Operators

6 Operators
This section describes the details of some operators available in AKD BASIC.

6.1 AND 105

6.2 BAND 106
6.3 BNOT 107
6.4 BOR 108
6.5 BXOR 109
6.6 MOD 110
6.7 NOT 111
6.8 OR 112
6.9 SHL 113
6.10 SHRA 114
6.11 SHRL 115
6.12 XOR 116

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AKD BASIC Programming Manual | 6.1 AND

6.1 AND
General Information
Type Operator
Description Performs a logical AND operation on two expressions.

Syntax
result = A AND B

Instructions
The result evaluates to True if, and only if, both expressions are True. Otherwise, the result is False.

Example
x = 17
y = 27
if (x > 20) AND (y > 20) then
print "This won't get printed"
end if
if (x < 20) AND (y > 20) then
print "This will get printed"
end if

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 AKD BASIC Programming Manual | 6.2 BAND

6.2 BAND
General Information
Type Operator
Description Performs a bitwise AND of two integer expressions.

Syntax
result = x BAND y

Instructions
The Band operator performs a bitwise And operation on the two numeric expressions. The expressions
are converted to integers (32 bits) before the Band operation takes place.
For each of the 32 bits in the result, the bit will be set to 1 if, and only if, the corresponding bit in both of the
arguments is 1.

Example
x = 45 '0010 1101 binary
y = 99 '0110 0011 binary
print x BAND y 'prints: 33 (0010 0001)

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AKD BASIC Programming Manual | 6.3 BNOT

6.3 BNOT
General Information
Type Operator
Description Performs a bitwise NOT of the integer expression.

Syntax
result = Bnot x

Instructions
The Bnot operator performs a bitwise NOT operation on a numeric expression. The expression is con-
verted to an integer (32 bits) before the BNOT operation takes place.
For each of the 32 bits in the result, the bit will be set to 1 if the corresponding bit in the argument is 0; the
bit will be set to 0 if the corresponding bit in the argument is 1.

Example
x = 45 '0010 1101 binary
print BNOT x 'prints: -46

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 AKD BASIC Programming Manual | 6.4 BOR

6.4 BOR
General Information
Type Operator
Description Performs a bitwise OR of two integer expressions.

Syntax
result = x BOR y

Instructions
The Bor operator performs a bitwise OR operation on the two numeric expressions. The expressions are
converted to integers (32 bits) before the BOR operation takes place.
For each of the 32 bits in the result, the bit will be set to 1 if the corresponding bit in either of the arguments
is 1.

Example
x = 45 '0010 1101 binary
y = 99 '0110 0011 binary
print x BOR y 'prints: 111(0110 1111)

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AKD BASIC Programming Manual | 6.5 BXOR

6.5 BXOR
General Information
Type Operator
Description Performs a bitwise XOR of two integer expressions.

Syntax
result = x BXOR y

Instructions
The Bxor operator performs a bitwise XOR operation on the two numeric expressions. The expressions
are converted to integers (32 bits) before the BXOR operation takes place.
For each of the 32 bits in the result, the bit will be set to 1 if the corresponding bits in the two arguments
are different from each other. If the corresponding bits are identical (both 0 or both 1), then the bit will be
set to 0.

Example
x = 45 '0010 1101 binary
y = 99 '0110 0011 binary
print x BXOR y 'prints: 78 (0100 1110)

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 AKD BASIC Programming Manual | 6.6 MOD

6.6 MOD
General Information
Type Operator
This is the modulus or "remainder" operator. It divides one number by another and returns
Description
the remainder.

Syntax
x = y MOD z

Instructions
This MOD operator is only used in numeric expressions.

Example
Print 19 MOD 5 'prints: 4

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AKD BASIC Programming Manual | 6.7 NOT

6.7 NOT
General Information
Type Operator
Description Performs a logical NOT operation on a boolean expression.

Syntax
result = not (boolean-expression)

Instructions
The result evaluates to True if, and only if, the boolean expressions is False. Otherwise, the result is
False.

Example
Main
if (1=1) then
print "This will be printed"
end if
if NOT(1=1) then
print "This will not be printed"
end if
if NOT(1=2) then
print "This will also be printed"
end if
End Main

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 AKD BASIC Programming Manual | 6.8 OR

6.8 OR
General Information
Type Operator
Description Performs a logical OR operation on two expressions.

Syntax
result = a OR b

Instructions
The result evaluates to True if either of the expressions is True. Otherwise, the result is False.

Example
x = 17
y = 27
if (x > 20) OR (y > 20) then
print "This will get printed"
end if
if (x < 20) OR (y > 20) then
print "...so will this"
end if

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AKD BASIC Programming Manual | 6.9 SHL

6.9 SHL
General Information
Type Operator
Description Left Shift Operator

Syntax
operand1 SHL operand2

Instructions
This operator performs a left shift by operand2 places of operand1. This is equivalent to multiplying oper-
and1 by 2 operand2 number of times.

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 AKD BASIC Programming Manual | 6.10 SHRA

6.10 SHRA
General Information
Type Operator
Description Arithmetic Right Shift Operator

Syntax
operand1 SHRA operand2

Instructions
This operator performs an arithmetic right shift of operand1 by operand2 number of places. This is equi-
valent to dividing operand1 by 2 operand2 number of times.

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AKD BASIC Programming Manual | 6.11 SHRL

6.11 SHRL
General Information
Type Operator
Description Logical Right Shift Operator

Syntax
operand1 SHRL operand2

Instructions
This operator performs a logical right shift of operand1 by operand2 number of places. In a logical right
shift zeros are shifted in from the left.

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 AKD BASIC Programming Manual | 6.12 XOR

6.12 XOR
General Information
Type Operator
Description Performs a logical XOR operation on two expressions.

Syntax
result = a XOR b

Instructions
The result evaluates to True if, and only if, one of the boolean expressions is True and the other boolean
expression is False.
Otherwise, the result is False.

Example
x = 17
y = 27
if (x > 20) XOR (y > 20) then
print "This will get printed."
end if
if (x < 20) XOR (y > 20) then
print "This won't get printed."
end if

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AKD BASIC Programming Manual | 7 AKD BASIC Parameters and Statements

7 AKD BASIC Parameters and Statements

This section is an alphabetical reference to AKD BASIC parameters. A list of additional statements which
have no category are included at the start of this section.

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 AKD BASIC Programming Manual | 7.1 Additional Statements

7.1 Additional Statements

This section describes statements not directly related to a parameter set.

7.1.1 $Include 119

7.1.2 Alias 120
7.1.3 Call 121
7.1.4 Cls 122
7.1.5 Const 123
7.1.6 Dim 124
7.1.7 Exit 125
7.1.8 For...Next 126
7.1.9 Function 127
7.1.10 GoTo 128
7.1.11 If...Then...Else 129
7.1.12 Input 130
7.1.13 On Error GoTo 131
7.1.14 Pause() 132
7.1.15 Print 133
7.1.16 Restart 134
7.1.17 Select Case 135
7.1.18 Static 136
7.1.19 Stop 137
7.1.20 Sub...End Sub 138
7.1.21 Swap 139
7.1.22 While...Wend 140

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AKD BASIC Programming Manual | 7.1.1 $Include

7.1.1 $Include
General Information
Type Statement
The $Include statement allows you to textually include multiple separate files in a single
Description
source file.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
The $Include statement allows you to textually include multiple separate files in a single source file. A file
cannot include itself, either directly or indirectly. Include file nesting is allowed to a depth of 16. Relative
paths in a nested include file are relative to the directory location of the include file, not the current working
directory of the compiler.

Example
This example shows two file, myinc.inc and myfile.bas. The file myinc.inc has a sub-procedure for doing
and incremental move that is used by the main program in myfile.bas.

MyInc.Inc:

Sub DoIndexMove( Distance as integer)

MOVE.RELATIVEDIST = Distance
MOVE.GOREL
while MOVE.MOVING : wend
End Sub

MyFile.Bas"

$Include "myinc.inc"
Main
while 1
call DoIndexMove(4096)
Pause(0.5)
wend
End Main

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 AKD BASIC Programming Manual | 7.1.2 Alias

7.1.2 Alias
General Information
Type Statement
Allows you to define your own names for system
Description
resources, such as Input or Output pins.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
Allows you to define your own names for system resources, such as Input or Output pins. ALIAS is much
more powerful than CONST. Constant expressions are computable at compile-time, whereas an alias has
a value that may only be known at the time that it is being used. For this reason aliases should be used
with care – over-use of aliases can make it very difficult to read a program.

Example
Alias CONVEYOR_IS_RUNNING = (DIN1.STATE = 0)
if CONVEYOR_IS_RUNNING then
print "The conveyor is running"
end if

Related Topics
Const (pg 123)

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AKD BASIC Programming Manual | 7.1.3 Call

7.1.3 Call
General Information
Type Statement
Transfer program control to a subroutine. When the subroutine is finished then control is
Description
transferred to the line following the CALL.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
Transfer program control to a subroutine. When the subroutine is finished then control is transferred to the
line following the CALL. A subroutine is essentially a function with no return value. Arguments to sub-
routines are passed "by value". This means that the subroutine receives a copy of these arguments. Any
assignments to these arguments made by the subroutine will have no effect on these variables in the call-
ing function or subroutine.

Example
Call PrintSum(3,4)
'-------------- Subroutines and Functions ------------
Sub PrintSum(i,j,as integer)
print i+j
End Sub

Related Topics
Sub...End Sub (pg 138)

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 AKD BASIC Programming Manual | 7.1.4 Cls

7.1.4 Cls
General Information
Type Statement
This statement transmits 40 line feed characters (ASCII code = 10) to the serial port. Cls
Description
clears the display of a terminal.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
This statement transmits 40 line feed characters (ASCII code = 10) to the serial port. Cls clears the dis-
play of a terminal.

Example
Print "Take a good look now..."
pause (2)
cls

Related Topics
Statement Table(1)

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AKD BASIC Programming Manual | 7.1.5 Const

7.1.5 Const
General Information
Type Statement
Declares symbolic constants to be used instead of
Description
numeric values.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
Declares symbolic constants to be used instead of numeric values. Using the CONST Statement can
make your program much more readable and self-documenting.
Unlike variables, CONSTANTS can assume only one value in a program.

Example
Const SLEW_SPEED = 2500
Const WORK_SPEED = 100

MOVE.RUNSPEED = SLEW_SPEED : MOVE.GOVEL

Pause (0.5)
MOVE.RUNSPEED = WORK_SPEED : MOVE.GOVEL

Related Topics
Alias (pg 120)

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 AKD BASIC Programming Manual | 7.1.6 Dim

7.1.6 Dim
General Information
Type Statement
Used for declaring variables before use. All variables (except predefined variables) must
Description
be declared before they can be used.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
Used for declaring variables before use. All variables (except predefined variables) must be declared
before they can be used. The DIM statement may also be used to specify that a global variable is non-
volatile. When the controller is power-cycled non-volatile variables retain the value present when the con-
troller was powered down. All other user variables are initialized to zero.
The default length for strings is 32 characters. This default can be overridden by following the STRING
type designator with a * (see example).
There are 500 bytes available for user NV variables.
See the examples for how to use DIM to dimension an array.

Example
Dim x,y,z as Integer NV '3 non-volatile integers
Dim q as float '1 floating point
Dim Array1(4,5) as Integer 'a 4x5 array
Dim A$ as String*50 'a 50 character string

Related Topics
Static (pg 136)

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AKD BASIC Programming Manual | 7.1.7 Exit

7.1.7 Exit
General Information
Type Statement
The Exit statement is used to exit from a subroutine, a function, an interrupt, a For...Next
Description
or a While...Wend.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
The Exit statement is used to exit from a subroutine, a function, an interrupt, a For...Next or a
While...Wend. Do not confuse the Exit statement with the End statement. The Exit statement causes pro-
gram control to pass to the end of the block structure whereas the End statement defines the end of the
structure.

Related Topics
Sub...End Sub (pg 138) | Function (pg 127) | Interrupt...End Interrupt (pg 535) | For...Next (pg 126) |
While...Wend (pg 140)

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 AKD BASIC Programming Manual | 7.1.8 For...Next

7.1.8 For...Next
General Information
Type Statement
Description Allows a series of lines to be executed in a loop a specified number of times.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
Allows a series of lines to be executed in a loop a specified number of times. You can exit from a
For...Next loop using the Exit statement. If Step increment is omitted then increment defaults to 1. The
loop_counter can be floating point or integer. The Step increment can be positive or negative, integer or
floating point.

Example
'print 2 to 100 in 2's
Dim x as integer
For x = 1 to 100 step 2
print x
next

'print 0.5 to 1.2 in 0.1 increments

Dim x as float
For x = 0.5 to 1.2 step 0.1
print x
next

Related Topics
While...Wend (pg 140) | Exit (pg 125)

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AKD BASIC Programming Manual | 7.1.9 Function

7.1.9 Function
General Information
Type Statement
The Function statement is used to declare and define the name, arguments and type of a
Description
user defined function.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
The Function statement is used to declare and define the name, arguments and type of a user defined
function. The code for the function immediately follows the function statement and must be terminated by
an End Function statement.
On entry to the function all local variables are initialized to zero including all elements of local arrays. All
local string variables are initialized to the null string ("").
If a function takes no arguments then the argument-list (including the parentheses) must be omitted, both
when declaring the function and when using the function.
The return value for the function is specified by making an assigment to the function name. See the
example (cube) below.
Arguments, including array arguments, are passed by value. Arrays cannot be returned from functions.

Example
This example declares a function that calculates the cube of a floating point number.

Main
dim LocalFloat as float
LocalFloat = 1.234
LocalFloat = cube(LocalFloat)
print LocalFloat
End Main

Function cube( x as float) as float

cube = x ^3
End Function

Related Topics
Dim (pg 124) | Static (pg 136) | Exit (pg 125) | Sub...End Sub (pg 138)

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 AKD BASIC Programming Manual | 7.1.10 GoTo

7.1.10 GoTo
General Information
Type Statement
GOTO causes the software to jump to the specified label and continue executing from
Description
there.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
GoTo causes the software to jump to the specified label and continue executing from there. GoTo is not
recommended as a looping technique. Excessive use of the GoTo statement can lead to disorganized and
confusing programs. Preferred looping techniques are:
l For...Next
l If...Then...Else
l While...Wend

Related Topics
On Error GoTo (pg 131)

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AKD BASIC Programming Manual | 7.1.11 If...Then...Else

7.1.11 If...Then...Else
General Information
Type Statement
If...Then...Else statements controls program execution based on the evaluation of
Description
numeric or string expressions.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
If...Then...Else statements controls program execution based on the evaluation of numeric or string
expressions. The syntax of If...Then...Else statements are as follows:
IF condition1 THEN
...statement block1...
[ ElseIf condition2 Then
...statement block2...]
[Else
...statement block3...]
End If
If condition1 is True then statement block1 is executed. Otherwise, if condition2 is True then statement
block2 is executed. If the original IF condition is False and all ELSEIF conditions are False then the ELSE
statement block (statement block3) is executed.

Related Topics
Select Case (pg 135) | While...Wend (pg 140) | Exit (pg 125)

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 AKD BASIC Programming Manual | 7.1.12 Input

7.1.12 Input
General Information
Type Statement
The Input statement reads a character string received from the console tab screen below
Description
the program editor window, terminated by a carriage-return.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
The Input statement reads a character string received from the console tab screen below the program
editor window, terminated by a carriage-return. The input variable can be integer, floating-point or a string.
As an option, the prompt-string is transmitted when the Input statement is encountered. This prompt-
string can be either a string constant or a string variable. If the prompt-string is followed by a semi-colon,
then a question mark will be printed at the end of the prompt-string. If the prompt-string is followed by a
comma then no question mark will be printed.

Example
Main
dim YourName$ as string
input "What's your name"; YourName$
print "Hello ";YourName$;", I'm leaving..."
End Main

Related Topics
Statement Table(1)

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AKD BASIC Programming Manual | 7.1.13 On Error GoTo

7.1.13 On Error GoTo

General Information
Type Statement
On Error Goto allows you to define a run-time error handler to prevent run-time errors from
Description
halting program execution.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
On Error Goto allows you to define a run-time error handler to prevent run-time errors from halting program
execution. Different error handlers can be defined for different parts of the program. An error handler is act-
ive from when the On Error Goto statement is executed until another one is executed.
An error handler has the same structure as a subroutine, but must end with a Restart statement. If the
error handler does not end with a Restart statement then program execution will terminate at the End Sub
statement.
Using the form On Error Goto 0 disables any user defined run-time error handler and reinstalls the default
handler. Any subsequent run-time error will print an error message and halt the program.
Errors occurring within the error handler are handled by the default error handler. This means that they will
halt program execution.

Example
dim Count as integer
Main
dim y as integer
if Count < 10 then
on error goto MyHandler
else
on error goto 0
end if
y = 0
pause(0.5)
y = 1/y
print "I'll never get here"
end main

Sub MyHandler
Count = Count+1
print Count
restart
End Sub

Related Topics
Restart (pg 134)

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 AKD BASIC Programming Manual | 7.1.14 Pause()

7.1.14 Pause()
General Information
Type Statement
Causes the program execution to pause for a specified amount of time. The motion of the
Description
motor is not affected.
Units seconds
Range N/A
Default
N/A
Value
Data Type N/A

Description
Causes the program execution to pause for a specified amount of time. The motion of the motor is not
affected. Interrupts are active during a Pause() statement.

Example
dim x as float

for x = 0.1 to 2.0 step 0.1

DOUT1.STATEU = 1
Pause(x)
DOUT1.STATEU = 0
Pause(x)
next

Related Topics
Statement Table(1)

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AKD BASIC Programming Manual | 7.1.15 Print

7.1.15 Print
General Information
Type Statement
Description Displays formatted output through the console while the program is running.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
AKD BASIC defines zones of 13 characters which can be used to produce output in columns.
If a list of expressions is separated by commas (,) then each subsequent expression is printed in the next
zone.
If a list of expressions is separated by semi-colons (;) then the zones are ignored and consecutive expres-
sions are printed in the next available character space.
If a PRINT statement ends in a comma or semi-colon then carriage-return/line-feed at the end of serial out-
put is suppressed.

Example
Print "Hello" , "Goodbye"
Print "Hello" ; "Goodbye"
Print "Hello" , "Goodbye";
Print "...The End."

Related Topics
Statement Table(1)

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 AKD BASIC Programming Manual | 7.1.16 Restart

7.1.16 Restart
General Information
Type Statement
Description Causes program execution to begin again from the beginning of the program.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
Causes program execution to begin again from the beginning of the program. Restart is the only way to
exit from an Error Handler routine. Any interrupts, WHEN statements or loops in progress will be aborted.
If the RESTART statement is used to exit from a user error handler then an infinite loop will occur if the
error condition is not cleared.
Note: RESTART does not clear the user program variables or by itself change any program variables, any
predefined variables or have any effect on motor motion.

Related Topics
MOVE.ABORT (pg 590) | On Error GoTo (pg 131)

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AKD BASIC Programming Manual | 7.1.17 Select Case

7.1.17 Select Case

General Information
Type Statement
Select Case executes one of several statement blocks depending upon the value of an
Description
expression.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
Select Case executes one of several statement blocks depending upon the value of an expression. The
test-expression must evaluate to a numeric or floating-point value. There may be as many Cases in the
Select Case statement as you want. There can only be one Case Else and it must be the last case in the
sequence. The Case Else statement block is executed if all other tests fail.
Select Case statements where the expression-lists are integer constants are executed more quickly at
run-time.

Example
This example prints out information about the numbers between 1 and 20.

Main
dim x as integer
for x = 1 to 20
print x;" is ";
select case x
case 1, 3, 5, 7, 9
print "Odd"
case 4, 8
print "4 or 8"
case 12 to 18
print "between 12 and 18"
case else
print "other"
end select
next
End Main

Related Topics
If...Then...Else (pg 129)

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 AKD BASIC Programming Manual | 7.1.18 Static

7.1.18 Static
General Information
Type Statement
The Static statement is used in a Function, Sub or Interrupt to specify that the specified
Description
variable's value be remembered even when the Function or Sub is finished.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
The Static statement is used in a Function, Sub or Interrupt to specify that the specified variable's value
be remembered even when the Function or Sub is finished. The next time that the Function, Sub or Inter-
rupt is executed, the value will be available.

Example
This example illustrates the difference between using Dim and Static in a Sub procedure. 'x' always gets
reset to zero, while 'y' continually gets incremented.

Main
while 1
call MySub
pause(1)
wend
End Main

Sub MySub
dim x as integer 'value is forgotten
static y as integer 'value is remembered
x = x + 1
y = y + 1
print x,y
End Sub

Related Topics
Dim (pg 124) | Sub...End Sub (pg 138) | Function (pg 127) | Interrupt...End Interrupt (pg 535)

136 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.1.19 Stop

7.1.19 Stop
General Information
Type Statement
Description Stops execution of the user program.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
Stops execution of the user program. When the user program stops AKD BASIC goes back to message
mode, waiting for a command over the communications link.

Related Topics
MOVE.ABORT (pg 590)

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 AKD BASIC Programming Manual | 7.1.20 Sub...End Sub

7.1.20 Sub...End Sub

General Information
Type Statement
Description The Sub statement declares a sub procedure and defines the sub procedures format.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
The Sub statement declares a sub procedure and defines the sub procedures format. A sub procedure is
invoked with the Call statement. A sub-procedure can accept arguments like a function, but does not
return any value. If the sub-procedure does not take any arguments then it is illegal to provide an empty
argument-list "( )" either when defining the sub-procedure or when calling it.

Example
This example defines a sub-procedure that takes one integer argument.

Main
dim x as integer
for x = 1 to 10
call MySub(x)
pause(1)
next
End Main

Sub MySub(a as integer)

print a;"---> ";
if a <= 5 then
print a * 0.5
else
print a * 2.0
end if
End Sub

Related Topics
Call (pg 121) | Function (pg 127) | Exit (pg 125)

138 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.1.21 Swap

7.1.21 Swap
General Information
Type Statement
Description Exchanges the value of two variables.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
Exchanges the value of two variables. The two variables must be both numeric (floating point of integer) or
both strings.

Example
Main
dim A$, B$ as string
A$ = "Hello"
B$ = "Good-bye"
print A$, B$
Swap A$, B$
print A$, B$
End Main

Related Topics
Statement Table(1)

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 AKD BASIC Programming Manual | 7.1.22 While...Wend

7.1.22 While...Wend
General Information
Type Statement
Description Executes a series of lines for as long as the condition after the WHILE is True.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
Executes a series of lines for as long as the condition after the WHILE is True. While...wend statements
may be nested. Each Wend is matched to the most recent While. Unmatched While or Wend statements
cause compile time errors.

Example
DRV.TIME = 0
While DRV.TIME < 5
MOVE.DIR = DIN1.STATE : MOVE.GOVEL
Wend
MOVE.ABORT

Related Topics
Exit (pg 125) | For...Next (pg 126)

140 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.2 AIN Parameters

7.2 AIN Parameters

This section describes the analog input (AIN) parameters. AIN parameters function as shown in the block
diagram below:

7.2.1 AIN.CUTOFF 142

7.2.2 AIN.DEADBAND 143
7.2.3 AIN.DEADBANDMODE 145
7.2.4 AIN.ISCALE 147
7.2.5 AIN.MODE 148
7.2.6 AIN.OFFSET 150
7.2.7 AIN.PSCALE 151
7.2.8 AIN.VALUE 153
7.2.9 AIN.VSCALE 154
7.2.10 AIN.ZERO 156

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 AKD BASIC Programming Manual | 7.2.1 AIN.CUTOFF

7.2.1 AIN.CUTOFF
General Information
Type NV Parameter
Sets the analog input low-pass filter cutoff fre-
Description
quency.
Units Hz
Range 0 to 10,000 Hz
Default
5,000 Hz
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2000 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 0 No 32 bit No M_01-03-00-000

Description
AIN.CUTOFF sets the break frequency in Hz for two cascaded single-pole low-pass filters on the hard-
ware command input. Since the two poles are cascaded at the same frequency, the -3 dB frequency is
0.64*AIN.CUTOFF in hertz and the 10% to 90% step response rise time is 0.53/AIN.CUTOFF in
seconds.
Suggested operating values are as follows:
l Analog torque opmode: 5 kHz
l Analog velocity opmode: 2.5 kHz
l General purpose analog input high resolution: 500 Hz

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AKD BASIC Programming Manual | 7.2.2 AIN.DEADBAND

7.2.2 AIN.DEADBAND
General Information
Type NV Parameter
Sets the analog input signal dead-
Description
band.
Units V
Range 0 to 12.5 V
Default
0V
Value
Data Type Float
Start Version M_01-00-00-000

Variant Support
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2001 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 2 No 16 bit No M_01-03-00-000

Description
AIN.DEADBAND sets the deadband of the analog input signal. When AIN.DEADBANDMODE is set to
0, and the value of the analog input is less than the value of AIN.DEADBAND, the analog command will
be 0. When the analog input is greater or equal to the AIN.DEADBAND, then the analog command will be
generated using the scaling specified.
When AIN.DEADBANDMODE is set to 1, the analog command is 0 if the input is less than the deadband
value. When the input is greater than the deadband, the output is equal to (Input - Deadband) * Scaling.
Below are illustrations of this behavior.

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 AKD BASIC Programming Manual | 7.2.2 AIN.DEADBAND

144 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.2.3 AIN.DEADBANDMODE

7.2.3 AIN.DEADBANDMODE
General Information
Type NV Parameter
Sets the analog input deadband
Description
mode.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
See Also AIN.DEADBAND (pg 143)
Start Version M_01-03-06-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2593 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1186 No 16 bit No

Description
When AIN.DEADBANDMODE is set to 0, and the value of the analog input is less than the value of
AIN.DEADBAND, the analog command will be 0. When the analog input is greater or equal to the
AIN.DEADBAND, then the analog command will be generated using the scaling specified.
When AIN.DEADBANDMODE is set to 1, the analog command is 0 if the input is less than the deadband
value. When the input is greater than the deadband, the output is equal to (Input - Deadband) * Scaling.
Below are illustrations of this behavior.

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 AKD BASIC Programming Manual | 7.2.3 AIN.DEADBANDMODE

146 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.2.4 AIN.ISCALE

7.2.4 AIN.ISCALE
General Information
Type NV Parameter
Sets the analog current scale
Description
factor.
Units A/V
Range 0.001 to 22.4 A/V
Default
0.001 A/V
Value
Data Type Float
Start Version M_01-01-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2002 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 4 No 32 bit No M_01-03-00-000

Description
AIN.ISCALE sets the analog current scale factor that scales the analog input (AIN.VALUE) for
DRV.OPMODE (pg 370) = 1 (analog torque mode).
The value entered is the motor current per 10 V of analog input. This value may be either higher or lower
than 100%, but the actual analog input will be limited by the application current limit (IL.LIMITN (pg 508)
and IL.LIMITP (pg 509)).

Kollmorgen | May 2014 147

 AKD BASIC Programming Manual | 7.2.5 AIN.MODE

7.2.5 AIN.MODE
General Information
Type NV Parameter
Analog input
Description
mode
Units N/A
Range 0 to 2
Default
1
Value
Data Type Integer
Start Version M_01-04-09-000

AKD SynqNet Information

Range 0

AKD BASIC Information

Range 0 to 1

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
2594 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1188 No 8 bit No

Description
The parameter AIN.MODE is used to assign a functionality to the voltage measured on the analog input
pin.
0 – The analog input value is not used by any function.
1 – This mode only works when DRV.CMDSOURCE is set to 3 (analog). The measured voltage will be
scaled with:

148 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.2.5 AIN.MODE

l AIN.ISCALE if DRV.OPMODE has been set to 0 ( torque mode)

l AIN.VSCALE if DRV.OPMODE has been set to 1 ( velocity mode)
l AIN.PSCALE if DRV.OPMODE has been set to 2 (position mode)

Afterwards, the value will be forwarded as a command value to the control-loops.

2 – This mode is used for generating a target velocity of a motion task. This mode works when
DRV.OPMODE is set to 2 (position) and DRV.CMDSOURCE is set to 0 ( service). The measured
voltage will be scaled with AIN.VSCALE.

Kollmorgen | May 2014 149

 AKD BASIC Programming Manual | 7.2.6 AIN.OFFSET

7.2.6 AIN.OFFSET
General Information
Type NV Parameter
Sets the analog input off-
Description
set.
Units V
Range –10 to +10 V
Default
0V
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2003 Yes
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 6 No 16 bit Yes M_01-03-00-000

Description
AIN.OFFSET sets the analog offset, which is added to the analog input command to the drive. This value
compensates for the analog input signal (AIN.VALUE (pg 153)) offset or drift.

150 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.2.7 AIN.PSCALE

7.2.7 AIN.PSCALE
General Information
Type NV Parameter
Description Sets the analog position scale factor.
Depends on UNIT.PROTARY (pg 718) or UNIT.PLINEAR (pg
716)
Units
Rotary: counts/V,rad/V, deg/V, Custom Units/V16-bit counts/V
Linear: counts/V, mm/V, µm/V, Custom Units/V16-bit counts/V
Rotary:
1 to 9,223,372,036,854,775 counts/V
0 to 13,493,026.816 rad/V
0.06 to 179.0 deg/V
0 to 10,737,418.240 (PIN/POUT)/V
0 to 140,737,488,355.327 16-bit counts/V
Range
Linear:
1 to 9,223,372,036,854,775 counts/V
0 to 2,147,483.648 mm/V
0 to 2,147,483,648.000 µm/V
0 to 10,737,418.240 (PIN/POUT)/V
0 to 140,737,488,355.327 16-bit counts/V
Rotary:
1 counts/V
0 rad/V
0 deg/V
0 (PIN/POUT)/V
Default 0 16-bit counts/V
Value Linear:
1 count/V
0 rad/V
0 deg/V
0 (PIN/POUT)/V
0 16-bit counts/V
Data Type Float
Start Version M_01-01-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes

Kollmorgen | May 2014 151

 AKD BASIC Programming Manual | 7.2.7 AIN.PSCALE

Variant Supported
®
AKD sercos III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3472h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2004 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 8 Yes 64 bit Yes M_01-03-00-000

Description
AIN.PSCALE is an analog position scale factor that scales the analog input (AIN.VALUE (pg 153)) for
DRV.OPMODE (pg 370) = 2 , DRV.CMDSOURCE (pg 312) = 3 (analog position mode).

152 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.2.8 AIN.VALUE

7.2.8 AIN.VALUE
General Information
Type R/O Parameter
Reads the value of the analog input sig-
Description
nal.
Units V
Range -12.5 to +12.5 V
Default
N/A
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
3470h/4
CANopen M_01-00-00-000
3509h/0
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
® 2006 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 12 No 16 bit No M_01-03-00-000

Description
AIN.VALUE reads the analog input value after the value is filtered (as shown in the Analog Input Block
Diagram).

Related Topics
AIN.ZERO (pg 156)
AIN.OFFSET (pg 150)

Kollmorgen | May 2014 153

 AKD BASIC Programming Manual | 7.2.9 AIN.VSCALE

7.2.9 AIN.VSCALE
General Information
Type NV Parameter
Description Sets analog velocity scale factor.
Depends on UNIT.VROTARY (pg 720) or UNIT.ACCLINEAR (pg 712)
Units Rotary: rpm/V, rps/V, (deg/s)/V, Custom Units/V,(rad/s)/V
Linear: counts/s/V, (mm/s)/V, (µm/s)/V, Custom Units/V,
Rotary:
0.060 to 60,000 rpm/V
0.001 to 1,000 rps/V
0.359 to 360,000 (deg/s)/V
0.005 to 5,000 [(Custom Units)/s]/V
0.006 to 6,283.186 (rad/s)/V
Range
Linear:
0.001 to 1.000 counts/s/V
0.001*MOTOR.PITCH (pg 570) to 1,000.000*MOTOR.PITCH (pg 570) (mm/s)/V
0.998*MOTOR.PITCH (pg 570) to 1,000,000.000*MOTOR.PITCH (pg 570) (µm/s)
/V
0.005 to 5,000 [(Custom Units)/s]/V
Rotary:
0.060 rpm/V
0.001 rps/V
0.359 (deg/s)/V
0.005 [(Custom Units)/s]/V
Default
0.006 (rad/s)/V
Value
Linear:
0.001 counts/s/V
0.001*MOTOR.PITCH (pg 570) (mm/s)/V
0.998*MOTOR.PITCH (pg 570) (µm/s)/V
0.005 to 5,000 [(Custom Units)/s]/V
Data Type Float
Start Version M_01-02-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

154 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.2.9 AIN.VSCALE

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3629h/0 M_01-00-00-000
CANopen

Fieldbus Parameter Address Attributes Signed?

Profinet DWord
AIN.VSCALE_32 2007 No
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 14 No 32 bit No M_01-03-00-000

Description
AIN.VSCALE is an analog velocity scale factor that scales the analog input AIN.VALUE (pg 153)) for
DRV.OPMODE (pg 370) = 1 (analog velocity mode).
The value entered is the motor velocity per 1 V of analog input. This value may be either higher or lower
than the application velocity limit (VL.LIMITP (pg 762) orVL.LIMITN (pg 760)), but the actual analog I/O
will be limited by VL.LIMITP (pg 762) or VL.LIMITN (pg 760).

Kollmorgen | May 2014 155

 AKD BASIC Programming Manual | 7.2.10 AIN.ZERO

7.2.10 AIN.ZERO
General Information
Type Command
Description Zeroes the analog input signal.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
AIN.VALUE (pg 153), AIN.OFFSET (pg
See Also
150)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen N/A M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet
2008 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 16 No Command No M_01-03-00-000

Description
AIN.ZERO causes the drive to zero the analog input signal (AIN.VALUE (pg 153)). You may need to
execute this command more than once to achieve zero offset, and AIN.OFFSET is modified in this pro-
cess.

Related Topics
AIN.VALUE (pg 153)
AIN.OFFSET (pg 150)

156 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.3 AIN2 Parameters

7.3 AIN2 Parameters

This section describes the analog input 2 (AIN2) parameters.

7.3.1 AIN2.CUTOFF 158

7.3.2 AIN2.DEADBAND 159
7.3.3 AIN2.DEADBANDMODE 160
7.3.4 AIN2.MODE 161
7.3.5 AIN2.OFFSET 162
7.3.6 AIN2.VALUE 163
7.3.7 AIN2.ZERO 164

Kollmorgen | May 2014 157

 AKD BASIC Programming Manual | 7.3.1 AIN2.CUTOFF

7.3.1 AIN2.CUTOFF
General Information
Type NV Parameter
Sets the analog input 2 low-pass filter cutoff fre-
Description
quency.
Units Hz
Range 0 to 10,000 Hz
Default
5,000 Hz
Value
Data Type Float
Start Version M_01-06-03-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1234 No 32 bit No M_01-06-03-000

Description
AIN2.CUTOFF sets the break frequency in Hz for two cascaded single-pole low-pass filters on the hard-
ware command input. Since the two poles are cascaded at the same frequency, the -3 dB frequency is
0.64*AIN.CUTOFF in hertz and the 10% to 90% step response rise time is 0.53/AIN2.CUTOFF in
seconds.
Suggested operating values are as follows:
l Analog torque opmode: 5 kHz
l Analog velocity opmode: 2.5 kHz
l General purpose analog input high resolution: 500 Hz

158 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.3.2 AIN2.DEADBAND

7.3.2 AIN2.DEADBAND
General Information
Type NV Parameter
Sets the analog input 2 signal dead-
Description
band.
Units V
Range 0 to 12.5 V
Default
0V
Value
Data Type Float
Start Version M_01-06-03-000

Variant Support
Supported by any AKD with extended IO.

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1236 No 16 bit No M_01-06-03-000

Description
AIN2.DEADBAND sets the deadband of the analog input 2 signal. When AIN2.DEADBANDMODE (pg
160) is set to 0, and the value of the analog input 2 is less than the value of AIN2.DEADBAND, the analog
command will be 0. When the analog input 2 is greater or equal to the AIN2.DEADBAND, then the analog
command will be generated using the scaling specified.
When AIN2.DEADBANDMODE is set to 1, the analog command is 0 if the input is less than the dead-
band value. When the input is greater than the deadband, the output is equal to (Input - Deadband) * Scal-
ing.

Kollmorgen | May 2014 159

 AKD BASIC Programming Manual | 7.3.3 AIN2.DEADBANDMODE

7.3.3 AIN2.DEADBANDMODE
General Information
Type NV Parameter
Sets the analog input 2 deadband
Description
mode.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
Start Version M_01-06-03-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed?
Modbus 1238 No 16 bit No

Description
When AIN2.DEADBANDMODE is set to 0, and the value of the analog input 2 is less than the value of
AIN2.DEADBAND (pg 159), the analog command will be 0. When the analog input 2 is greater or equal to
the AIN2.DEADBAND, then the analog command will be generated using the scaling specified.
When AIN2.DEADBANDMODE is set to 1, the analog command is 0 if the input is less than the dead-
band value. When the input is greater than the deadband, the output is equal to (Input - Deadband) * Scal-
ing.

Related Topics
AIN2.DEADBAND (pg 159)

160 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.3.4 AIN2.MODE

7.3.4 AIN2.MODE
General Information
Type NV Parameter
Analog input 2
Description
mode
Units N/A
Range 0
Default
0
Value
Data Type Integer
Start Version M_01-06-03-000

AKD BASIC Information

Range 0 to 1

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed?
Modbus 1242 No 8 bit No

Description
The parameter AIN2.MODE is used to assign a functionality to the voltage measured on the analog input
2 pin.
0 – The analog input value is not used by any function.

Kollmorgen | May 2014 161

 AKD BASIC Programming Manual | 7.3.5 AIN2.OFFSET

7.3.5 AIN2.OFFSET
General Information
Type NV Parameter
Sets the analog input 2 off-
Description
set.
Units V
Range –10 to +10 V
Default
0V
Value
Data Type Float
Start Version M_01-06-03-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1244 No 16 bit Yes M_01-06-03-000

Description
AIN2.OFFSET sets the analog offset, which is added to the analog input 2 command to the drive. This
value compensates for the analog input 2 signal (AIN.VALUE (pg 153)) offset or drift.

Related Topics
AIN2.ZERO (pg 164)

162 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.3.6 AIN2.VALUE

7.3.6 AIN2.VALUE
General Information
Type R/O Parameter
Reads the value of the analog input 2 sig-
Description
nal.
Units V
Range -12.5 to +12.5 V
Default
N/A
Value
Data Type Float
Start Version M_01-06-03-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and 3470h/4
M_01-00-00-000
CANopen 3509h/0

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1250 No 16 bit No M_01-06-03-000

Description
AIN2.VALUE reads the analog input 2 value after the value is filtered (as shown in the Analog Input Block
Diagram).

Related Topics
AIN2.OFFSET (pg 162)
AIN2.ZERO (pg 164)

Kollmorgen | May 2014 163

 AKD BASIC Programming Manual | 7.3.7 AIN2.ZERO

7.3.7 AIN2.ZERO
General Information
Type Command
Zeroes the analog input 2 sig-
Description
nal.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-06-03-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
N/A M_01-00-00-000
CANopen

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1258 No Command No M_01-06-03-000

Description
AIN2.ZERO causes the drive to zero the analog input 2 signal (AIN2.VALUE (pg 163)). You may need to
execute this command more than once to achieve zero offset, and AIN2.OFFSET (pg 162) is modified in
this process.

Related Topics
AIN2.VALUE (pg 163)
AIN2.OFFSET (pg 162)

164 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.4 AOUT Parameters

7.4 AOUT Parameters

This section describes the AOUT parameters.

7.4.1 AOUT.CUTOFF 166

7.4.2 AOUT.DEBUGADDR 167
7.4.3 AOUT.DEBUGDATATYPE 168
7.4.4 AOUT.DEBUGSCALE 169
7.4.5 AOUT.ISCALE 170
7.4.6 AOUT.MODE 171
7.4.7 AOUT.OFFSET 173
7.4.8 AOUT.PSCALE 174
7.4.9 AOUT.VALUE 176
7.4.10 AOUT.VALUEU 177
7.4.11 AOUT.VSCALE 178

Kollmorgen | May 2014 165

 AKD BASIC Programming Manual | 7.4.1 AOUT.CUTOFF

7.4.1 AOUT.CUTOFF
General Information
Type NV Parameter
Sets the analog output low-pass filter cutoff fre-
Description
quency.
Units Hz
Range 0 to 10,000 Hz
Default
0 Hz
Value
Data Type Float
Start Version M_01-04-01

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2635 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1270 No 32-bit No M_01-06-03-000

Description
AOUT.CUTOFF sets the cutoff frequency in Hz for a single-pole low-pass
filter on the Analog Output.
A value of 0 Hz will turn off the filter and will allow all frequencies to pass through.
The filter can be used with all modes of Analog Output.

166 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.4.2 AOUT.DEBUGADDR

7.4.2 AOUT.DEBUGADDR
General Information
Type NV Parameter
Sets the memory address to
Description
debug.
Units N/A
Range 4 to 4,292,870,142
Default
4
Value
Data Type Integer
Start Version M_01-01-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Description
AOUT.DEBUGADDR sets the memory address to debug when AOUT.MODE (pg 171) = 9 (debug mode).

Kollmorgen | May 2014 167

 AKD BASIC Programming Manual | 7.4.3 AOUT.DEBUGDATATYPE

7.4.3 AOUT.DEBUGDATATYPE
General Information
Type NV Parameter
Sets the data type of the value to be
Description
debugged.
Units N/A
Range 0 to 10
Default
0
Value
Data Type Integer
Start Version M_01-01-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Description
AOUT.DEBUGDATATYPE is used in AOUT.MODE (pg 171) = 9 (debug mode).
This parameter sets the data type of the value to be debugged according to the table below:
Value Data Type
0 Illegal type
1 Signed (1 byte)
2 Unsigned (1 byte)
3 Signed (2 bytes)
Unsigned (2
4
bytes)
5 Signed (4 bytes)
Unsigned (4
6
bytes)
7 Signed (8 bytes)
Unsigned (8
8
bytes)
Pointer to one
9
byte
10 Fix shift

168 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.4.4 AOUT.DEBUGSCALE

7.4.4 AOUT.DEBUGSCALE
General Information
Type NV Parameter
Sets the scale to be used for
Description
debug.
Units N/A
0.001 to
Range
9,223,372,036,854,775.000
Default
1
Value
Data Type Float
Start Version M_01-01-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Description
AOUT.DEBUGSCALE sets the scale to be used for debug when AOUT.MODE (pg 171) = 9 (debug
mode).

Kollmorgen | May 2014 169

 AKD BASIC Programming Manual | 7.4.5 AOUT.ISCALE

7.4.5 AOUT.ISCALE
General Information
Type NV Parameter
Sets the analog current scale
Description
factor.
Units A/V
Range 0.001 to 22.4 A/V
Default
0.001 to 22.4 A/V
Value
Data Type Float
Start Version M_01-01-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2009 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 18 No 32 bit No M_01-03-00-000

Description
AOUT.ISCALE sets the analog current scale factor that scales the analog output (AOUT.VALUE) for
AOUT.MODE = 4 or 5. The value entered is the motor current per 10 V of analog input or output. This
value may be either higher or lower than 100%, but the actual analog I/O will be limited by the application
current limit (IL.LIMITN (pg 508) and IL.LIMITP (pg 509)).

170 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.4.6 AOUT.MODE

7.4.6 AOUT.MODE
General Information
Type NV Parameter
Sets the analog output
Description
mode.
Units N/A
Range 0 to 11
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

SynqNet Information
Range 12

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3470h/1 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
® 2010 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 20 No 16 bit No M_01-03-00-000

Description
AOUT.MODE sets the analog output functionality.

Kollmorgen | May 2014 171

 AKD BASIC Programming Manual | 7.4.6 AOUT.MODE

AOUT.MODE Description
0 User variable. The analog output signal is determined by the
user (using AOUT.VALUEU).
1 Actual velocity. The analog signal describes the current velo-
city value (VL.FB).
2 Velocity error. The analog signal describes the velocity error
value.
3 Velocity command. The analog signal describes the velocity
command value.
4 Actual current. The analog signal describes the actual cur-
rent value.
5 Current command. The analog signal describes the current
command value.
6 Actual position. The analog signal describes the current pos-
ition value.
7 Position error. The analog signal describes the position error
value.
8 Triangle wave. The analog signal is a triangle wave (saw-
tooth pattern).
9 Debug mode. In this mode the user can define a drive vari-
able to monitor via the analog output (AOUT.VALUEU).
10 Unfiltered Velocity (VL.FBUNFILTERED)
11 Filtered Velocity - 10Hz Lowpass (VL.FBFILTER)

Example
You can use AOUT.MODE and AOUT.VALUEU to configure an output signal as follows:
-->AOUT.MODE 0
-->AOUT.VALUEU 5
-->AOUT.VALUEU 4.33

172 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.4.7 AOUT.OFFSET

7.4.7 AOUT.OFFSET
General Information
Type NV Parameter
Sets the analog output off-
Description
set.
Units V
Range -10 to +10 V
Default
0V
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2011 Yes
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 22 No 16 bit Yes M_01-03-00-000

Description
This parameter sets the analog output offset.

Kollmorgen | May 2014 173

 AKD BASIC Programming Manual | 7.4.8 AOUT.PSCALE

7.4.8 AOUT.PSCALE
General Information
Type NV Parameter
Description Sets the analog position scale factor.
Depends on UNIT.PROTARY (pg 718) or UNIT.PLINEAR (pg
716)
Units
Rotary: counts/V,rad/V, deg/V,Custom Units/V, 16-bit counts/V
Linear: counts/V, mm/V, µm/V,Custom Units/V, 16-bit counts/V
Rotary:
1 to 9,223,372,036,854,775 counts/V
0 to 13,493,026.816 rad/V
0 to 773,094,113.280 deg/V
0 to 10,737,418.240 (Custom Units)/V
0 to 140,737,488,355.327 16-bit counts/V
Range
Linear:
1 to 9,223,372,036,854,775 counts/V
0 to 2,147,483.648 mm/V
0 to 2,147,483,648.000 µm/V
0 to 10,737,418.240 (Custom Units)/V
0 to 140,737,488,355.327 16-bit counts/V
Rotary:
1 counts/V
0 rad/V
0 deg/V
0 (Custom Units)/V
Default 0 16-bit counts/V
Value Linear:
1 counts/V
0 rad/V
0 deg/V
0 (Custom Units)/V
0 counts16 bit/V
Data Type Float
Start Version M_01-01-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes

174 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.4.8 AOUT.PSCALE

Variant Supported
®
AKD sercos III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3471h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2012 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 24 Yes 64 bit No M_01-03-00-000

Description
AOUT.PSCALE is an analog position scale factor that scales the analog output (AOUT.VALUE (pg 176))
for AOUT.MODE (pg 171) = 6, or 7 (actual position or position error) per 10 V of analog input or output.

Kollmorgen | May 2014 175

 AKD BASIC Programming Manual | 7.4.9 AOUT.VALUE

7.4.9 AOUT.VALUE
General Information
Type R/O Parameter
Reads the analog output
Description
value.
Units V
Range –10 to +10 V
Default
0
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3470h/2 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2014 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 28 Yes 64 bit Yes M_01-03-00-000

Description
AOUT.VALUE reads the analog output value.

176 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.4.10 AOUT.VALUEU

7.4.10 AOUT.VALUEU
General Information
Type R/W Parameter
Sets the analog output
Description
value.
Units V
Range –10 to +10 V
Default
0
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3470h/3 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2016 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 32 Yes 64 bit Yes M_01-03-00-000

Description
AOUT.VALUEU reads/writes the analog output value when AOUT.MODE (pg 171) = 0 (analog output sig-
nal is determined by the user).

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 AKD BASIC Programming Manual | 7.4.11 AOUT.VSCALE

7.4.11 AOUT.VSCALE
General Information
Type NV Parameter
Description Sets the velocity scale factor for analog output.
Depends on UNIT.VROTARY or UNIT.ACCLINEAR
Units Rotary: rpm/V, rps/V, (deg/s)/V, [(custom units)/s]/V, (rad/s)/V
Linear: counts/s/V, (mm/s)/V, (μm/s)/V, [(custom units)/s]/V
Rotary:
0.060 to 60,000 rpm/V
0.001 to 1,000 rps/V
0.359 to 360,000 (deg/s)/V
0.005 to 5,000 [(custom units)/s]/V
Range 0.006 to 6,283.186 (rad/s)/V
Linear:
0.001 to 1.000 counts/s/V
0.001*MOTOR.PITCH to 1,000.000*MOTOR.PITCH (mm/s)/V
0.998*MOTOR.PITCH to 1,000,000.000*MOTOR.PITCH(μm/s)/V
0.005 to 5,000 [(custom units)/s]/V
Rotary:
0.060 rpm/V
0.001 rps/V
0.359 (deg/s)/V
0.005 [(custom units)/s]/V
Default 0.006 (rad/s)/V
Value
Linear:
0.001 counts/s/V
0.001*MOTOR.PITCH (mm/s)/V
0.998*MOTOR.PITCH (μm/s)/V
0.005 [(custom units)/s]/V
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information

178 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.4.11 AOUT.VSCALE

Fieldbus Index/Subindex Object Start Version

EtherCAT COE and
CANopen 3470h/5 M_01-00-00-000
CANopen

Fieldbus Parameter Address Attributes Signed?

Profinet DWord
® AOUT.VSCALE_32 2018
sercos III 8 Octets
No
Profinet DWord
AOUT.VSCALE 2858
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 36 No 32 bit No M_01-03-00-000

Description
AOUT.VSCALE is an analog velocity scale factor that scales the analog output
(AOUT.VALUE) for AOUT.MODE = 1, 2, or 3. The value entered is the motor velocity per 10 V
of analog output. This value may be either higher or lower than the application velocity limit
(VL.LIMITP or VL.LIMITN), but the actual analog I/O will be limited by VL.LIMITP or VL.LIMITN.

Kollmorgen | May 2014 179

 AKD BASIC Programming Manual | 7.5 AOUT2 Parameters

7.5 AOUT2 Parameters

This section describes the AOUT2 parameters.

7.5.1 AOUT2.CUTOFF 181

7.5.2 AOUT2.MODE 182
7.5.3 AOUT2.OFFSET 183
7.5.4 AOUT2.VALUE 184
7.5.5 AOUT.VALUEU 185

180 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.5.1 AOUT2.CUTOFF

7.5.1 AOUT2.CUTOFF
General Information
Type NV Parameter
Sets the analog output 2 low-pass filter cutoff fre-
Description
quency.
Units Hz
Range 0 to 10,000 Hz
Default
0 Hz
Value
Data Type Float
Start Version M_01-06-03-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1272 Yes 32-bit No M_01-06-03-000

Description
AOUT2.CUTOFF sets the cutoff frequency in Hz for a single-pole low-pass
filter on the Analog Output 2.
A value of 0 Hz will turn off the filter and will allow all frequencies to pass through.
The filter can be used with all modes of Analog Output 2.

Kollmorgen | May 2014 181

 AKD BASIC Programming Manual | 7.5.2 AOUT2.MODE

7.5.2 AOUT2.MODE
General Information
Type NV Parameter
Sets the analog output 2
Description
mode.
Units N/A
Range 0
Default
0
Value
Data Type Integer
Start Version M_01-06-03-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1276 No 16 bit No M_01-06-03-000

Description
AOUT2.MODE sets the analog output functionality.
Mode 0: User variable. The analog output 2 signal is determined by the user (using AOUT.VALUEU (pg
185)).

Example
You can use AOUT.MODE and AOUT.VALUEU to configure an output signal as follows:
-->AOUT.MODE 0
-->AOUT.VALUEU 5
-->AOUT.VALUEU 4.33

182 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.5.3 AOUT2.OFFSET

7.5.3 AOUT2.OFFSET
General Information
Type NV Parameter
Sets the analog output 2 off-
Description
set.
Units V
Range -10 to +10 V
Default
0V
Value
Data Type Float
Start Version M_01-06-03-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1278 No 16 bit Yes M_01-06-03-000

Description
This parameter sets the analog output 2 offset.

Kollmorgen | May 2014 183

 AKD BASIC Programming Manual | 7.5.4 AOUT2.VALUE

7.5.4 AOUT2.VALUE
General Information
Type R/O Parameter
Reads the analog output 2
Description
value.
Units V
Range –10 to +10 V
Default
0
Value
Data Type Float
Start Version M_01-06-03-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1284 Yes 64 bit Yes M_01-06-03-000

Description
AOUT2.VALUE reads the analog output 2 value.

184 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.5.5 AOUT.VALUEU

7.5.5 AOUT.VALUEU
General Information
Type R/W Parameter
Sets the analog output 2
Description
value.
Units V
Range –10 to +10 V
Default
0
Value
Data Type Float
Start Version M_01-06-03-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1288 Yes 64 bit Yes M_01-06-03-000

Description
AOUT2.VALUEU reads/writes the analog output 2 value when AOUT2.MODE (pg 182) = 0 (analog output
signal is determined by the user).

Kollmorgen | May 2014 185

 AKD BASIC Programming Manual | 7.6 BODE Parameters

7.6 BODE Parameters

This section describes the BODE parameters.

7.6.1 BODE.EXCITEGAP 187

7.6.2 BODE.FREQ 188
7.6.3 BODE.IAMP 190
7.6.4 BODE.IFLIMIT 191
7.6.5 BODE.IFTHRESH 193
7.6.6 BODE.INJECTPOINT 195
7.6.7 BODE.MODE 197
7.6.8 BODE.MODETIMER 200
7.6.9 BODE.PRBDEPTH 202
7.6.10 BODE.VAMP 203
7.6.11 BODE.VFLIMIT 205
7.6.12 BODE.VFTHRESH 207

186 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.6.1 BODE.EXCITEGAP

7.6.1 BODE.EXCITEGAP
General Information
Type R/W Parameter
Controls how often the excitation is
Description
updated.
Units Drive samples
Range 1 to 255 drive samples
Default
2 drive samples
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2019 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 38 No 8 bit No M_01-03-00-000

Description
BODE.EXCITEGAP controls how often the excitation is updated. The excitation is updated every n drive
samples, where n is BODE.EXCITEGAP. For example, if BODE.EXCITEGAP = 2, then the excitation is
updated every 2/(16,000 Hz) = 1/8,000 Hz = 0.000125 sec. When measuring a system, update the excit-
ation only as often as the data is recorded.

Example
Set excitation update rate to 8,000 Hz:
-->BODE.EXCITEGAP 2
Set excitation update rate to 4,000 Hz:
-->BODE.EXCITEGAP 4
Get excitation update rate (already set to 8000 Hz):
-->BODE.EXCITEGAP 2

Kollmorgen | May 2014 187

 AKD BASIC Programming Manual | 7.6.2 BODE.FREQ

7.6.2 BODE.FREQ
General Information
Type R/W Parameter
Sets the frequency of the sine excitation
Description
source.
Units Hz
Range 0 to 8,000 Hz
Default
0 Hz
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2020 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 40 No 32 bit No M_01-03-00-000

Description
BODE.FREQ sets the frequency of the sine excitation source in Hz. The sine excitation source is used to
take frequency response measurements of a system.

Example
Setting up a sine excitation source of 0.2 A at 50 Hz:
-->BODE.INJECTPOINT 1
-->BODE.IAMP 0.2
-->BODE.FREQ 50.0
-->BODE.MODE 2

Related Topics
BODE.MODE (pg 197)

188 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.6.2 BODE.FREQ

BODE.INJECTPOINT (pg 195)

BODE.VAMP (pg 203)
BODE.IAMP (pg 190)

Kollmorgen | May 2014 189

 AKD BASIC Programming Manual | 7.6.3 BODE.IAMP

7.6.3 BODE.IAMP
General Information
Type R/W Parameter
Sets current command value used during the Bode pro-
Description
cedure.
Units A
Range +/- Combined drive and motor current limit
Default
0.2 A
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2021 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 42 No 32 bit Yes M_01-03-00-000

Description
BODE.IAMP sets the amplitude of the excitation when in current mode as set in BODE.INJECTPOINT.
When using BODE.MODE (pg 197) = 1 and BODE.INJECTPOINT (pg 195) = 1, this parameter will
determine the level of noise injected to commanded current value.

Example
Set the excitation current to 0.2 A:
-->BODE.IAMP 0.2
Get the excitation current (already set to 0.2 A):
-->BODE.IAMP 0.200 [A]

Related Topics
BODE.INJECTPOINT (pg 195) | BODE.FREQ (pg 188)

190 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.6.4 BODE.IFLIMIT

7.6.4 BODE.IFLIMIT
General Information
Type R/W Parameter
Sets the current fault duration limit in seconds for the BODE.MODE 5 stability
Description
test.
Units s
Range 0.001 to 60.000
Default
0
Value
Data Type Decimal
Start Version M_01-02-10-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2648 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1296 No 32 bit Yes M_01-06-03-000

Description
When BODE.MODE is set to 5, the firmware monitors the drive current (IL.CMD (pg 486)). When IL.CMD
goes above BODE.IFTHRESH (pg 193), an internal counter records the length of time IL.CMD was above
BODE.IFTHRESH. If the internal counter reaches BODE.IFLIMIT, Fault 133 – Instability during Autotune
will be generated.
The smaller BODE.IFLIMIT, the quicker Fault 133 will be generated when IL.CMD exceeds
BODE.IFLIMIT.

Example
Set BODE.IFTHRESH to 6 Amps:
-->BODE.IFTHRESH 6
Set BODE.IFLIMIT to 0.500 seconds:
-->BODE.IFLIMIT 0.5

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 AKD BASIC Programming Manual | 7.6.4 BODE.IFLIMIT

Set BODE.MODE to 5 to enable stability detection:

BODE.MODE 5

Related Topics
BODE.MODE (pg 197),BODE.MODETIMER (pg 200), BODE.IFTHRESH (pg 193), BODE.VFLIMIT (pg
205), BODE.VFTHRESH (pg 207)

192 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.6.5 BODE.IFTHRESH

7.6.5 BODE.IFTHRESH
General Information
Type R/W Parameter
Sets the current fault threshold for the BODE.MODE 5 stability
Description
test.
Units A
Range 0.001 to DRV.IPEAK or MOTOR.IPEAK (whichever is lowest) A
Default
0A
Value
Data Type Decimal
Start Version M_01-02-10-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2649 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1298 No 32 bit Yes M_01-06-03-000

Description
When BODE.MODE (pg 197) is set to 5, the firmware monitors the drive current (IL.CMD (pg 486)). When
IL.CMD goes above BODE.IFTHRESH, an internal counter records the length of time IL.CMD was above
BODE.IFTHRESH. If the internal counter reaches BODE.IFLIMIT (pg 191), Fault 133 (Instability during
Autotune) is generated.
Example
Set BODE.IFTHRESH to 6 Amps:
-->BODE.IFTHRESH 6
Set BODE.IFLIMIT to 0.500 seconds:
-->BODE.IFLIMIT 0.5
Set BODE.MODE to 5 to enable stability detection:
BODE.MODE 5

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 AKD BASIC Programming Manual | 7.6.5 BODE.IFTHRESH

Related Topics
BODE.MODE (pg 197),BODE.MODETIMER (pg 200), BODE.VFLIMIT (pg 205), BODE.VFTHRESH (pg
207) , BODE.IFLIMIT (pg 191)

194 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.6.6 BODE.INJECTPOINT

7.6.6 BODE.INJECTPOINT
General Information
Type R/W Parameter
Sets whether the excitation uses current or velocity excitation
Description
type.
Units N/A
Range 0 to 2
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2022 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 44 No 8 bit No M_01-03-00-000

Description
BODE.INJECTPOINT sets whether the excitation uses current or velocity excitation type.
BODE.INJECTPOINT Description
0 None
1 Current
2 Velocity

Example
Set BODE.INJECTPOINT to current:
-->BODE.INJECTPOINT 1
Get BODE.INJECTPOINT (already set to current):
-->BODE.INJECTPOINT 1

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 AKD BASIC Programming Manual | 7.6.6 BODE.INJECTPOINT

Related Topics
BODE.IAMP (pg 190), BODE.MODE (pg 197), BODE.VAMP (pg 203)

196 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.6.7 BODE.MODE

7.6.7 BODE.MODE
General Information
Type R/W Parameter
Sets the mode of the excit-
Description
ation.
Units N/A
Range 0 to 4
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2023 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 46 No 8 bit No M_01-03-00-000

Description
BODE.MODE sets the mode of the excitation. The excitation can be set to the modes shown in the table
below. BODE.MODE is always set to None when Ethernet communication is disconnected. The peak
amplitude of the excitation is set by either BODE.IAMP or BODE.VAMP (depending on
BODE.INJECTPOINT).
BODE.MODE is subject to a watchdog timer (BODE.MODETIMER) as follows:
l If BODE.MODETIMER is 0, then BODE.MODE is not affected.
l If BODE.MODETIMER is set to a value greater than 0, then BODE.MODE will be
set to 0 (None) after the BODE.MODETIMER time milliseconds.
l If BODE.MODE is a nonzero value, and you reset BODE.MODE to another nonzero
value, you will reset the watchdog timer. This mechanism is intended to turn off the
excitation signal if you lose communication with the drive.

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 AKD BASIC Programming Manual | 7.6.7 BODE.MODE

BODE.MODE Description Comments

0 None Turns all excitation off
Uses Pseudo Random Binary (PRB) excitation. PRB is a signal that is
always +/- peak amplitude, varying only in phase.
PRB excitation results in a flat excitation frequency spectrum. PRB results
in a high peak excitation amplitude, which can help minimize friction in a fre-
1 PRB
quency response test.
PRB excitation repeats every (2^BODE.PRBDEPTH) /
BODE.EXCITEGAP drive samples. This repetition can be used to reveal
the effects of friction.
2 Sine Uses Sine excitation
Uses random noise excitation. Noise is a random number generator that
3 Noise
varies between +/- peak amplitude.
4 Offset Sets a torque offset equal to BODE.IAMP

Example
Set BODE.MODE to PRB:
-->BODE.MODE 1
Get BODE.MODE (already set to PRB):
-->BODE.MODE 1
PRB excitation:

Sine excitation:

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AKD BASIC Programming Manual | 7.6.7 BODE.MODE

Noise excitation:

Related Topics
BODE.INJECTPOINT (pg 195)BODE.VAMP (pg 203)

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 AKD BASIC Programming Manual | 7.6.8 BODE.MODETIMER

7.6.8 BODE.MODETIMER
General Information
Type R/W Parameter
Sets the watchdog timer of the excit-
Description
ation.
Units ms
Range 0 to 268,435,456
Default
0
Value
Data Type Integer
Start Version M_1-03-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2024 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 48 No 32 bit No M_01-03-00-000

Description
BODE.MODETIMER sets the watchdog timer for the excitation. This watchdog is used to automatically
turn off the excitation of the system if communication is lost. It is highly recommended that you use the
watchdog for any excitation measurements. The WorkBench Performance Servo Tuner and Bode tool
automatically use these values, requiring no action from you.
If the BODE.MODETIMER is a nonzero value, the Bode watchdog is enabled. BODE.MODE will be set
to 0 (None) after the BODE.MODETIMER value elapses. To reset the watchdog timer, reset
BODE.MODE to a nonzero value.
BODE.MODETIMER Comments
0 BODE.MODE is left at the value you set it to.

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AKD BASIC Programming Manual | 7.6.8 BODE.MODETIMER

BODE.MODETIMER Comments
Uses pseudo random binary (PRB) excitation. PRB is a signal that is always +/-
peak amplitude, varying only in phase.
PRB excitation results in a flat excitation frequency spectrum. PRB also results
>0 in a high peak excitation amplitude, which can help minimize friction in a fre-
quency response test.
PRB excitation repeats every (2^BODE.PRBDEPTH)/BODE.EXCITEGAP
drive samples. This repetition can be used to reveal the effects of friction.

Example
Disable BODE.MODETIMER:
-->BODE.MODETIMER //
Set to 0 to disable the watchdog
0
-->BODE.MODE // Observe starting state of the Bode mode
0
-->BODE.MODE 1 // Set Bode mode to PRB
-->BODE.MODE // Observe Bode mode state is the same after 0.5 seconds
1
-->BODE.MODE // Observe Bode mode state is the same after 10 seconds
1
Enable BODE.MODETIMER:
-->BODE.MODETIMER 1000 // Set watchdog to 1 second
-->BODE.MODE 1 // Set Bode mode to PRB
-->BODE.MODE // Observe Bode mode state is the same after 0.5 seconds
1
-->BODE.MODE // Observe Bode mode state has been set to zero after 1.0 seconds
0
Enable and reenable BODE.MODETIMER:
-->BODE.MODETIMER 2500 // Set watchdog to 2.5 seconds
-->BODE.MODE 1 // Set Bode mode to PRB
-->BODE.MODE // Observe Bode mode state is the same after 1.5 seconds
1
-->BODE.MODE 1 // Set Bode mode to PRB, resetting the watchdog timer to the original 2.5 second
value
set above.
-->BODE.MODE // Observe Bode mode state is the same after 3.0 seconds after the original enabling of
BODE.MODE 1
-->BODE.MODE // Observe Bode mode state has been set to zero after 4.0 seconds after the original
enabling
of BODE.MODE
0

Related Topics
BODE.MODE (pg 197)

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 AKD BASIC Programming Manual | 7.6.9 BODE.PRBDEPTH

7.6.9 BODE.PRBDEPTH
General Information
Type R/W Parameter
Sets the length of the PRB signal before it
Description
repeats.
Units NA
Range 4 to 19
Default
19
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2025 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 50 No 8 bit No M_01-03-00-000

Description
BODE.PRBDEPTH sets the length of the PRB signal before it repeats. This applies only when
BODE.MODE = PRB. The PRB excitation will repeat after (2^BODE.PRBDEPTH) /
BODE.EXCITEGAP drive samples.

Example
Set BODE.PRBDEPTH to 19:
-->BODE.PRBDEPTH 19
Get BODE.PRBDEPTH (already set to 19):
-->BODE.PRBDEPTH 19

Related Topics
BODE.MODE (pg 197), BODE.INJECTPOINT (pg 195), BODE.IAMP (pg 190), BODE.VAMP (pg 203)

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AKD BASIC Programming Manual | 7.6.10 BODE.VAMP

7.6.10 BODE.VAMP
General Information
Type R/W Parameter
Description Sets the amplitude of the excitation when in velocity mode.
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg 719)UNIT.ACCLINEAR
(pg 712)
Units
Rotary: rpm, rps, deg/s,Custom Units/V, rad/s
Linear: counts/s, mm/s, µm/s,Custom Units/V
Rotary:
0.000 to 15,000.000 rpm
0.000 to 250.000 rps
0.000 to 90,000.000 degree/s
0.000 to 1,250.000 Custom Units/s
Range 0.000 to 1,570.796 rad/s
Linear:
0.000 to 1,073,741,824,000.000 counts/s
0.000 to 8,000.000 mm/s
0.000 to 8,000,000.000 µm/s
0.000 to 1,250.000 Custom Units/s
Default
0
Value
Data Type Float
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Parameter Address Attributes Signed?
Profinet DWord
® BODE.VAMPE_32 2026 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 52 Yes Low 32 bit word Yes M_01-03-00-000

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 AKD BASIC Programming Manual | 7.6.10 BODE.VAMP

Description
BODE.VAMP sets the amplitude of the excitation when in velocity mode as set in BODE.INJECTPOINT.

Example
Set the excitation velocity to 100 RPM
-->BODE.VAMP 100
Get the excitation velocity(already set to 100 RPM)
-->BODE.VAMP
100.000 [rpm]

Related Topics
BODE.MODE (pg 197), BODE.INJECTPOINT (pg 195)

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AKD BASIC Programming Manual | 7.6.11 BODE.VFLIMIT

7.6.11 BODE.VFLIMIT
General Information
Type R/W Parameter
Sets the velocity fault duration limit (seconds) for the BODE.MODE 5 stability
Description
test
Units s
Range 0.001 to 60.000
Default
0
Value
Data Type Decimal
Start Version M_01-02-10-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2650 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1300 No 32 bit Yes M_01-06-03-000

Description
When BODE.MODE is set to 5, the firmware monitors the drive feedback velocity VL.FB. When VL.FB
goes above BODE.VFTHRESH, an internal counter records the length of time VL.FB was above
BODE.VFTHRESH. If the internal counter reaches BODE.VFLIMIT, Fault 133 – Instability during Auto-
tune will be generated.
The smaller BODE.VFLIMIT, the quicker Fault 133 will be generated when VL.FB exceeds
BODE.VFLIMIT.

Example
Set BODE.VFTHRESH to 10 RPM:
-->BODE.VFTHRESH 10
Set BODE.VFLIMIT to 0.500 seconds
-->BODE.VFLIMIT 0.5

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 AKD BASIC Programming Manual | 7.6.11 BODE.VFLIMIT

Set BODE.MODE to 5 to enable stability detection

-->BODE.MODE 5

Related Topics
BODE.MODE, BODE.MODETIMER, BODE.IFLIMIT, BODE.IFTHRESH, BODE.VFTHRESH

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AKD BASIC Programming Manual | 7.6.12 BODE.VFTHRESH

7.6.12 BODE.VFTHRESH
General Information
Type R/W Parameter
Description Sets the current fault threshold for the BODE.MODE 5 stability test.
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg 719)UNIT.ACCLINEAR
(pg 712)
Units
Rotary: rpm, rps, deg/s,Custom Units/V, rad/s
Linear: counts/s, mm/s, µm/s,Custom Units/V
Rotary:
0.000 to 15,000.000 rpm
0.000 to 250.000 rps
0.000 to 90,000.000 deg/s
0.000 to 1,250.000 Custom Units/s
Range
0.000 to 1,570.796 rad/s
Linear:
0.000 to 1,073,741,824,000.000 counts/s
0.000 to 8,000.000 mm/s
0.000 to 8,000,000.000 µm/s
Default
0
Value
Data Type Decimal
Start Ver-
M_01-02-10-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
2651 Yes
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1302 Yes 64 bit Yes M_01-06-03-000

Description

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 AKD BASIC Programming Manual | 7.6.12 BODE.VFTHRESH

When BODE.MODE is set to 5, the firmware monitors the drive feedback velocity VL.FB. When VL.FB
goes above BODE.VFTHRESH, an internal counter records the length of time VL.FB was above
BODE.VFTHRESH. If the internal counter reaches BODE.VFLIMIT, Fault 133 – Instability during Auto-
tune will be generated.
The smaller BODE.VFLIMIT, the quicker Fault 133 will be generated when VL.FB exceeds
BODE.VFLIMIT.

Example
Set BODE.VFTHRESH to 10 RPM:
-->BODE.VFTHRESH 10
Set BODE.VFLIMIT to 0.500 seconds:
-->BODE.VFLIMIT 0.5
Set BODE.MODE to 5 to enable stability detection:
-->BODE.MODE 5

Related Topics
BODE.MODE, BODE.MODETIMER, BODE.IFLIMIT, BODE.IFTHRESH, BODE.VFLIMIT

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AKD BASIC Programming Manual | 7.7 CAM Parameters

7.7 CAM Parameters

This section describes the CAM parameters.

7.7.1 CAM.ACTIVATE 210

7.7.2 CAM.ADDPOINT 212
7.7.3 CAM.CORRECTDIR 214
7.7.4 CAM.CREATE 215
7.7.5 CAM.MASTER 217
7.7.6 CAM.MASTERPOS 218
7.7.7 CAM.SLAVEOFFSET 219
7.7.8 CAMVM.DIR 220
7.7.9 CAMVM.FREQ 221
7.7.10 CAMVM.GOREL 222
7.7.11 CAMVM.GOUPDATE 223
7.7.12 CAMVM.GOVEL 224
7.7.13 CAMVM.MOVING 225
7.7.14 CAMVM.POSITION 226
7.7.15 CAMVM.RELATIVEDIST 227
7.7.16 CAMVM.STOP 228

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 AKD BASIC Programming Manual | 7.7.1 CAM.ACTIVATE

7.7.1 CAM.ACTIVATE
General Information
Type Parameter
Description Activates the specified cam table.
Units None
Range 0 to 8
Default
0
Value
Data Type Integer
Start Version M_01-06-00-000

Description
CAM.ACTIVE activates the specified cam table. The Position Command is calculated according to the
Master Position and the points in the specified cam table.
When you activate a new cam, the drive accelerates (at EGEAR.ACCLIMIT) or decelerates (at
EGEAR.DECLIMIT) as necessary to the speed required by the present motion of the Cam Master and the
slave position profile defined in the cam table.
When speed synchronization is achieved, EGEAR.LOCK is set to one and a correction move is per-
formed to bring the slave into position lock with the cam table. The direction of this move is controlled by
CAM.CORRECTDIR. The parameters of this correction move are the same as for any other move (i.e.,
MOVE.ACC, MOVE.DEC, MOVE.RUNSPEED).
If the master is not moving or if the slave position profile in the cam table does not require cam motion
when the cam is activated, the speed synchronization occurs instantly and the correction move is
executed as soon as the cam is activated.
CAM.ACTIVATE is automatically set to zero (i.e., any cam is disengaged) when the drive is disabled.
To disable the correction move, set CAM.CORRECTDIR = 3.
You must declare and create a cam table before you make it active. If MOVE.RUNSPEED is equal to
zero when you set CAM.ACTIVATE, a run-time error is generated because the correction move cannot be
performed.

Examples
The following example declares, creates, and activates a cam.

'-------------- Device Params ----------------------

Params
DRV.OPMODE = 2 'position operation mode
DRV.CMDSOURCE = 5 'command source = AKD BASIC TG
UNIT.PROTARY = 4 '16 bit position units, 65536 counts/rev
UNIT.VROTARY = 0 'velocity units = rpm
UNIT.ACCROTARY = 0 'acceleration units = rpm/sec
PL.MODPEN = 1 'enable slave modulo
PL.MODP2 = 65536 'set slave (AKD BASIC) counts per cycle
FB2.SOURCE = 1 'set Master Encoder Source to X9
FB2.ENCRES = 8000 'set counts'rev of Master
FB2.DIR = 0 'set counting direction for Master Encoder
EXTENCODER.POSMODULO = 8000 'set master counts per cycle
End Params
'-------------- Define (dim) Global Variables --------
'-------------- Main Program -------------------------

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AKD BASIC Programming Manual | 7.7.1 CAM.ACTIVATE

Main
'start the cam create block
CAM.CREATE (1, 5)'allocate space for cam #1, 5 points
'add the points
CAM.ADDPOINT(0, 0)
CAM.ADDPOINT(2000, 65536 / 10)
CAM.ADDPOINT(4004, 65536 / 8)
CAM.ADDPOINT(6000, 65536 * 3 / 4)
CAM.ADDPOINT(8000, 65536)
End 'the cam create block
CAM.MASTER = 2 'Cam Master = External Encoder
EXTENCODER.POSITION = 0 'set Master position to 0
MOVE.POSCOMMAND = 0 'set slave (AKD BASIC) position to 0
DRV.SWENABLE = 1 'enable the motor
Print "Motor Enabled, wait 5 sec"
Pause (5)
CAM.ACTIVATE = 1 'activate cam #1
Print "CAM Enabled"
While 1 = 1 : wend
End Main

Related Topics
CAM.CORRECTDIR (pg 214)

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 AKD BASIC Programming Manual | 7.7.2 CAM.ADDPOINT

7.7.2 CAM.ADDPOINT
General Information
Type Statement
CAM.ADDPOINT(Master Position, Slave Position) Adds the specified "point" to the cam
Description
table being created.
Units Master Encoder Counts, Position User Units
Range -2^63 to 2^63-1
Default
N/A
Value
Data Type Integer
Start Ver-
M_01-06-00-000
sion

Description
CAM.ADDPOINT adds the specified “point” (master position and corresponding slave position) to the
cam table being created. This statement is only used inside a CAM.CREATE block.
You must be inside a CAM.CREATE block to use the CAM.ADDPOINT statement. The master position
for the first CAM.ADDPOINT statement in a CAM.CREATE block must always be zero. The master pos-
ition must always increase as you add points to the cam table. There must be at least two points in your
cam table.
FB2.ENCRES (pg 451) and FB2.DIR (pg 456) are used to convert cam master position from user units to
internal units. The BASIC program must set FB2.ENCRES, FB2.DIR, and
EXTENCODER.POSMODULO (pg 405) before calling CAM.ADDPOINT.

Examples
The following example declares, creates, and activates a cam.

'-------------- Device Params ----------------------

Params
DRV.OPMODE = 2 'position operation mode
DRV.CMDSOURCE = 5 'command source = AKD BASIC TG
UNIT.PROTARY = 4 '16 bit position units, 65536 counts/rev
UNIT.VROTARY = 0 'velocity units = rpm
UNIT.ACCROTARY = 0 'acceleration units = rpm/sec
PL.MODPEN = 1 'enable slave modulo
PL.MODP2 = 65536 'set slave (AKD BASIC) counts per cycle
FB2.SOURCE = 1 'set Master Encoder Source to X9
FB2.ENCRES = 8000 'set counts'rev of Master
FB2.DIR = 0 'set counting direction for Master Encoder
EXTENCODER.POSMODULO = 8000 'set master counts per cycle
End Params
'-------------- Define (dim) Global Variables --------
'-------------- Main Program -------------------------
Main
'start the cam create block
CAM.CREATE (1, 5)'allocate space for cam #1, 5 points
'add the points
CAM.ADDPOINT(0, 0)
CAM.ADDPOINT(2000, 65536 / 10)

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AKD BASIC Programming Manual | 7.7.2 CAM.ADDPOINT

CAM.ADDPOINT(4004, 65536 / 8)
CAM.ADDPOINT(6000, 65536 * 3 / 4)
CAM.ADDPOINT(8000, 65536)
End 'the cam create block
CAM.MASTER = 2 'Cam Master = External Encoder
EXTENCODER.POSITION = 0 'set Master position to 0
MOVE.POSCOMMAND = 0 'set slave (AKD BASIC) position to 0
DRV.SWENABLE = 1 'enable the motor
Print "Motor Enabled, wait 5 sec"
Pause (5)
CAM.ACTIVATE = 1 'activate cam #1
Print "CAM Enabled"
While 1 = 1 : wend
End Main

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 AKD BASIC Programming Manual | 7.7.3 CAM.CORRECTDIR

7.7.3 CAM.CORRECTDIR
General Information
Type R/W
Specifies the direction of the correction move when a new cam table is activated (set
Description
CAM.ACTIVATE = n) or when speed synchronization is achieved.
Units None
Range 0 to 3
Default
2 (shortest distance)
Value
Data Type Integer
Start Ver-
M_01-06-00-000
sion

Description
CAM.CORRECTDIR takes one of the following values:
l 0 move is done clockwise
l 1 move is done counter-clockwise
l 2 move is done in the direction yielding the shortest move (see
l below)
l 3 no correction move is performed.

Use MOVE.ACC, MOVE.DEC and MOVE.RUNSPEED for the correction move. Even if
CAM.CORRECTDIR specifies a clockwise correction move, it only specifies the direction of the super-
imposed move. If the cam generated speed is the opposite direction and larger than MOVE.RUNSPEED,
the slave slows down.
For CAM.CORRECTDIR = 2, the direction of the correction is calculated (based upon PosModulo) to
yield the shortest distance move. For example, if PosModulo = 10000 and the clockwise correction move
is 8000, a counter-clockwise move of 2000 is performed instead.

Example
In the following example, the correction move is in the direction yielding the shortest move distance.

....
‘The cam table for Cam #1 needs to have been
‘already declared and created
‘——————————————————————
CAM.CORRECTDIR = 2
CAM.ACTIVATE = 1
....

Related Topics
CAM.ACTIVATE (pg 210)

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AKD BASIC Programming Manual | 7.7.4 CAM.CREATE

7.7.4 CAM.CREATE
General Information
Type Statement
Description CAM.CREATE (x, y) Initiates the creation of a cam table.
Units N/A
Range x = 1-8, y = 3-1000
Default
N/A
Value
Data Type Integers
Start Version M_01-06-00-000

Description
CAM.CREATE initiates the creation of a cam table. The actual points in the cam table are inserted with a
series of CAM.ADDPOINT statements. The CAM.CREATE block must terminated by an End statement.
You can create a cam table as many times as you want. You must create a cam table before you make it
active. You cannot create a cam table if it is active. The master position for the first entry must be 0. The
master positions must keep increasing as you add points. EXTENCODER.POSMODULO must equal the
total master distance in you CAM. For a repeating CAM, PL.MODP2 should be set equal to the distance
that the slave travels in one CAM cycle.

Examples
'-------------- Device Params ----------------------
Params
DRV.OPMODE = 2 'position operation mode
DRV.CMDSOURCE = 5 'command source = AKD BASIC TG
UNIT.PROTARY = 4 '16 bit position units, 65536 counts/rev
UNIT.VROTARY = 0 'velocity units = rpm
UNIT.ACCROTARY = 0 'acceleration units = rpm/sec
PL.MODPEN = 1 'enable slave modulo
PL.MODP2 = 65536 'set slave (AKD BASIC) counts per cycle
FB2.SOURCE = 1 'set Master Encoder Source to X9
FB2.ENCRES = 8000 'set counts'rev of Master
FB2.DIR = 0 'set counting direction for Master Encoder
EXTENCODER.POSMODULO = 8000 'set master counts per cycle
End Params
'-------------- Define (dim) Global Variables --------
'-------------- Main Program -------------------------
Main
'start the cam create block
CAM.CREATE (1, 5)'allocate space for cam #1, 5 points
'add the points
CAM.ADDPOINT(0, 0)
CAM.ADDPOINT(2000, 65536 / 10)
CAM.ADDPOINT(4004, 65536 / 8)
CAM.ADDPOINT(6000, 65536 * 3 / 4)
CAM.ADDPOINT(8000, 65536)
End 'the cam create block
CAM.MASTER = 2 'Cam Master = External Encoder
EXTENCODER.POSITION = 0 'set Master position to 0
MOVE.POSCOMMAND = 0 'set slave (AKD BASIC) position to 0

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 AKD BASIC Programming Manual | 7.7.4 CAM.CREATE

DRV.SWENABLE = 1 'enable the motor

Print "Motor Enabled, wait 5 sec"
Pause (5)
CAM.ACTIVATE = 1 'activate cam #1
Print "CAM Enabled"
While 1 = 1 : wend
End Main

Related Topics
CAM.ADDPOINT (pg 212) | CAM.ACTIVATE (pg 210)

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AKD BASIC Programming Manual | 7.7.5 CAM.MASTER

7.7.5 CAM.MASTER
General Information
Type R/W
Description Specifies the source of the input to the cam table for cam profiling.
Units None
Range 0 to 2
Default
0
Value
Data Type Integer
Start Version M_01-06-00-000

Description
CAM.MASTER takes one of the following values:
Value Description
0 EXTENCODER.POSITION + CAMVM.POSITION
1 CAMVM.POSITION only (EXTENCODER.POSITION is ignored)
2 EXTENCODER.POSITION only (CAMVM.POSITION is ignored)

Related Topics
CAM.MASTERPOS (pg 218)

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 AKD BASIC Programming Manual | 7.7.6 CAM.MASTERPOS

7.7.6 CAM.MASTERPOS
General Information
Type R/O
Gives the value of the master position presently being used as the input to the cam
Description
table.
Units Encoder counts
Range 0 to EXTENCODER.POSMODULO
Default
N/A
Value
Data Type Integer
Start Version M_01-06-00-000

Description
The value of CAM.MASTERPOS depends upon EXTENCODER.POSITION, CAMVM.POSITION and
CAM.MASTER as follows:
Value of CAM.MASTER Value of CAM.MASTERPOS
0 CAMVM.POSITION + EXTENCODER.POSITION
1 CAMVM.POSITION
2 EXTENCODER.POSITION

Related Topics
CAM.MASTER (pg 217) | DRV.HANDWHEEL (pg 343) | CAMVM.POSITION (pg 226)

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AKD BASIC Programming Manual | 7.7.7 CAM.SLAVEOFFSET

7.7.7 CAM.SLAVEOFFSET
General Information
Type R/O
CAM.SLAVEOFFSET indicates the offset (or difference) between
MOVE.POSCOMMAND and the position command that is calculated from the active
Description
cam table based upon the present value of EXTENCODER.POSITION and/or
CAMVM.POSITION.
Depends on UNIT.PROTARY (pg 718) or UNIT.PLINEAR (pg 716)UNIT.ACCLINEAR
(pg 712)
Units
Rotary: counts, rad, deg, (Custom Units), 16-bit counts
Linear: counts, mm, µm, (Custom Units), 16-bit counts
Range N/A
Default
0
Value
Data Type Integer
Start Ver-
M_01-06-00-000
sion

Description
CAM.SLAVEOFFSET indicates the offset (or difference) between PL.CMD and the position command
that is calculated from the active cam table based upon the present value of DRV.HANDWHEEL and/or
CAMVM.POSITION. This offset is the result of incremental (MOVE.GOREL) or velocity (MOVE.GOVEL)
moves superimposed (by the user) on the cam table. If there is no active cam (CAM.ACTIVE = 0), the
value of this variable is undefined.

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 AKD BASIC Programming Manual | 7.7.8 CAMVM.DIR

7.7.8 CAMVM.DIR
General Information
Type R/W
Description Specifies the direction the virtual encoder goes when CAMVM.GOVEL is executed.
Units None
Range 0, 1
Default
0
Value
Data Type Integer
Start Version M_01-06-00-000

Description
CAMVM.DIR specifies the direction the virtual encoder goes when CAMVM.GOVEL is executed. It also
sets the direction of the virtual encoder when CAMVM.GOUPDATE is executed if the virtual encoder is
performing a CAMVM.GOVEL move.
0 is positive
1 is negative

Example
‘This runs the virtual encoder forward at 20,000 counts/sec
CAMVM.FREQ = 20000
CAMVM.DIR = 0
CAMVM.GOVEL
pause(5)
'This runs the virtual encoder backwards at 40,000 counts/sec
CAMVM.FREQ = 40000
CAMVM.DIR = 1
CAMVM.GOVEL

Related Topics
CAMVM.GOVEL (pg 224) | FB2.ENCRES (pg 451)

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AKD BASIC Programming Manual | 7.7.9 CAMVM.FREQ

7.7.9 CAMVM.FREQ
General Information
Type R/W
CAMVM.FREQ sets the maximum frequency allowed during a relative
Description (CAMVM.GOREL) move, and sets the commanded speed during a velocity move
(CAMVM.GOVEL)
Units Encoder counts/second
Range 0 to 1,000,000
Default
10,000
Value
Data Type Integer
Start Ver-
M_01-06-00-000
sion

Description
CAMVM.FREQ sets the maximum frequency allowed during a relative (CAMVM.GOREL) move, and
sets the commanded speed during a velocity move (CAMVM.GOVEL).

Example
'This will run the virtual encoder forward at 20,000 counts/sec
'--------------------------------------------------------------
CAMVM.FREQ = 20000
CAMVM.DIR = 0
CAMVM.GOVEL

Related Topics
FB2.ENCRES (pg 451)

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 AKD BASIC Programming Manual | 7.7.10 CAMVM.GOREL

7.7.10 CAMVM.GOREL
General Information
Type Statement
Description Makes the virtual master move the distance specified by CAMVM.RELATIVEDIST.
Units None
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-06-00-000

Description
CAMVM.GOREL (Go Relative) causes the virtual master to move a distance specified by
CAMVM.RELATIVEDIST. The virtual master runs at the frequency specified by CAMVM.FREQ. Use
CAMVM.GOUPDATE to modify this frequency during the move.
Program execution continues with the line immediately following the CAMVM.GOREL statement as soon
as the move is initiated. Program execution does not wait until the move is complete. The drive does not
need to be enabled in order for to use the virtual master.

Related Topics
CAMVM.GOVEL (pg 224) | CAMVM.STOP (pg 228) | CAMVM.GOUPDATE (pg 223) | FB2.ENCRES (pg
451)

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AKD BASIC Programming Manual | 7.7.11 CAMVM.GOUPDATE

7.7.11 CAMVM.GOUPDATE
General Information
Type Statement
Description Updates a move in progress with new move parameters.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-06-00-000

Description
Updates a move in progress with new move parameters. This allows you to change motion on-the-fly
without having to stop motion and initiate a new move. CAMVM.GOUPDATE updates CAMVM.DIR (for
a CAMVM.GOVEL) and CAMVM.FREQ (for a CAMVM.GOVEL or CAMVM.GOREL).
Program execution continues with the line immediately following CAMVM.GOUPDATE as soon as the
move is initiated. Program execution does not wait until the move is complete. CAMVM.GOUPDATE
does not initiate motion if there is no move in progress.

Related Topics
CAMVM.GOREL (pg 222) | CAMVM.GOREL (pg 222) | FB2.ENCRES (pg 451)

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 AKD BASIC Programming Manual | 7.7.12 CAMVM.GOVEL

7.7.12 CAMVM.GOVEL
General Information
Type Statement
CAMVM.GOVEL (Go at Velocity) causes the virtual master to move continuously at the
frequency specified by CAMVM.FREQ in the direction (positive or negative) specified by
Description
CAMVM.DIR. The frequency or direction is modified during the move using
CAMVM.GOUPDATE.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Ver-
M_01-06-00-000
sion

Description
CAMVM.GOVEL (Go at Velocity) causes the virtual master to move continuously at the frequency spe-
cified by CAMVM.FREQ in the direction (positive or negative) specified by CAMVM.DIR. The frequency
or direction is modified during the move using CAMVM.GOUPDATE.
When the move is initiated, program execution continues with the line immediately following
CAMVM.GOVEL. Program execution does not wait until the move is complete. CAMVM.STOP stops a
velocity move on the virtual encoder. Executing CAMVM.GOREL after CAMVM.GOVEL and before
CAMVM.STOP causes the virtual encoder to switch to an incremental move that terminates when
CAMVM.RELATIVEDIST encoder counts have been put out. The drive does not need to be enabled to
use the virtual master.

Example
This runs the virtual encoder forward at 20,000 counts/sec

CAMVM.FREQ = 20000
CAMVM.DIR = 0
CAMVM.GOVEL

Related Topics
CAMVM.GOREL (pg 222) | CAMVM.STOP (pg 228) | CAMVM.GOUPDATE (pg 223) | FB2.ENCRES (pg
451)

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AKD BASIC Programming Manual | 7.7.13 CAMVM.MOVING

7.7.13 CAMVM.MOVING
General Information
Type R/O
Description Indicates if the virtual encoder is moving.
Units None
Range 0, 1
Default
N/A
Value
Data Type Integer
Start Version M_01-06-00-000

Description
CAMVM.MOVING indicates if the virtual encoder is moving.
l 0 - virtual encoder is not moving
l 1 - virtual encoder is moving

Example
‘Start an incremental move on the virtual encoder
CAMVM.FREQ = 10000
CAMVM.RELATIVEDIST = 123456
CAMVM.GOREL
DRV.TIME = 0
while CAMVM.MOVING : wend
print DRV.TIME

Related Topics
CAMVM.GOVEL (pg 224) | CAMVM.GOREL (pg 222) | FB2.ENCRES (pg 451)

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 AKD BASIC Programming Manual | 7.7.14 CAMVM.POSITION

7.7.14 CAMVM.POSITION
General Information
Type R/W
Description Contains the current value of the virtual encoder counter.
Units counts
Range 0 to (EXTENCODER.POSMODULO - 1)
Default
0
Value
Data Type Integer
Start Version M_01-06-00-000

Description
Control the virtual encoder using CAMVM.GOVEL and CAMVM.GOREL.
EXTENCODER.POSMODULO is used as the modulo value for CAMVM.POSITION.

Example
This example shows how CAMVM.POSITION is updated during a CAMVM.GOREL move.

CAMVM.FREQ = 10000
CAMVM.RELATIVEDIST = 100000
DRV.TIME = 0
EXTENCODER.POSMODULO = 200000
CAMVM.POSITION = 0
CAMVM.GOREL
While DRV.TIME < 10000
Print "DRV.TIME=" ; DRV.TIME , "CAMVM.POSITION=" ; CAMVM.POSITION ,
"CAMVM.MOVING=" ; CAMVM.MOVING
Pause(1)
Wend

Related Topics
CAMVM.GOREL (pg 222) | CAMVM.GOVEL (pg 224) | CAMVM.MOVING (pg 225) | FB2.ENCRES (pg
451)

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AKD BASIC Programming Manual | 7.7.15 CAMVM.RELATIVEDIST

7.7.15 CAMVM.RELATIVEDIST
General Information
Type R/W
Specifies the number or counts that the virtual encoder (virtual master) will put out during
Description
an incremental move (CAMVM.GOREL).
Units Encoder counts
Range -2^63 to 2^63-1
Default
0
Value
Data Type Integer
Start Ver-
M_01-06-00-000
sion

Description
The "move" is performed based upon the value of CAMVM.FREQ. The value of the virtual encoder
counter is in the variable CAMVM.POSITION. The modulo value EXTENCODER.POSMODULO is
applied to CAMVM.POSITION as well. You can check whether or not the virtual encoder is moving using
the variable CAMVM.MOVING. You can move the virtual encoder (using CAMVM.GOREL or
CAMVM.GOVEL) whether or not the drive is enabled or disabled.

Example
This example moves the virtual encoder 100,000 counts at a frequency of 20,000 counts/second. This
move will take about 5 seconds.

'set up CAMVM.POSTION and virtual move parameters

'----------------------------------------------
CAMVM.POSTION = 0
CAMVM.RUNFREQ = 20000
CAMVM.RELATIVEDIST = 100000
'initiate the move
'------------------------
DRV.TIME = 0 'set time to zero just for measurement
CAMVM.GOREL
'wait for the move to be complete
'----------------------------------------------
while CAMVM.MOVING = 1 : wend
'print the results
'----------------------
print "CAMVM.POSITION = ";CAMVM.POSITION
print "time = "; DRV.TIME

Related Topics
FB2.ENCRES (pg 451)

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 AKD BASIC Programming Manual | 7.7.16 CAMVM.STOP

7.7.16 CAMVM.STOP
General Information
Type Statement
Description CAMVM.STOP stops the virtual encoder
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-06-00-000

Description
CAMVM.STOP stops the virtual encoder. CAMVM.POSITION stays at its present value.
Program execution continues with the line immediately following CAMVM.STOP as soon as the move is
initiated. Program execution does not wait until the move is complete.

Example
Run the virtual encoder forward at 20,000 counts/sec for 5 seconds and then stop.

CAMVM.FREQ = 20000
CAMVM.DIR = 0
CAMVM.GOREL
pause(5)
CAMVM.STOP

Related Topics
CAMVM.GOREL (pg 222) | CAMVM.GOVEL (pg 224) | FB2.ENCRES (pg 451)

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AKD BASIC Programming Manual | 7.8 CAP Parameters

7.8 CAP Parameters

This section describes the CAP parameters.

7.8.1 CAP0.EDGE, CAP1.EDGE 230

7.8.2 CAP0.EN, CAP1.EN 232
7.8.3 CAP0.EVENT, CAP1.EVENT 233
7.8.4 CAP0.FBSOURCE, CAP1.FBSOURCE 236
7.8.5 CAP0.FILTER, CAP1.FILTER 237
7.8.6 CAP0.MODE, CAP1.MODE 238
7.8.7 CAP0.PLFB, CAP1.PLFB 240
7.8.8 CAP0.PREEDGE, CAP1.PREEDGE 242
7.8.9 CAP0.PREFILTER, CAP1.PREFILTER 244
7.8.10 CAP0.PRESELECT, CAP1.PRESELECT 245
7.8.11 CAP0.STATE, CAP1.STATE 247
7.8.12 CAP0.T, CAP1.T 248
7.8.13 CAP0.TRIGGER, CAP1.TRIGGER 250

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 AKD BASIC Programming Manual | 7.8.1 CAP0.EDGE, CAP1.EDGE

7.8.1 CAP0.EDGE, CAP1.EDGE

General Information
Type NV Parameter
Description Selects the capture edge.
Units N/A
Range 1 to 3
Default
1
Value
Data Type U8
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
ParamterFieldbus Address Attributes Signed?
Profinet Byte
CAP0.EDGE ® 2027
sercos III 2 Octets
No
Profinet Byte
CAP1.EDGE 2040
sercos® III 2 Octets

Object
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Start
Version
54 CAP0.EDGE M_01-
Modbus No 8 bit No 03-00-
80 CAP1.EDGE 000

Description
The filtered trigger source is monitored for rising edge, falling edge, or both edges. The event mode logic
may ignore the precondition edge detection; however, the trigger always uses edge detection.
The precondition logic has an identical feature controlled by CAP0.PREEDGE, CAP1.PREEDGE (pg
242).
Value Description
0 Reserved

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AKD BASIC Programming Manual | 7.8.1 CAP0.EDGE, CAP1.EDGE

Value Description
Rising
1
edge
Falling
2
edge
3 Both edges

Related Topics
CAP0.PREEDGE, CAP1.PREEDGE

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 AKD BASIC Programming Manual | 7.8.2 CAP0.EN, CAP1.EN

7.8.2 CAP0.EN, CAP1.EN

General Information
Type NV Parameter
Enables or disables the related capture
Description
engine.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Boolean
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Paramter Fieldbus Address Attributes Signed?
Profinet Byte
CAP0.EN ® 2028
sercos III 2 Octets
No
Profinet Byte
CAP1.EN 2041
sercos® III 2 Octets

Object
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Start
Version
56 CAP0.EN M_01-
Modbus No 8 bit No 03-00-
82 CAP1.EN 000

Description
This parameter enables or disables the related capture engine. After each successful capture event, this
parameter is reset to 0 and must be activated again for the next capture. Also note that CAP0.PLFB,
CAP1.PLFB (pg 240) is set to 0 when this parameter is set to 1.
0 = Disable
1 = Enable

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AKD BASIC Programming Manual | 7.8.3 CAP0.EVENT, CAP1.EVENT

7.8.3 CAP0.EVENT, CAP1.EVENT

General Information
Type NV Parameter
Controls the precondition
Description
logic.
Units N/A
Range 0 to 3
Default
0
Value
Data Type U8
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CANopen 3460h/5 CAP0.EVENT
M_01-00-00-000
CANopen 3460h/6 CAP1.EVENT

Paramter Fieldbus Address Attributes Signed?

Profinet Byte
CAP0.EVENT ® 2029
sercos III 2 Octets
No
Profinet Byte
CAP1.EVENT 2042
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

58 CAP0.EVENT
Modbus No 8 bit No M_01-03-00-000
84 CAP1.EVENT

Description
The event mode controls use of the precondition logic. If this field is not 0, then the precondition input is
selected by CAPx.TRIGGER. If this field is 1, then the precondition edge is selected by the
CAPx.PREEDGE. The four event modes are listed below.

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 AKD BASIC Programming Manual | 7.8.3 CAP0.EVENT, CAP1.EVENT

Event Description
0 Precondition settings ignored.
Trigger on first trigger event after selected edge on precondition
1
input.
2 Trigger on first trigger event to occur while precondition input is 1
3 Trigger on first trigger event to occur while precondition input is 0.

Example
Event 0
The following diagram shows an example of Event = 0 (trigger on edge, trigger edge = rising). In this
mode, the precondition logic is ignored.

Figure 1: Trigger Edge Mode

Events 2 and 3 (Trigger edge while precondition = 0 or 1)
In these events, the precondition logic samples the current (post-filter) state of the selected precondition
source input. The capture engine looks for a trigger edge while the precondition input is at a “1” or “0” state.

Figure 2: Trigger edge WHILE precondition edge

Event 1 (Trigger edge after precondition)

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AKD BASIC Programming Manual | 7.8.3 CAP0.EVENT, CAP1.EVENT

In this event, each trigger event requires Enable=1, a new precondition edge, followed by a new trigger
edge. The sequence requirements are shown in the figure below.

Figure 3: Trigger edge after precondition edge

Note: If the precondition and trigger edges occur at the same time, it is not a valid trigger event. A sub-
sequent trigger edge must occur after the precondition edge. The same time resolves to a single 40 ns
clock tick in the trigger event logic (after the optional filter function as well as any sensor, cable, or noise
delays).

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 AKD BASIC Programming Manual | 7.8.4 CAP0.FBSOURCE, CAP1.FBSOURCE

7.8.4 CAP0.FBSOURCE, CAP1.FBSOURCE

General Information
Type NV Parameter
Description Selects the source of the captured value.
Units N/A
Range 0 to 4
Default
0
Value
Data Type U8
Start Version M_01-10-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Parameter
Fieldbus Address Attributes Signed?
Profinet Byte
CAP0.FBSOURCE ® 2883
sercos III 2 Octets
No
Profinet Byte
CAP1.FBSOURCE 2884
sercos® III 2 Octets

Description
CAP0.FBSOURCE and CAP1.FBSOURCE select the source of the captured value. Data for all source
values is retrieved with CAP0.PLFB, CAP1.PLFB (pg 240).
Value Description
Captures from feedback 1 (FB1), independent of the value of PL.FBSOURCE. The units are the
0
same as those used for PL.FB.
1 Captures from feedback 2 (FB2).
2 Captures from feedback 3 (FB3).
Standard position capture, which stores PL.FB (pg 621). The feedback number is determined by
3
PL.FBSOURCE (pg 623).
4 Captures from EXTENCODER.POSITION (pg 404) (AKD BASIC drives only).

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AKD BASIC Programming Manual | 7.8.5 CAP0.FILTER, CAP1.FILTER

7.8.5 CAP0.FILTER, CAP1.FILTER

General Information
Type R/W Parameter
Sets the filter for the capture source
Description
input.
Units N/A
Range 0 to 2
Default
0
Value
Data Type U8
Start Version M_01-00-00-000
End Version M_01-03-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Paramter Fieldbus Address Attributes Signed?
Profinet Byte
CAP0.FILTER ® 2030
sercos III 2 Octets
No
Profinet Byte
CAP1.FILTER 2043
sercos® III 2 Octets

Object
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Start
Version
60 CAP0.FILTER M_01-
Modbus No 8 bit No 03-00-
86 CAP1.FILTER 000

Description
These parameters are not functional in M_01-03-00-000. In future releases, you can use DINx.FILTER to
select a filter on the input channel.

Related Topics
DIN1.FILTER TO DIN7.FILTER (pg 268)

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 AKD BASIC Programming Manual | 7.8.6 CAP0.MODE, CAP1.MODE

7.8.6 CAP0.MODE, CAP1.MODE

General Information
Type NV Parameter
Selects the captured
Description
value.
Units N/A
Range 0 to 4
Default
0
Value
Data Type U8
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and 3460h/3 CAP0.MODE
CANopen M_01-00-00-000
CANopen 3460h/4 CAP1.MODE

ParamterFieldbus Address Attributes Signed?

Profinet Byte
CAP0.MODE 2031
sercos® III 2 Octets
No
Profinet Byte
CAP1.MODE 2044
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

62 CAP0.MODE
Modbus No 8 bit No M_01-03-00-000
88 CAP1.MODE

Description
Mode 0: Standard Position
Mode 0 is the standard position capture. The source of the captured position is determined by
CAP0.FBSOURCE, CAP1.FBSOURCE (pg 236). Data can be retrieved with CAP0.PLFB, CAP1.PLFB
(pg 240).
Mode 1: Drive Internal Time

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AKD BASIC Programming Manual | 7.8.6 CAP0.MODE, CAP1.MODE

Mode 1 is the drive internal time capture. Data can be retrieved with CAP0.T, CAP1.T (pg 248).
Mode 2: Distributed Clock Time
Mode 2 is the KAS EtherCAT distributed clock time (DCT) capture. Instead of using a position value, the
DCT is calculated. There is no user parameter to retrieve the captured DCT. Attempting to set Mode = 2
with anything other than an EtherCAT system will result in an invalid parameter error.
Mode 3: Primary Encoder Signal
Mode 3 is the capture of the primary encoder signal. This mode is used to home onto a feedback index.
This mode sets the other parameters needed for this mode. These parameters can be changed later, but
this is not recommended unless the input source of the index signal varies. Parameters set in this mode
are:
l CAPx.TRIGGER 10: index mark of primary encoder
l CAPx.EDGE 1: rising edge
l CAPx.EVENT 0: ignore precondition

Also the capture engine is immediately enabled and is continuously triggered again.
Mode 4: Auto-Armed Position
Mode 4 is similar to Mode 0 (standard position capture), except that the re-enabling of the capture is done
automatically. This mode can be used for the registration move.

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 AKD BASIC Programming Manual | 7.8.7 CAP0.PLFB, CAP1.PLFB

7.8.7 CAP0.PLFB, CAP1.PLFB

General Information
Type R/O Parameter
Description Reads captured position value.
Units depend on units of captured source (CAP0.FBSOURCE, CAP1.FBSOURCE (pg
236)):
CAPx.FBSOURCE value Units
0 (FB1.P (pg 430)) Units depend on value of FB1.PUNIT (pg 438).
1 (FB2.P (pg 455)) Units depend on value of FB2.PUNIT (pg 458).
Units
2 (FB3.P (pg 465)) Units depend on value of FB3.PUNIT (pg 468).
Units depend on UNIT.PROTARY (pg 718) or
3 (PL.FB (pg 621))
UNIT.PLINEAR (pg 716).
4 (EXTENCODER.POSITION
Units same as units for EXTENCODER.POSITION.
(pg 404))
Range Full range of a signed 64 bit variable
Default
0
Value
Data Type S64
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
20A0h/0 CAP0.PLFB
EtherCAT COE and CANopen 20A1h/0 CAP0.PLFB
M_01-00-00-000
CANopen 20A2h/0 CAP1.PLFB
20A3h/0 CAP1.PLFB

ParamterFieldbus Address Attributes Signed?

Profinet DWord
CAP0.PLFB 2032
sercos® III 8 Octets
Yes
Profinet DWord
CAP1.PLFB 2045
sercos® III 8 Octets

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AKD BASIC Programming Manual | 7.8.7 CAP0.PLFB, CAP1.PLFB

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

64 CAP0.PLFB
Modbus Yes 64 bit Yes M_01-03-00-000
90 CAP1.PLFB

Description
This parameter reads the captured position value scaled to actual set units.

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 AKD BASIC Programming Manual | 7.8.8 CAP0.PREEDGE, CAP1.PREEDGE

7.8.8 CAP0.PREEDGE, CAP1.PREEDGE

General Information
Type NV Parameter
Selects the capture precondition
Description
edge.
Units N/A
Range 1 to 3
Default
1
Value
Data Type U8
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CANopen 3460h/7 CAP0.PREEDGE
M_01-00-00-000
CANopen 3460h/8 CAP1.PREEDGE

Paramter Fieldbus Address Attributes Signed?

Profinet Byte
CAP0.PREEDGE 2034
sercos® III 2 Octets
No
Profinet Byte
CAP1.PREEDGE 2047
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

68 CAP0.PREEDGE
Modbus No 8 bit No M_01-03-00-000
94 CAP1.PREEDGE

Description
The precondition edge is monitored for rising edge, falling edge, or both. The event mode logic may ignore
the precondition edge detection (trigger always uses edge detection).

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AKD BASIC Programming Manual | 7.8.8 CAP0.PREEDGE, CAP1.PREEDGE

The filtered trigger source has an identical feature controlled by CAP0.EDGE, CAP1.EDGE (pg 230).
Value Description
0 Reserved
Rising
1
edge
Falling
2
edge
3 Both edges

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 AKD BASIC Programming Manual | 7.8.9 CAP0.PREFILTER, CAP1.PREFILTER

7.8.9 CAP0.PREFILTER, CAP1.PREFILTER

General Information
Type NV Parameter
Sets the filter for the precondition input
Description
source.
Units N/A
Range 0 to 2
Default
0
Value
Data Type U8
Start Version M_01-00-00-000
End Version M_01-03-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Paramter Fieldbus Address Attributes Signed?
Profinet Byte
CAP0.PREFILTER ® 2035
sercos III 2 Octets
No
Profinet Byte
CAP1.PREFILTER 2048
sercos® III 2 Octets

Object
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Start
Version
70 CAP0.PREFILTER M_01-
Modbus No 8 bit No 03-00-
96 CAP1.PREFILTER 000

Description
These parameters are not functional in M_01-03-00-000. In future releases, you can use DINx.FILTER to
select a filter on the input channel.

Related Topics
DIN1.FILTER TO DIN7.FILTER (pg 268)

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AKD BASIC Programming Manual | 7.8.10 CAP0.PRESELECT, CAP1.PRESELECT

7.8.10 CAP0.PRESELECT, CAP1.PRESELECT

General Information
Type NVParameter
Sets the precondition trig-
Description
ger.
Units N/A
Range 0 to 10
Default
0
Value
Data Type U8
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CANopen 3460h/9 CAP0.PRESELECT
M_01-00-00-000
CANopen 3460h/10 CAP1.PRESELECT

Paramter Fieldbus Address Attributes Signed?

Profinet Byte
CAP0.PRESELECT ® 2036
sercos III 2 Octets
No
Profinet Byte
CAP1.PRESELECT 2049
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

72 CAP0.PRESELECT
Modbus No 8 bit No M_01-03-00-000
98 CAP1.PRESELECT

Description
This parameter specifies the input signal for the precondition trigger.
Trigger Source Input Name
General Input 1
0
(X7)

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 AKD BASIC Programming Manual | 7.8.10 CAP0.PRESELECT, CAP1.PRESELECT

Trigger Source Input Name

General Input 2
1
(X7)
General Input 3
2
(X7)
General Input 4
3
(X7)
General Input 5
4
(X8)
General Input 6
5
(X7)
General Input 7
6
(X7)
7 RS485 Input 1 (X9)
8 RS485 Input 2 (X9)
9 RS485 Input 3 (X9)
10 Primary Index

Related Topics
CAP0.TRIGGER, CAP1.TRIGGER (pg 250)

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AKD BASIC Programming Manual | 7.8.11 CAP0.STATE, CAP1.STATE

7.8.11 CAP0.STATE, CAP1.STATE

General Information
Type R/O Parameter
Indicates whether or not trigger source was cap-
Description
tured.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Paramter Fieldbus Address Attributes Signed?
Profinet Byte
CAP0.STATE ® 2037
sercos III 2 Octets
No
Profinet Byte
CAP1.STATE 2050
sercos® III 2 Octets

Object
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Start
Version
74 CAP0.STATE M_01-
Modbus No 8 bit No 03-00-
100 CAP1.STATE 000

Description
When enabling the capture (CAP0.EN, CAP1.EN (pg 232)), this parameter is set to 0 until the next event
is captured.
0 = Not captured or Capture Disabled
1 = Captured

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 AKD BASIC Programming Manual | 7.8.12 CAP0.T, CAP1.T

7.8.12 CAP0.T, CAP1.T

General Information
Type R/O Parameter
Reads time capture (if time capture was con-
Description
figured).
Units ns
Range N/A
Default
N/A
Value
Data Type U32
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Paramter Fieldbus Address Attributes Signed?
Profinet DWord
CAP0.T ® 2038
sercos III 4 Octets
No
Profinet DWord
CAP1.T 2051
sercos® III 4 Octets

Fieldbus Index/Subindex Object Start Version

20A0h/0 CAP0.T
EtherCAT COE and
20A0h/0 CAP0.T
CANopen M_01-00-00-000
20A2h/0 CAP1.T
CANopen
20A3h/0 CAP1.T

Object
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Start
Version
76 CAP0.T M_01-
Modbus No 32 bit No 03-00-
102 CAP1.T 000

Description

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AKD BASIC Programming Manual | 7.8.12 CAP0.T, CAP1.T

If time capture was configured, the captured time is stored in this parameter. The reference time is the
occurrence of the last MTS signal (recurring every 62.5 µs), so this is a purely drive internal time.

Related Topics
CAP0.MODE, CAP1.MODE (pg 238)

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 AKD BASIC Programming Manual | 7.8.13 CAP0.TRIGGER, CAP1.TRIGGER

7.8.13 CAP0.TRIGGER, CAP1.TRIGGER

General Information
Type NV Parameter
Specifies the trigger source for the position cap-
Description
ture.
Units N/A
Range 0 to 11
Default
0
Value
Data Type U8
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and 3460h/1 CAP0.TRIGGER
CANopen M_01-00-00-000
CANopen 3460h/2 CAP1.TRIGGER

Paramter Fieldbus Address Attributes Signed?

Profinet Byte
CAP0.TRIGGER 2039
sercos® III 2 Octets
No
Profinet Byte
CAP1.TRIGGER 2052
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

78 CAP0.TRIGGER
Modbus No 8 bit No M_01-03-00-000
104 CAP1.TRIGGER

Description
This parameter specifies the trigger source (capture input signal).
Trigger Source Input Name
0 General Input 1

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AKD BASIC Programming Manual | 7.8.13 CAP0.TRIGGER, CAP1.TRIGGER

Trigger Source Input Name

1 General Input 2
2 General Input 3
3 General Input 4
4 General Input 5
5 General Input 6
6 General Input 7
7 X9 Connector, RS485 Input 1 Pin
8 X9 Connector, RS485 Input 2 Pin
9 X9 Connector, RS485 Input 3 Pin
10 Primary Index
11 Tertiary Index

Related Topics
CAP0.PRESELECT, CAP1.PRESELECT (pg 245)

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 AKD BASIC Programming Manual | 7.9 CS Parameters

7.9 CS Parameters
Controlled stop (CS) parameters set the values for the controlled stop process.

7.9.1 CS.DEC 253

7.9.2 CS.STATE 255
7.9.3 CS.TO 256
7.9.4 CS.VTHRESH 258

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AKD BASIC Programming Manual | 7.9.1 CS.DEC

7.9.1 CS.DEC
General Information
Type NV Parameter
Description Sets the deceleration value for the controlled stop process.
Depends on UNIT.ACCROTARY (pg 713) or UNIT.ACCLINEAR (pg 712)
Units Rotary: rps/s, rpm/s, deg/s2, (Custom Units)/s2, rad/s2
Linear: counts/s2, mm/s2, µm/s2, (Custom Units)/s2
Rotary:
0.002 to 833,333.333 rps/s
0.112 to 50,000,000.000 rpm/s
0.009 to 300,000,000.000 deg/s²
0.155 to 4,166,666.752 (Custom Units)/s²
0.012 to 5,235,987.968 rad/s²
Range
Linear:
16,000.000 to 3,579,139,408,000.000 counts/s2
0.031*MOTOR.PITCH (pg 570) to 833333.333*MOTOR.PITCH (pg 570) mm/s2
30.994*MOTOR.PITCH (pg 570) to 833333333.333*MOTOR.PITCH (pg 570)
µm/s2
0.155 to 4,166,666.667 (Custom Units)/s2
Rotary:
166.669 rps/s
10,000.000 rpm/s
60,000.000 deg/s²
833.333 (Custom Units)/s²
Default
1,047.2 rad/s²
Value
Linear:
715,840,000.000 counts/s²
166.714*MOTOR.PITCH (pg 570)MOTOR.PITCH (pg 570) mm/s²
166,714.191*MOTOR.PITCH (pg 570)MOTOR.PITCH (pg 570) µm/s²
833.571 (Custom Units)/s²
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

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 AKD BASIC Programming Manual | 7.9.1 CS.DEC

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3440h/1 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2053 No
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 106 Yes 64 bit No M_01-03-00-000

Description
This parameter sets the deceleration value for the controlled stop process.

Related Topics
CS.VTHRESH (pg 258), CS.TO (pg 256), DRV.DIS, DIN1.MODE TO DIN7.MODE (pg 272),
DRV.DISSOURCES (pg 323)

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AKD BASIC Programming Manual | 7.9.2 CS.STATE

7.9.2 CS.STATE
General Information
Type R/O Parameter
Returns the internal status of the controlled stop pro-
Description
cess.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3441h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Byte
® 2055 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 110 No 8 bit No M_01-03-00-000

Description
CS.STATE returns the internal state machine value of the controlled stop.
0 = controlled stop is not occurring.
1 = controlled stop is occurring

Related Topics
CS.DEC (pg 253), CS.VTHRESH (pg 258), CS.TO (pg 256)DRV.DISSOURCES (pg 323)

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 AKD BASIC Programming Manual | 7.9.3 CS.TO

7.9.3 CS.TO
General Information
Type NV Parameter
Sets the time value for the drive velocity to be within CS.VTHRESH (pg
Description
258).
Units ms
Range 1 to 30,000 ms
Default
6 ms
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3440h/3 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2056 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 112 No 32 bit No M_01-03-00-000

Description
CS.TO is the time value for the drive velocity to be within CS.VTHRESH (pg 258) before the drive dis-
ables.

Example
Set time value to 100 ms:
-->CS.TO 100

Related Topics

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AKD BASIC Programming Manual | 7.9.3 CS.TO

CS.DEC (pg 253), CS.VTHRESH (pg 258), CS.STATE, DRV.DIS, DIN1.MODE TO DIN7.MODE (pg
272), DRV.DISSOURCES (pg 323)

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 AKD BASIC Programming Manual | 7.9.4 CS.VTHRESH

7.9.4 CS.VTHRESH
General Information
Type NV Parameter
Sets the velocity threshold for the controlled
Description
stop.
Units rpm, rps, deg/s, Custom Units/s
Rotary:
0.000 to 15,000.000 rpm
0.000 to 250.000 rps
0.000 to 90,000.000 deg/s
0.000 to 1,250.000 Custom Units/s
Range 0.000 to 1,570.796 rad/s
Linear:
0.000 to 1,073,741,824,000.000 counts/s
0.000 to 8,000.000 mm/s
0.000 to 8,000,000.000 µm/s
0.000 to 1,250.000 Custom Units/s
Default
5 rpm
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3440h/2 M_01-00-00-000
CANopen

Fieldbus Parameter Address Attributes Signed?

Profinet DWord
® CS.VTHRESH_32 2057 No
sercos III 8 Octets

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AKD BASIC Programming Manual | 7.9.4 CS.VTHRESH

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 114 Yes low 32 bit word No M_01-03-00-000

Description
CS.VTHRESH is the velocity threshold for the controlled stop algorithm.

Example
Set velocity threshold for controlled stop at 100 rpm:
-->CS.VTHRESH 100

Related Topics
CS.DEC (pg 253), CS.TO (pg 256), CS.STATE (pg 255), DRV.DIS (pg 320), DIN1.MODE TO
DIN7.MODE (pg 272), DRV.DISSOURCES (pg 323)

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 AKD BASIC Programming Manual | 7.10 DIN Parameters

7.10 DIN Parameters

This section describes the DIN parameters.

7.10.1 DIN.HCMD1 TO DIN.HCMD4 262

7.10.2 DIN.LCMD1 to DIN.LCMD4 264
7.10.3 DIN.ROTARY 265
7.10.4 DIN.STATES 267
7.10.5 DIN1.FILTER TO DIN7.FILTER 268
7.10.6 DIN1.INV to DIN7.INV 270
7.10.7 DIN1.MODE TO DIN7.MODE 272
7.10.8 DIN1.STATE TO DIN7.STATE 274
7.10.9 DIN9.STATE to DIN11.STATE 276
7.10.10 DIN21.FILTER to DIN32.FILTER 277
7.10.11 DIN21.STATE to DIN32.STATE 279

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AKD BASIC Programming Manual | 7.10 DIN Parameters

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 AKD BASIC Programming Manual | 7.10.1 DIN.HCMD1 TO DIN.HCMD4

7.10.1 DIN.HCMD1 TO DIN.HCMD4

General Information
Type NV parameter
A buffer of commands to be used in digital input "command buffer"
Description
mode.
Units None
Range A string of up to 128 characters
Default
<Empty>
Value
Data Type String
Start Version M_01-02-08-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
DIN.HCMDx sets the string of commands to be used in the digital input mode command buffer. Digital
input mode 9-Command buffer can execute four different sets of command buffers.
Each set of command buffers contains two buffers:
l High buffer: Executes upon a rising edge of a digital input.
l Low buffer: Executes upon a falling edge of a digital input.

DIN.HCMDx sets the string for the four high buffers (depending on x).

Example
Set the command buffer mode to digital input 1:
DIN1.MODE 9
Set the first sets of buffers to digital input 1:
DIN1.PARAM 1
Set the command DRV.OPMODE 0 to the high buffer:
DIN.HCMD1 DRV.OPMODE 1
Now, upon a rising edge in digital input 1, the drive mode is 1.

Related Topics

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AKD BASIC Programming Manual | 7.10.1 DIN.HCMD1 TO DIN.HCMD4

DIN1.MODE TO DIN7.MODE (pg 272), DIN1.PARAM TO DIN7.PARAM, DIN.LCMD1 to DIN.LCMD4

(pg 264)

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 AKD BASIC Programming Manual | 7.10.2 DIN.LCMD1 to DIN.LCMD4

7.10.2 DIN.LCMD1 to DIN.LCMD4

General Information
Type NV parameter
A buffer of commands to be used in digital input "command buffer"
Description
mode.
Units N/A
Range A string of up to 128 characters
Default
Empty
Value
Data Type String
Start Version M_01-02-08-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
DIN.LCMDx sets the string of commands to be used in the digital input mode command buffer. Digital
input mode 9-Command buffer can execute four different sets of command buffers.
Each set of command buffers contains two buffers:
l High buffer: Executes upon a rising edge of a digital input.
l Low buffer: Executes upon a falling edge of a digital input.

DIN.LCMDx sets the string for the four "low" buffers, depending on x.

Example
Set the command buffer mode to digital input 1:
DIN1.MODE 9
Set the first sets of buffers to digital input 1:
DIN1.PARAM 1
Set the command DRV.OPMODE 0 to the "low buffer":
DIN.LCMD1 DRV.OPMODE 0
Now, upon a falling edge in digital input 1, the drive mode is 0.

Related Topics
DIN1.MODE TO DIN7.MODE (pg 272), DIN.HCMD1 TO DIN.HCMD4 (pg 262)

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AKD BASIC Programming Manual | 7.10.3 DIN.ROTARY

7.10.3 DIN.ROTARY
General Information
Type R/O Parameter
Reads the rotary knob
Description
value.
Units N/A
Range 0 to 99
Default
N/A
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2058 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 116 No 8 bit No M_01-03-00-000

Description
DIN.ROTARY reads the rotary knob value.

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 AKD BASIC Programming Manual | 7.10.3 DIN.ROTARY

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AKD BASIC Programming Manual | 7.10.4 DIN.STATES

7.10.4 DIN.STATES
General Information
Type R/O Parameter
Reads the digital input
Description
states.
Units N/A
Range 0000000 to 1111111
Default
N/A
Value
Data Type String
Start Version M_01-00-00-000

AKD-N Information
Range 000 to 111

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
DIN.STATES reads the states of the digital inputs. The leftmost bit represents digital input 1 (DIN1) and
the rightmost bit represents digital input 7 (DIN7).

AKD-N only supports DIN1 to DIN3.

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 AKD BASIC Programming Manual | 7.10.5 DIN1.FILTER TO DIN7.FILTER

7.10.5 DIN1.FILTER TO DIN7.FILTER

General Information
Type R/W Parameter
Filter mode for digital inputs 1 to
Description
7.
Units N/A
Range 0 to 3
Default 1 for DIN1 and DIN2
Value 2 for DIN3 to DIN7
Data Type Integer
Start Version M_01-03-07-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Paramter Fieldbus Address Attributes Signed?
Profinet Word
DIN1.FILTER 2459
sercos® III 2 Octets
Profinet Word
DIN2.FILTER 2460
sercos® III 2 Octets
Profinet Word
DIN3.FILTER 2461
sercos® III 2 Octets
Profinet Word
DIN4.FILTER 2462 No
sercos® III 2 Octets
Profinet Word
DIN5.FILTER 2463
sercos® III 2 Octets
Profinet Word
DIN6.FILTER 2464
sercos® III 2 Octets
Profinet Word
DIN7.FILTER 2465
sercos® III 2 Octets

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AKD BASIC Programming Manual | 7.10.5 DIN1.FILTER TO DIN7.FILTER

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

918 DIN1.FILTER
920 DIN2.FILTER
922 DIN3.FILTER
Modbus 924 DIN4.FILTER No 16 bit No
926 DIN5.FILTER
928 DIN6.FILTER
930 DIN7.FILTER

Description
This parameter sets the digital input filter configuration for channel x when followed with the values
defined below. DINx.FILTER retrieves this information when not followed by data.
Value Description
DINX.FILTER The drive digital input channel detects all input signals with an input
0 pulse width of ≥ 40 ns (no filtering applied).
DINX.FILTER The drive digital input channel detects all input signals with an input
1 pulse width of ≥ 10.24 µs, ± 0.64 µs (fast filter applied).
DINX.FILTER The drive digital input channel detects all input signals with an input
2 pulse width of ≥ 163 µs, ± 10.24 µs (standard filter applied).
DINX.FILTER The drive digital input channel detects all input signals with an input
3 pulse width of ≥ 2.62 ms, ± 0.16384 ms (slow filter applied).

AKD-N only supports DIN1 to DIN3.

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 AKD BASIC Programming Manual | 7.10.6 DIN1.INV to DIN7.INV

7.10.6 DIN1.INV to DIN7.INV

General Information
Type RW Parameter
Description Sets the indicated polarity of a digital input mode.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Boolean
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Paramter Fieldbus Address Attributes Signed?
Profinet Byte
DIN1.INV ® 2060
sercos III 2 Octets
Profinet Byte
DIN2.INV 2065
sercos® III 2 Octets
Profinet Byte
DIN3.INV 2070
sercos® III 2 Octets
Profinet Byte
DIN4.INV 2075 No
sercos® III 2 Octets
Profinet Byte
DIN5.INV 2080
sercos® III 2 Octets
Profinet Byte
DIN6.INV 2085
sercos® III 2 Octets
Profinet Byte
DIN7.INV 2090
sercos® III 2 Octets

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AKD BASIC Programming Manual | 7.10.6 DIN1.INV to DIN7.INV

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

120 DIN1.INV
130 DIN2.INV
140 DIN3.INV
Modbus 150 DIN4.INV No 8 bit No M_01-03-00-000
160 DIN5.INV
170 DIN6.INV
180 DIN7.INV

Description
Sets the indicated polarity of a digital input mode.

AKD-N only supports DIN1 to DIN3.

Example
DIN1.INV = 0 : Input is active high.
DIN1.INV = 1 : Input is active low.

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 AKD BASIC Programming Manual | 7.10.7 DIN1.MODE TO DIN7.MODE

7.10.7 DIN1.MODE TO DIN7.MODE

General Information
Type R/W Parameter
Sets the digital input
Description
modes.
Units N/A
Range 0 to 26
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

AKD SynqNet Information

Range 0

AKD BASIC Information

Range 0, 1, 13, 18, 19

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Object Start Ver-
Fieldbus Index/Subindex
sion
3562h/0 DIN1.MODE
3565h/0 DIN2.MODE
3568h/0 DIN3.MODE
EtherCAT COE and 356Bh/0 DIN4.MODE
CANopen 36F6h/0 DIN5.MODE M_01-00-00-000
CANopen 36F9h/0 DIN6.MODE
36FCh/0 DIN7.MODE
DIN1.MODE TO
60FDh/0
DIN7.MODE

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AKD BASIC Programming Manual | 7.10.7 DIN1.MODE TO DIN7.MODE

Paramter Fieldbus Address Attributes Signed?

Profinet Byte
DIN1.MODE ® 2061
sercos III 2 Octets
Profinet Byte
DIN2.MODE 2066
sercos® III 2 Octets
Profinet Byte
DIN3.MODE 2071
sercos® III 2 Octets
Profinet Byte
DIN4.MODE 2076 No
sercos® III 2 Octets
Profinet Byte
DIN5.MODE 2081
sercos® III 2 Octets
Profinet Byte
DIN6.MODE 2086
sercos® III 2 Octets
Profinet Byte
DIN7.MODE 2091
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

122 DIN1.MODE
132 DIN2.MODE
142 DIN3.MODE
Modbus 152 DIN4.MODE No 16 bit No M_01-03-00-000
162 DIN5.MODE
172 DIN6.MODE
182 DIN7.MODE

Description
This parameter sets the functionality of the digital inputs. Digital inputs and corresponding X7 and X8 pin
connectors are described in the AKD Installation Manual, section 8.16.4, Digital Inputs. The table below
summarizes the digital input modes.

AKD-N only supports DIN1 to DIN3.

DINx.MODE Description Task

0 No function; off None
1 Fault reset Background
7 Reserved None
12 Reserved None
13 Controlled Stop 1 kHz
14 Reserved None
18 Positive limit switch 4 kHz
Negative limit
19 4kHz
switch

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 AKD BASIC Programming Manual | 7.10.8 DIN1.STATE TO DIN7.STATE

7.10.8 DIN1.STATE TO DIN7.STATE

General Information
Type R/O Parameter
Reads a specific digital input
Description
state.
Units N/A
Range 0 to 1
Default
N/A
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Paramter Fieldbus Address Attributes Signed?
Profinet Byte
DIN1.STATE ® 2064
sercos III 2 Octets
Profinet Byte
DIN2.STATE 2069
sercos® III 2 Octets
Profinet Byte
DIN3.STATE 2074
sercos® III 2 Octets
Profinet Byte
DIN4.STATE 2079 No
sercos® III 2 Octets
Profinet Byte
DIN5.STATE 2084
sercos® III 2 Octets
Profinet Byte
DIN6.STATE 2089
sercos® III 2 Octets
Profinet Byte
DIN7.STATE 2094
sercos® III 2 Octets

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AKD BASIC Programming Manual | 7.10.8 DIN1.STATE TO DIN7.STATE

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

128 DIN1.STATE
138 DIN2.STATE
148 DIN3.STATE
Modbus 158 DIN4.STATE No 8 bit No M_01-03-00-000
168 DIN5.STATE
178 DIN6.STATE
188 DIN7.STATE

Description
Reads the state of one digital input according to the number identified in the command.

AKD-N only supports DIN1 to DIN3.

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 AKD BASIC Programming Manual | 7.10.9 DIN9.STATE to DIN11.STATE

7.10.9 DIN9.STATE to DIN11.STATE

General Information
Type NV Parameter
Description Shows on selected pin if signal is high or low.
Units N/A
Range 0 to 1
Default
0
Value
Data Type U8
Start Ver-
M_01-05-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
ParameterFieldbus Address Attributes Signed?
Profinet Byte
DIN9.STATE ® 2727
sercos III 2 Octets
Profinet Byte
DIN10.STATE 2653 No
sercos® III 2 Octets
Profinet Byte
DIN11.STATE 2654
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

1454 DIN9.STATE
Modbus 1306 DIN10.STATE No 8 bit No M_01-06-03-000
1308 DIN11.STATE

Description
This parameter allows the user to see the actual level of the input signal, when the IO is set to input mode.
Parameter value is 0 if signal is low and 1 if signal is high. DIOx.INV can affect the value in this register.
This parameter can be read at any time. The value is only guaranteed to correspond to the output on the
X9 connector when DRV.EMUEMODE is set to 10 and the DIOX.DIR is 0.

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AKD BASIC Programming Manual | 7.10.10 DIN21.FILTER to DIN32.FILTER

7.10.10 DIN21.FILTER to DIN32.FILTER

General Information
Type R/W Parameter
Filter mode for digital inputs 21 to
Description
32.
Units N/A
Range 0 to 3
Default
2
Value
Data Type Integer
Start Version M_01-03-07-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Parameter Fieldbus Address Attributes Signed?
Profinet Word
DIN21.FILTER ® 2655
sercos III 2 Octets
Profinet Word
DIN22.FILTER 2661
sercos® III 2 Octets
Profinet Word
DIN23.FILTER 2667
sercos® III 2 Octets
Profinet Word
DIN24.FILTER 2673
sercos® III 2 Octets
Profinet Word
DIN25.FILTER 2679
sercos® III 2 Octets
Profinet Word
DIN26.FILTER 2685
sercos® III 2 Octets
No
Profinet Word
DIN27.FILTER 2691
sercos® III 2 Octets
Profinet Word
DIN28.FILTER 2697
sercos® III 2 Octets
Profinet Word
DIN29.FILTER 2703
sercos® III 2 Octets
Profinet Word
DIN30.FILTER 2709
sercos® III 2 Octets
Profinet Word
DIN31.FILTER 2715
sercos® III 2 Octets
Profinet Word
DIN32.FILTER 2721
sercos® III 2 Octets

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 AKD BASIC Programming Manual | 7.10.10 DIN21.FILTER to DIN32.FILTER

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

1310 DIN21.FILTER
1322 DIN22.FILTER
1334 DIN23.FILTER
1346 DIN24.FILTER
1358 DIN25.FILTER
1370 DIN26.FILTER
Modbus No 16 bit No
1382 DIN27.FILTER
1394 DIN28.FILTER
1406 DIN29.FILTER
1418 DIN30.FILTER
1430 DIN31.FILTER
1442 DIN32.FILTER

Description
This parameter sets the digital input filter configuration for channel x when followed with the values
defined below. DINx.FILTER retrieves this information when not followed by data.
Value Description
DINX.FILTER The drive digital input channel detects all input signals with an input
0 pulse width of ≥ 40 ns (no filtering applied).
DINX.FILTER The drive digital input channel detects all input signals with an input
1 pulse width of ≥ 10.24 µs, ± 0.64 µs (fast filter applied).
DINX.FILTER The drive digital input channel detects all input signals with an input
2 pulse width of ≥ 163 µs, ± 10.24 µs (standard filter applied).
DINX.FILTER The drive digital input channel detects all input signals with an input
3 pulse width of ≥ 2.62 ms, ± 0.16384 ms (slow filter applied).

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AKD BASIC Programming Manual | 7.10.11 DIN21.STATE to DIN32.STATE

7.10.11 DIN21.STATE to DIN32.STATE

General Information
Type R/O Parameter
Reads a specific digital input
Description
state.
Units N/A
Range 0 to 1
Default
N/A
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Parameter Fieldbus Address Attributes Signed?
Profinet Byte
DIN21.STATE ® 2660
sercos III 2 Octets
Profinet Byte
DIN22.STATE 2666
sercos® III 2 Octets
Profinet Byte
DIN23.STATE 2672
sercos® III 2 Octets
Profinet Byte
DIN24.STATE 2678
sercos® III 2 Octets
Profinet Byte
DIN25.STATE 2684
sercos® III 2 Octets
Profinet Byte
DIN26.STATE 2690
sercos® III 2 Octets
No
Profinet Byte
DIN27.STATE 2696
sercos® III 2 Octets
Profinet Byte
DIN28.STATE 2702
sercos® III 2 Octets
Profinet Byte
DIN29.STATE 2708
sercos® III 2 Octets
Profinet Byte
DIN30.STATE 2714
sercos® III 2 Octets
Profinet Byte
DIN31.STATE 2720
sercos® III 2 Octets
Profinet Byte
DIN32.STATE 2726
sercos® III 2 Octets

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 AKD BASIC Programming Manual | 7.10.11 DIN21.STATE to DIN32.STATE

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

1320 DIN21.STATE
1332 DIN22.STATE
1344 DIN23.STATE
1356 DIN24.STATE
1368 DIN25.STATE
1380 DIN26.STATE
Modbus No 8 bit No
1392 DIN27.STATE
1404 DIN28.STATE
1416 DIN29.STATE
1428 DIN30.STATE
1440 DIN31.STATE
1452 DIN32.STATE

Description
DIN21.STATE to DIN32.STATE reads the state of one digital input according to the number identified in
the command.

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AKD BASIC Programming Manual | 7.11 DIO Parameters

7.11 DIO Parameters

This section describes the DIO parameters.

7.11.1 DIO9.DIR to DIO11.DIR 282

7.11.2 DIO9.INV to DIO11.INV 283

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 AKD BASIC Programming Manual | 7.11.1 DIO9.DIR to DIO11.DIR

7.11.1 DIO9.DIR to DIO11.DIR

General Information
Type NV Parameter
Changing direction of the IOs from the X9 con-
Description
nector.
Units N/A
Range 0 to 1
Default
0
Value
Data Type U8
Start Version M_01-05-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed?
1190 DIO10.DIR
Modbus 1194 DIO11.DIR No 8 bit No
1198 DIO9.DIR

Description
This parameter changes the direction of the general purpose IO from the X9 connector. If DIOx.DIR is set
0 then the IO configured as an input, while if DIOx.DIR is 1 the IO is configured as an output.
DIO9.DIR controls pins 1 and 2
DIO10.DIR controls pins pin 4 and 5
DIO11.DIR controls pins pin 7 and 8.
This parameter can be set at any time. It will be ignored unless DRV.EMUEMODE is set to 10.

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AKD BASIC Programming Manual | 7.11.2 DIO9.INV to DIO11.INV

7.11.2 DIO9.INV to DIO11.INV

General Information
Type NV Parameter
Inverting the output voltage of the IO, when in the output dir-
Description
ection.
Units NA
Range 0 to 1
Default
0
Value
Data Type U8
Start Version M_01-05-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Parameter Fieldbus Address Attributes Signed?
Profinet Byte
DIO9.INV ® 2600
sercos III 2 Octets
Profinet Byte
DIO10.INV 2596 No
sercos® III 2 Octets
Profinet Byte
DIO11.INV 2598
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

1192 DIO10.INV
Modbus 1196 DIO11.INV No 8 bit No
1200 DIO9.INV

Description
This parameter changes the logic sense of the differential input/output signals. When false, a logic 1
occurs when the + signal is higher than the – signal. When true, a logic 1 occurs when the – signal is
higher than the + signal.
The drive output parameters DOUTx.STATE and DOUTx.STATEU are not affected by changes in this
parameter. The drive input parameters DINx.STATE will be affected.
This parameter can be set at any time. It will be ignored unless DRV.EMUEMODE is set to 10.

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 AKD BASIC Programming Manual | 7.12 DOUT Parameters

7.12 DOUT Parameters

This section describes the DOUT parameters.

7.12.1 DOUT.CTRL 285

7.12.2 DOUT.RELAYMODE 286
7.12.3 DOUT.STATES 287
7.12.4 DOUT1.MODE to DOUT2.MODE 288
7.12.5 DOUT1.PARAM AND DOUT2.PARAM 290
7.12.6 DOUT1.STATE AND DOUT2.STATE 292
7.12.7 DOUT1.STATEU AND DOUT2.STATEU 293
7.12.8 DOUT9.STATE to DOUT11.STATE 294
7.12.9 DOUT9.STATEU to DOUT11.STATEU 295
7.12.10 DOUT21.STATE to DOUT32.STATE 297
7.12.11 DOUT21.STATEU to DOUT32.STATEU 299

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AKD BASIC Programming Manual | 7.12.1 DOUT.CTRL

7.12.1 DOUT.CTRL
General Information
Type NV Parameter
Sets the source of digital output(s) (firmware or field-
Description
bus).
Units N/A
Range 0 to 1
Default
0
Value
Data Type Boolean
Start Version M_01-00-00-000

SynqNet Information
Range 1

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2095 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 190 No 8 bit No M_01-03-00-000

Description
DOUT.CTRL sets the source of the digital output(s):
0 = Firmware controlled
1 = Fieldbus controlled

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 AKD BASIC Programming Manual | 7.12.2 DOUT.RELAYMODE

7.12.2 DOUT.RELAYMODE
General Information
Type R/W Parameter
Indicates faults relay
Description
mode.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2096 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 192 No 8 bit No M_01-03-00-000

Description
DOUT.RELAYMODE indicates the faults relay mode as follows:
If DOUT.RELAYMODE= 0 and faults exist, then the relay is open.
If DOUT.RELAYMODE= 0 and faults do not exist, then the relay is closed.

If DOUT.RELAYMODE = 1 and the drive is disabled, then the relay is open.

If DOUT.RELAYMODE = 1 and the drive is enabled, then the relay is closed.

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AKD BASIC Programming Manual | 7.12.3 DOUT.STATES

7.12.3 DOUT.STATES
General Information
Type R/O Parameter
Reads the state of the digital output
Description
(s).
Units N/A
Range 0 to 11
Default
N/A
Value
Data Type String
Start Version M_01-00-00-000

AKD BASIC Information

Data Type Integer

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 194 No 8 bit No M_01-03-00-000

Description
DOUT.STATES reads the states of the digital output(s). The leftmost bit represents DOUT1 and the right-
most bit represents DOUT2.

AKD-C only reads the state of DOUT1.

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 AKD BASIC Programming Manual | 7.12.4 DOUT1.MODE to DOUT2.MODE

7.12.4 DOUT1.MODE to DOUT2.MODE

General Information
Type NV Parameter
Sets the digital output
Description
mode.
Units N/A
Range 0 to 22
Default
0
Value
Data Type Integer
Start Version M_01-04-02-000

AKD BASIC Information

Range 0, 8, 10, 11, 15

AKD-C Information
Range 0, 1, 7, 11, 16

AKD EtherNet/IP Information

Range 0 to 2

Variants Supported
AKD SynqNet disables digital output modes when SynqNet goes cyclic.

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Paramter Fieldbus Address Attributes Signed?
Profinet Byte
DOUT1.MODE 2098
sercos® III 2 Octets
No
Profinet Byte
DOUT2.MODE 2103
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

196 DOUT1.MODE
Modbus No 8 bit No M_01-03-00-000
206 DOUT2.MODE

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AKD BASIC Programming Manual | 7.12.4 DOUT1.MODE to DOUT2.MODE

Description
DOUTx.MODE sets the functionality of the digital output(s). The table below summarizes the digital out-
put modes.
DOUTx.MODE Description
0 User (default = 0)
8 Drive enabled
9 Reserved
10 Motor brake
11 Drive produced fault
15 PLS.STATE bits or connected

Related Topics
DOUT1.PARAM AND DOUT2.PARAM (pg 290)

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 AKD BASIC Programming Manual | 7.12.5 DOUT1.PARAM AND DOUT2.PARAM

7.12.5 DOUT1.PARAM AND DOUT2.PARAM

General Information
Type NV Parameter
Description Sets extra parameters for the digital output(s).
Units N/A
0
Range Note: Range changes based on Digital Output Mode. See
below.
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Paramter Fieldbus Address Attributes Signed?
Profinet DWord
DOUT1.PARAM ® 2099
sercos III 8 Octets
Yes
Profinet DWord
DOUT2.PARAM 2104
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

198 DOUT1.PARAM
Modbus Yes 64 bit Yes M_01-03-00-000
208 DOUT2.PARAM

Description
Set the extra parameter needed for the digital output's calculations.

AKD-C and AKD-N only support DOUT1.

Range
DOUTx.PARAM is used for various Digital Output modes. This causes the parameter’s range to change
based on the current Digital Output mode selected with the corresponding DOUTx.MODE.
Below is a list of the possible range for each Digital Output Mode.

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AKD BASIC Programming Manual | 7.12.5 DOUT1.PARAM AND DOUT2.PARAM

If an output mode is not listed, then the default range of 0 is used.

Input Mode Min Max Notes
3 Position Min Position Max This value changes based on user selected position units.
4 Position Min Position Max This value changes based on user selected position units.
5 Position Min Position Max This value changes based on user selected position units.
6 Position Min Position Max This value changes based on user selected position units.
12 0 Velocity Max This value changes based on user selected velocity units.
13 0 Velocity Max This value changes based on user selected velocity units.
15 0 255 None.
17 Position Min Position Max This value changes based on user selected position units.

Dependency on DOUTx.MODE
Since the default range of DOUTx.PARAM does not allow a user to enter a value, DOUTx.MODE must
be set to a mode which uses DOUTx.PARAM before a value can be set.
Each time DOUTx.MODE is changed, DOUTx.PARAM is automatically set to zero to prevent unintended
interactions.
Digital Output Mode 15: PLS.STATE bits OR connected
The output mode produces a high signal if at least one of the PLS.STATE bits is high (the PLS is active)
and if the corresponding bit in the DOUTx.PARAM parameter also has been set to high. The
DOUTx.PARAM command connects the PLS.STATE bits to the digital output itself and thus acts as an
enable mask.
In mode 15 DOUTx.PARAM is set from the Digital Outputs section of the Programmable Limit Switches
screen.

This mode is valid for all opmodes and command source combinations.
Example
|<- Bit 7 to 0 ->|
DOUT1.PARAM = 23 = 0b 0 0 0 1 0 1 1 1 (Binary code)
The digital output 1 is active when bit 0 or bit 1 or bit 2 or bit 4 of PLS.STATE is high. All other bits within
PLS.STATE are not considered by the digital output mode due to the DOUT1.PARAM setting. Do not use
decimal places for the DOUTx.PARAM parameter for this particular digital output mode.

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 AKD BASIC Programming Manual | 7.12.6 DOUT1.STATE AND DOUT2.STATE

7.12.6 DOUT1.STATE AND DOUT2.STATE

General Information
Type R/O Parameter
Reads the digital output
Description
state.
Units N/A
Range 0 to 1
Default
N/A
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Paramter Fieldbus Address Attributes Signed?
Profinet Byte
DOUT1.STATE ® 2101
sercos III 2 Octets
No
Profinet Byte
DOUT2.STATE 2106
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

202 DOUT1.STATE
Modbus No 8 bit No M_01-03-00-000
212 DOUT2.STATE

Description
Reads the state of one digital output according to the value stated in the command.

AKD-C and AKD-N only support DOUT1.

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AKD BASIC Programming Manual | 7.12.7 DOUT1.STATEU AND DOUT2.STATEU

7.12.7 DOUT1.STATEU AND DOUT2.STATEU

General Information
Type R/W Parameter
Sets the state of the digital output
Description
node.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
Start Version M_01-01-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Paramter Fieldbus Address Attributes Signed?
Profinet Byte
DOUT1.STATEU ® 2102
sercos III 2 Octets
No
Profinet Byte
DOUT2.STATEU 2107
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

204 DOUT1.STATEU
Modbus No 8 bit No M_01-03-00-000
214 DOUT2.STATEU

Description
Set the state of the digital output node as follows:
0 = deactivated
1 = activated
DOUT1.STATEU and DOUT2.STATEU are used when DOUT1.MODE to DOUT2.MODE (pg 288) = 0
(user mode).

AKD-C and AKD-N only support DOUT1.

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 AKD BASIC Programming Manual | 7.12.8 DOUT9.STATE to DOUT11.STATE

7.12.8 DOUT9.STATE to DOUT11.STATE

General Information
Type NV parameter
Description Shows on selected pin if signal is high or low.
Units N/A
Range 0 to 1
Default Value 0
Data Type U8
Start Version M_01-05-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
ParameterFieldbus Address Attributes Signed?
Profinet Byte
DOUT9.STATE 2782
sercos® III 2 Octets
Profinet Byte
DOUT10.STATE 2728 No
sercos® III 2 Octets
Profinet Byte
DOUT11.STATE 2730
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

1564 DOUT9.STATE
Modbus 1456 DOUT10.STATE No 8 bit No M_01-06-03-000
1460 DOUT11.STATE

Description
This parameter allows the user to see the actual level of the output signal, when the IO is set to output
mode. Parameter value is 0 if signal is low and 1 if signal is high. DIOx.INV can affect the signals driven
onto the X9 connector.
This parameter can be read at any time. The value is only guaranteed to correspond to the output on the
X9 connector when DRV.EMUEMODE is set to 10 and the DIOX.DIR is 0.

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AKD BASIC Programming Manual | 7.12.9 DOUT9.STATEU to DOUT11.STATEU

7.12.9 DOUT9.STATEU to DOUT11.STATEU

General Information
Type NV Parameter
Allows user to set level of selected pin to high or
Description
low.
Units N/A
Range 0 to 1
Default
0
Value
Data Type U8
Start Version M_01-05-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Parameter Fieldbus Address Attributes Signed?
Profinet Byte
DOUT9.STATEU ® 2783
sercos III 2 Octets
Profinet Byte
DOUT10.STATEU 2729 No
sercos® III 2 Octets
Profinet Byte
DOUT11.STATEU 2731
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

1566 DOUT9.STATEU
Modbus 1458 DOUT10.STATEU No 8 bit No M_01-06-03-000
1462 DOUT11.STATEU

Description
This parameter allows the user to set the level of the output signal, when the IO is set to output mode.
Parameter value is 0 if signal is low and 1 if signal is high. DIOx.INV can affect the signals driven onto the
X9 connector.
This parameter can be written at any time. The value is only guaranteed to correspond to the output on the
X9 connector when DRV.EMUEMODE is set to 10 and the DIOX.DIR is 0.

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 AKD BASIC Programming Manual | 7.12.9 DOUT9.STATEU to DOUT11.STATEU

Example
The following settings set the direction for the differential signals on pin 4 and 5, so that the output will
have a high level signal.
First set the following settings:
DRV.EMUEMODE 10
DIO10.DIR 1
DOUT10.STATEU 1
Then change the level of the signal:
DOUT.STATEU 0
or
DIO10.INV
Note: Inverting the signal will also alter the signal in input mode.

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AKD BASIC Programming Manual | 7.12.10 DOUT21.STATE to DOUT32.STATE

7.12.10 DOUT21.STATE to DOUT32.STATE

General Information
Type R/O Parameter
Reads the digital output
Description
state.
Units N/A
Range 0 to 1
Default
N/A
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Parameter Fieldbus Address Attributes Signed?
Profinet Byte
DOUT21.STATE ® 2735
sercos III 2 Octets
Profinet Byte
DOUT22.STATE 2740
sercos® III 2 Octets
Profinet Byte
DOUT23.STATE 2745
sercos® III 2 Octets
Profinet Byte
DOUT24.STATE 2750
sercos® III 2 Octets
Profinet Byte
DOUT25.STATE 2755
sercos® III 2 Octets
No
Profinet Byte
DOUT26.STATE 2760
sercos® III 2 Octets
Profinet Byte
DOUT27.STATE 2765
sercos® III 2 Octets
Profinet Byte
DOUT28.STATE 2770
sercos® III 2 Octets
Profinet Byte
DOUT29.STATE 2775
sercos® III 2 Octets
Profinet Byte
DOUT30.STATE 2780
sercos® III 2 Octets

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 AKD BASIC Programming Manual | 7.12.10 DOUT21.STATE to DOUT32.STATE

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

1470 DOUT21.STATE
1480 DOUT22.STATE
1490 DOUT23.STATE
1500 DOUT24.STATE
1510 DOUT25.STATE
Modbus No 8 bit No
1520 DOUT26.STATE
1530 DOUT27.STATE
1540 DOUT28.STATE
1550 DOUT29.STATE
1560 DOUT30.STATE

Description
DOUTx.STATE reads the state of one digital output according to the value stated in the command.

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AKD BASIC Programming Manual | 7.12.11 DOUT21.STATEU to DOUT32.STATEU

7.12.11 DOUT21.STATEU to DOUT32.STATEU

General Information
Type R/W Parameter
Sets the state of the digital output
Description
node.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
Start Version M_01-01-01-000

Variants Supported
Supported by any AKD with extended IO.

Fieldbus Information
Parameter Fieldbus Address Attributes Signed?
Profinet Byte
DOUT21.STATEU ® 2736
sercos III 2 Octets
Profinet Byte
DOUT22.STATEU 2741
sercos® III 2 Octets
Profinet Byte
DOUT23.STATEU 2746
sercos® III 2 Octets
Profinet Byte
DOUT24.STATEU 2751
sercos® III 2 Octets
Profinet Byte
DOUT25.STATEU 2756
sercos® III 2 Octets
No
Profinet Byte
DOUT26.STATEU 2761
sercos® III 2 Octets
Profinet Byte
DOUT27.STATEU 2766
sercos® III 2 Octets
Profinet Byte
DOUT28.STATEU 2771
sercos® III 2 Octets
Profinet Byte
DOUT29.STATEU 2776
sercos® III 2 Octets
Profinet Byte
DOUT30.STATEU 2781
sercos® III 2 Octets

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 AKD BASIC Programming Manual | 7.12.11 DOUT21.STATEU to DOUT32.STATEU

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

1472 DOUT21.STATEU
1482 DOUT22.STATEU
1492 DOUT23.STATEU
1502 DOUT24.STATEU
1512 DOUT25.STATEU
Modbus No 8 bit No
1522 DOUT26.STATEU
1532 DOUT27.STATEU
1542 DOUT28.STATEU
1552 DOUT29.STATEU
1562 DOUT30.STATEU

Description
DOUTx.STATEU sets the state of the digital output node as follows:
0 = deactivated
1 = activated
DOUTx.STATEU is used when DOUT1.MODE to DOUT2.MODE (pg 288) = 0 (user mode).

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AKD BASIC Programming Manual | 7.13 DRV Parameters

7.13 DRV Parameters

This section describes the DRV parameters.

7.13.1 DRV.ACC 303

7.13.2 DRV.ACTIVE 305
7.13.3 DRV.BLINKDISPLAY 306
7.13.4 DRV.BOOTTIME 307
7.13.5 DRV.CLRCRASHDUMP 308
7.13.6 DRV.CLRFAULTHIST 309
7.13.7 DRV.CLRFAULTS 310
7.13.8 DRV.CMDDELAY 311
7.13.9 DRV.CMDSOURCE 312
7.13.10 DRV.CRASHDUMP 314
7.13.11 DRV.DBILIMIT 315
7.13.12 DRV.DEC 316
7.13.13 DRV.DIFVAR 318
7.13.14 DRV.DIR 319
7.13.15 DRV.DIS 320
7.13.16 DRV.DISMODE 321
7.13.17 DRV.DISSOURCES 323
7.13.18 DRV.DISTO 325
7.13.19 DRV.EMUECHECKSPEED 326
7.13.20 DRV.EMUEDIR 327
7.13.21 DRV.EMUEMODE 328
7.13.22 DRV.EMUEMTURN 330
7.13.23 DRV.EMUEPULSEWIDTH 332
7.13.24 DRV.EMUERES 334
7.13.25 DRV.EMUEZOFFSET 335
7.13.26 DRV.EN 337
7.13.27 DRV.ENDEFAULT 338
7.13.28 DRV.FAULTHIST 339
7.13.29 DRV.FAULTS 340
7.13.30 DRV.FAULT1 to DRV.FAULT10 341
7.13.31 DRV.HANDWHEEL 343
7.13.32 DRV.HANDWHEELSRC 345
7.13.33 DRV.HELP 346
7.13.34 DRV.HELPALL 347
7.13.35 DRV.HWENABLE 348

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 AKD BASIC Programming Manual | 7.13 DRV Parameters

7.13.36 DRV.HWENDELAY 349

7.13.37 DRV.HWENMODE 350
7.13.38 DRV.ICONT 351
7.13.39 DRV.INFO 352
7.13.40 DRV.IPEAK 355
7.13.41 DRV.IZERO 356
7.13.42 DRV.LIST 357
7.13.43 DRV.LOGICVOLTS 358
7.13.44 DRV.MEMADDR 359
7.13.45 DRV.MEMDATA 360
7.13.46 DRV.MOTIONDISSOURCES 361
7.13.47 DRV.MOTIONSTAT 362
7.13.48 DRV.NAME 364
7.13.49 DRV.NVCHECK 365
7.13.50 DRV.NVLIST 366
7.13.51 DRV.NVLOAD 367
7.13.52 DRV.NVSAVE 368
7.13.53 DRV.ONTIME 369
7.13.54 DRV.OPMODE 370
7.13.55 DRV.READFORMAT 372
7.13.56 DRV.RSTVAR 373
7.13.57 DRV.RUNTIME 374
7.13.58 DRV.SETUPREQBITS 375
7.13.59 DRV.SETUPREQLIST 377
7.13.60 DRV.STOP 378
7.13.61 DRV.SWENABLE 379
7.13.62 DRV.TEMPERATURES 380
7.13.63 DRV.TIME 381
7.13.64 DRV.TYPE 382
7.13.65 DRV.VER 384
7.13.66 DRV.VERIMAGE 385
7.13.67 DRV.WARNINGS 386
7.13.68 DRV.WARNING1 to DRV.WARNING3 387
7.13.69 DRV.ZERO 389

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AKD BASIC Programming Manual | 7.13.1 DRV.ACC

7.13.1 DRV.ACC
General Information
Type NV Parameter
Description Describes the acceleration ramp for the velocity loop.
Depends on UNIT.ACCROTARY (pg 713) or UNIT.ACCLINEAR (pg 712)
Units Rotary: rps/s, rpm/s, deg/s², (custom units)/s² , rad/s²
Linear: counts/s² , mm/s² , µm/s² , (custom units)/s²
Note: The range and default values of (custom units)/s² units depend on the values of
PIN and POUT. The range and default values listed in this table are derived from the
default values of PIN and POUT.
Rotary:
0.002 to 833,333.333 rps/s
0.112 to 50,000,000.000 rpm/s
0.009 to 300,000,000.000 deg/s²
Range
0.155 to 4,166,666.752 (custom units)/s²
0.012 to 5,235,987.968 rad/s²
Linear:
16,000.000 to 3,579,139,408,000.000 counts/s²
0.031*MOTOR.PITCH (pg 570) to 833,333.333*MOTOR.PITCH (pg 570) mm/s²
30.995*MOTOR.PITCH (pg 570) to 2,147,483.647*MOTOR.PITCH (pg 570) µm/s²
0.155 to 2,147,483.647 (custom units)/s²
Note: The range and default values of (custom units)/s² units depend on the values of
PIN and POUT. The range and default values listed in this table are derived from the
default values of PIN and POUT.
Rotary:
166.669 rps/s
10,000.000 rpm/s
Default 60,000.000 deg/s²
Value 833.333 (custom units)/s²
1,047.2 rad/s²
Linear:
715,840,000.000 counts/s²
166.714*MOTOR.PITCH (pg 570) mm/s²
166,714.191*MOTOR.PITCH (pg 570) µm/s²
833.571 (custom units)/s²
Data Type Float
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes

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 AKD BASIC Programming Manual | 7.13.1 DRV.ACC

Variant Supported
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3501h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2108 No
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 216 Yes 64 bit No M_01-03-00-000

Description
Describes the acceleration ramp for the velocity central loop.

Related Topics
DRV.DEC (pg 316)

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AKD BASIC Programming Manual | 7.13.2 DRV.ACTIVE

7.13.2 DRV.ACTIVE
General Information
Type R/O Parameter
Reads the enable status of an
Description
axis.
Units N/A
Range 0, 1, 3
Default
N/A
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 220 No 8 bit No M_01-03-00-000

Description
DRV.ACTIVE reads the enable status of an axis as follows:
l DRV.ACTIVE = 0 drive disabled
l DRV.ACTIVE = 1 drive enabled
l DRV.ACTIVE = 3 drive enabled and in dynamic brake mode

There is no state 2.
When the drive is in state 3, the drive display shows a blinking decimal point. Additionally, if the drive is in
state 3 the Parameter Load/Save view does not allow you to download a parameter file.
If an axis is not enabled (DRV.ACTIVE is 0), but DRV.EN (pg 337) is 1 and the hardware enable is high,
read the value of DRV.DISSOURCES (pg 323) to query the reason that the drive is not enabled.

Related Topics
DRV.EN (pg 337),DRV.DISSOURCES (pg 323)

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 AKD BASIC Programming Manual | 7.13.3 DRV.BLINKDISPLAY

7.13.3 DRV.BLINKDISPLAY
General Information
Type Command
Causes the display to blink for 10
Description
seconds.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet
2784 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1568 No Command No M_01-06-03-000

Description
DRV.BLINKDISPLAY causes the drive display located on the front of the drive to blink for 10 seconds.
This command allows the user to identify the drive that is currently communicating with WorkBench.

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AKD BASIC Programming Manual | 7.13.4 DRV.BOOTTIME

7.13.4 DRV.BOOTTIME
General Information
Type R/O
Returns the time when the current session booted
Description
up.
Units Days:Hours:Minutes:Seconds
Range N/A
Default
N/A
Value
Data Type String
Start Version M_01-06-05-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
DRV.BOOTTIME returns the time that the current session started running.This time includes total amount
of time from all previous sessions.
This keyword can be used with DRV.RUNTIME to determine the length of time the drive has been running
since it was last power cycled.
Session Time = DRV.RUNTIME – DRV.BOOTTIME

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 AKD BASIC Programming Manual | 7.13.5 DRV.CLRCRASHDUMP

7.13.5 DRV.CLRCRASHDUMP
General Information
Type Command
Clears old diagnostic inform-
Description
ation.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-04-00-005

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet
2785 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1570 No Command No M_01-06-03-000

Description
Since the NV memory block is overwritten, but never erased, the DRV.CRASHDUMP command always
shows the diagnostic information for the most recent crash. In some instances it is helpful to erase an old
crashdump. Use DRV.CLRCRASHDUMP for this purpose.

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AKD BASIC Programming Manual | 7.13.6 DRV.CLRFAULTHIST

7.13.6 DRV.CLRFAULTHIST
General Information
Type Command
Clears the fault history log in the
Description
NV.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet
2111 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 222 No Command No M_01-03-00-000

Description
DRV.CLRFAULTHIST clears the fault history from the nonvolatile memory of the drive.
This command erases all faults returned by DRV.FAULTHIST (pg 339).

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 AKD BASIC Programming Manual | 7.13.7 DRV.CLRFAULTS

7.13.7 DRV.CLRFAULTS
General Information
Type Command
Tries to clear all active faults in the
Description
drive.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet
2112 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 224 No Command No M_01-03-00-000

Description
When DRV.CLRFAULTS is sent, the drive will try to clear all active faults. When a fault occurs, the fault
is registered in the drive fault handler. DRV.CLRFAULTS clears the fault from the drive fault handler.
However, if the fault still exists in the system, DRV.CLRFAULTS fails and the fault is re-registered in the
fault handler.
If the DRV.CLRFAULTS succeeds, then the reply to DRV.FAULTS states that no faults exist. If the con-
dition that triggered the fault is still present, the fault condition will remain.
Note that executing a drive disable (DRV.DIS (pg 320)) followed by a drive enable (DRV.EN (pg 337)) has
the same effect as executing DRV.CLRFAULTS.

Related Topics
DRV.FAULTS (pg 340), DRV.EN (pg 337), DRV.DIS (pg 320)

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AKD BASIC Programming Manual | 7.13.8 DRV.CMDDELAY

7.13.8 DRV.CMDDELAY
General Information
Type Command
Issues a delay before next command is
Description
executed.
Units ms
Range 0 to 5,000 ms
Default
0 ms
Value
Data Type Float
Start Version M_01-03-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1572 No No M_01-06-03-000

Description
This parameter is used when drive commands are used in a script and a delay is needed between the exe-
cution of two consecutive commands. DRV.CMDDELAY creates a delay in the execution of drive com-
mands. In the period of time specified, no commands are executed. This feature is especially useful for
command buffers.t

Example
If the script is:
DRV.EN
IL.CMDU 0.1
then DRV.CMDDELAY is used between the two entries to delay execution 5 ms until the drive is enabled:
DRV.EN
DRV.CMDDELAY 5
IL.CMDU 0.1

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 AKD BASIC Programming Manual | 7.13.9 DRV.CMDSOURCE

7.13.9 DRV.CMDSOURCE
General Information
Type NV Parameter
Sets the command source (service, fieldbus, analog input, gearing, digital, or
Description
Bode).
Units N/A
Range 0 to 5
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

AKD SynqNet Information

Range 0

AKD BASIC Information

Range 0, 3, 5

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
2113 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 226 No 8 bit No M_01-03-00-000

Description
DRV.CMDSOURCE specifies the source of the command to the drive. DRV.OPMODE (pg 370) sets the
operation mode to the relevant control loop.
DRV.CMDSOURCE values can be set as follows:
Value Description
0 Service, TCP/IP command
3 Analog command
5 Program command

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AKD BASIC Programming Manual | 7.13.9 DRV.CMDSOURCE

If DRV.CMDSOURCE is set to 5 then DRV.OPMODE must be set to 3.

DRV.CMDSOURCE can be changed while the drive is enabled or disabled. If you use the terminal to
change the operation mode, then it is recommended that you disable the drive before changing the com-
mand source.
If you change DRV.CMDSOURCE from the terminal while the drive is
enabled, the system may experience a step change in command.

Example
To set the command source to the TCP/IP channel and the operation mode to velocity:
-->DRV.CMDSOURCE 0
-->DRV.OPMODE 1

Related Topics
DRV.OPMODE (pg 370)

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 AKD BASIC Programming Manual | 7.13.10 DRV.CRASHDUMP

7.13.10 DRV.CRASHDUMP
General Information
Type Command
Retrieves diagnostic information after the drive
Description
crashes.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
Drives rarely crash, but if a crash occurs, information that can help diagnose the cause of a crash is saved
to the nonvolatile (NV) memory within the drive. After the drive is restarted, you can use the
DRV.CRASHDUMP command to retrieve this diagnostic information, which can be emailed to Koll-
morgen for further support.
If the drive crashes (display flashes an F and three bars), it saves the diagnostic information to a specific
block of the drive NV memory. The DRV.CRASHDUMP command then prints the diagnostic information
from this NV memory block. Subsequent crash conditions will overwrite the NV memory block. Since the
NV memory block is overwritten, but never erased, the DRV.CRASHDUMP command always shows the
diagnostic information for the most recent crash.

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AKD BASIC Programming Manual | 7.13.11 DRV.DBILIMIT

7.13.11 DRV.DBILIMIT
General Information
Type NV Parameter
Description Sets the maximum amplitude of the current for dynamic braking.
Units Arms
0 to minimum of drive peak current (DRV.IPEAK) and motor peak current
Range
(MOTOR.IPEAK).
Default Minimum of drive continuous current (DRV.ICONT) and motor continuous current
Value (MOTOR.ICONT).
Data Type Float
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3444h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2114 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 228 No 32 bit No M_01-03-00-000

Description
This parameter sets the maximum amplitude of the current for dynamic braking.

Example
Setting DRV.DBILIMIT to 2 limits the dynamic brake current to 2 Arms.

Related Topics
DRV.DISMODE (pg 321)

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 AKD BASIC Programming Manual | 7.13.12 DRV.DEC

7.13.12 DRV.DEC
General Information
Type NV Parameter
Description Sets the deceleration value for the velocity loop.
Depends on UNIT.ACCROTARY (pg 713) or UNIT.ACCLINEAR (pg
712)
Units
Rotary: rps/s, rpm/s, deg/s², (custom units)/s², rad/s²
Linear: counts/s², mm/s², µm/s², (custom units)/s²
Rotary:
0.002 to 833,333.333 rps/s
0.112 to 50,000,000.000 rpm/s
0.009 to 300,000,000.000 deg/s²
0.155 to 4,166,666.752 (custom units)/s²
Range 0.012 to 5,235,987.968 rad/s²
Linear:
16,000.000 to 3,579,139,408,000.000 counts/s²
0.031*MOTOR.PITCH to 833,333.333*MOTOR.PITCH mm/s²
30.994*MOTOR.PITCH to 833,333,333.333*MOTOR.PITCH µm/s²
0.155 to 4,166,666.667 (custom units)/s²
Rotary:
166.669 rps/s
10,000.000 rpm/s
60,000.000 deg/s²
833.333 (custom units)/s²
Default
1,047.2 rad/s²
Value
Linear:
715,840,000.000 counts/s²
166.71*MOTOR.PITCH4MOTOR.PITCH (pg 570) mm/s²
166,714.191*MOTOR.PITCHMOTOR.PITCH (pg 570) µm/s²
833.571 (custom units)/s²
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

316 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.12 DRV.DEC

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3522h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2115 No
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 230 Yes 64 bit No M_01-03-00-000

Description
DRV.DEC sets the deceleration value for the velocity loop command (VL.CMDU (pg 744)) and for the ana-
log
velocity command (). The operation mode (DRV.OPMODE (pg 370)) must be set to velocity mode for this
command to function.

Related Topics
DRV.ACC (pg 303), DRV.OPMODE (pg 370)

Kollmorgen | May 2014 317

 AKD BASIC Programming Manual | 7.13.13 DRV.DIFVAR

7.13.13 DRV.DIFVAR
General Information
Type R/O
Description Lists all parameters which differ from their default value.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-05-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
This parameter displays all parameters which have different values than their default setting. The actual
value of each parameter is directly shown after the command name and the corresponding default value is
then shown in brackets.
This command also shows differences in parameters which hold a string, such as DRV.NAME.

Example
-->DRV.DIFVAR
DRV.EMUEMODE 10 (0)
DRV.NAME MyDrive(no-name)
FB1.ENCRES 0(1024)
IL.KP 50.009(24.811)
PL.KP 99.998(49.999)
VL.KP 0.108(0.000)

318 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.14 DRV.DIR

7.13.14 DRV.DIR
General Information
Type R/W Parameter
Description Changes drive direction.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 234 No 8 bit No M_01-03-00-000

Description
DRV.DIR changes the direction of the motor by changing the algebraic sign of the current command and
position feedback value according to the figure below.
Note the following when using DRV.DIR:
l You can only change the DRV.DIR command when the drive is disabled.
l The drive status changes to "Axis not homed" as soon as the DRV.DIR parameter
changes value (see DRV.MOTIONSTAT (pg 362)).
l You must verify the settings of the hardware limit switches. If necessary, switch the
positive and negative hardware limit switches by swapping the wires at the digital
inputs.

Kollmorgen | May 2014 319

 AKD BASIC Programming Manual | 7.13.15 DRV.DIS

7.13.15 DRV.DIS
General Information
Type Command
Description Disables the axis (software).
Units N/A
Range N/A
Default Analog drive software enabled. All other types of drive software dis-
Value abled.
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 236 No Command No M_01-03-00-000

Description
DRV.DIS issues a software disable to the drive. The method by which the drive will be disabled (either
immediately or with a ramp down first) is controlled by DRV.DISMODE (pg 321).
By querying the value of DRV.ACTIVE (pg 305), you can check whether the drive is currently enabled or
disabled.
By querying the value of DRV.DISSOURCES (pg 323), you can check whether the software enable bit is
high (software enabled was issued by executing DRV.EN) or the software enable bit is low (software dis-
able was issued by executing DRV.DIS).
If DRV.DIS is commanded the emergency timeout is started. If the drive does not disable or activate
dynamic brake within DRV.DISTO (pg 325), fault 703 is reported.

Related Topics
DRV.EN (pg 337), DRV.DISSOURCES (pg 323), DRV.ACTIVE (pg 305), DRV.DISMODE (pg 321),
DRV.DISTO (pg 325)

320 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.16 DRV.DISMODE

7.13.16 DRV.DISMODE
General Information
Type NV Parameter
Selects among disable immediately or stop and then disable
Description
options.
Units N/A
Range 0 to 3
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

SynqNet Information
Range 0 to 2

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 35FFh/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Byte
® 2119 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 238 No 8 bit No M_01-03-00-000

Description
DRV.DISMODE sets the drive reaction to a DRV.DIS (pg 320) command.

You must disable the drive in order to set DRV.DISMODE.

Kollmorgen | May 2014 321

 AKD BASIC Programming Manual | 7.13.16 DRV.DISMODE

Value Behavior
0 Disable axis immediately.
Use dynamic brake to ramp down. The drive remains in the dynamic brake state after the motor
1 has stopped. The drive is disabled in the sense that it does not close the control loop and cannot
perform a motion, but PWM stays active.
2 Use a controlled stop to ramp down and then disable the drive.
Use a controlled stop to ramp down, and then use dynamic brake. The drive remains in the
3 dynamic brake state after the motor has stopped. The drive is disabled in the sense that it does
not close the control loop and cannot perform a motion, but PWM stays active.

In all cases described above, if a brake is configured (MOTOR.BRAKE (pg 550)), the brake closes if
VL.FB (pg 747) drops below CS.VTHRESH (pg 258).
Be careful with vertical loads when modifying this parameter. Coordinate this
parameter's correct setting properly with the drive brake settings. If these set-
tings are not coordinated, then vertical loads may have no stopping or holding
force when the drive is disabled and the load could fall.

Related Topics
7.9 CS Parameters
DRV.DBILIMIT (pg 315), DRV.DISTO (pg 325), CS.VTHRESH (pg 258)

322 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.17 DRV.DISSOURCES

7.13.17 DRV.DISSOURCES
General Information
Type R/O Parameter
Returns the possible reason for a drive dis-
Description
able.
Units N/A
Range N/A
Default
N/A
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2120 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 240 No 16 bit No M_01-03-00-000

Description
DRV.DISSOURCES is a bitwise parameter that returns the status of possible causes of a drive disable.
If this parameter is 0, then the drive is enabled.
The return value specific bits are as follows:
Bit Status and Response Drive Action
Software disable (execute DRV.EN to issue soft- Performs action configured by
0
ware enable) DRV.DISMODE.
Fault exists (read DRV.FAULTS to get the active Device disables using the defined reaction for
1
faults) the detected fault.
2 Hardware disable (remote enable input is low) Power stage disabled.
Performs action configured by
3 In-rush disable (the in-rush relay is opened)
DRV.DISMODE.

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 AKD BASIC Programming Manual | 7.13.17 DRV.DISSOURCES

Bit Status and Response Drive Action

Initialization disable (the drive did not finish the ini-
4 Power stage disabled.
tialization process)
5 Controlled stop disable from a digital input. Controlled stop.
Field Bus requested disable (SynqNet and Performs action configured by
6
EtherNet/IP only) DRV.DISMODE.
Performs action configured by
7 AKD-C requested disable (AKD-N only)
DRV.DISMODE.
10 AKD-C in download mode. Disables all AKD-Ns on the AKD-C's strings.

Related Topics
DRV.ACTIVE, DRV.FAULTS, DRV.EN, DRV.DIS

324 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.18 DRV.DISTO

7.13.18 DRV.DISTO
General Information
Type R/W Parameter
Sets the emergency
Description
timeout
Units ms
Range 0 to 120,000 ms
Default
1,000 ms
Value
Data Type U32
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3445h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2121 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 242 No 32 bit No M_01-03-00-000

Description
This timer starts when DRV.DIS (pg 320) is issued (regardless of the DRV.DIS (pg 320) origin). After this
timeout elapses, the actual state of the drive is compared to the DRV.DISMODE (pg 321) setting. If the
actual state does not match the DRV.DISMODE (pg 321) setting, a fault is reported and the hardware
immediately executes the DRV.DISMODE setting (for instance, disable or activate dynamic brake). Set-
ting DRV.DISTO to 0 will disable the timeout.

Related Topics
DRV.DIS (pg 320), DRV.DISMODE (pg 321)

Kollmorgen | May 2014 325

 AKD BASIC Programming Manual | 7.13.19 DRV.EMUECHECKSPEED

7.13.19 DRV.EMUECHECKSPEED
General Information
Type R/W
Enable/disable comparison of motor velocity and maximum emulated encoder velocity.
Description
See Fault F486 for details.
Units None
Range 0 to 1
Default
0 (disabled)
Value
Data Type Boolean
Start Ver-
M_01-06-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2526 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1052 No 8 bit No

Description
Enables comparison of the current motor velocity (or EEO pulse rate for DRV.EMUEMODE (pg 328) 15 to
17) against the maximum speed the emulated encoder output can generate. If the commanded speed
exceeds DRV.EMUECHECKSPEED, fault F486 is raised.
For DRV.EMUEMODE 1 to 14, the commanded speed is based on lines/rev (DRV.EMUERES (pg 334))
and the pulse width (DRV.EMUEPULSEWIDTH (pg 332)).
For DRV.EMUEMODE 15 to 17 the commanded speed depends on the rate defined by changes in
DRV.EMUESTEPCMD.

Related Topics
DRV.EMUEMODE

326 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.20 DRV.EMUEDIR

7.13.20 DRV.EMUEDIR
General Information
Type R/W Parameter
Sets the direction of the emulated encoder output (EEO) sig-
Description
nal.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3493h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Byte
® 2122 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 244 No 8 bit No M_01-03-00-000

Description
This parameter sets the direction of the emulated encoder output (EEO). DRV.DIR (pg 319) also effects
the output direction (through an XOR, "exclusive or", operation). The drive uses DRV.DIR (pg 319) and
DRV.EMUEDIR to decide the direction of the EEO. If DRV.DIR (pg 319) and DRV.EMUEDIR have the
same value, then DRV.EMUEDIR is set to 0 (meaning an increase in the motor feedback will result an
increase of the EEO and vice-versa). If these parameters have different values, then DRV.EMUEDIR is
set to 1 (meaning an increase in the motor feedback will result in a decrease of the EEO and vice-versa).

Kollmorgen | May 2014 327

 AKD BASIC Programming Manual | 7.13.21 DRV.EMUEMODE

7.13.21 DRV.EMUEMODE
General Information
Type R/W Parameter
Sets the mode of the emulated encoder output (EEO) con-
Description
nector.
Units N/A
Range 0 to 17
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3534h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
® 2123 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 246 No 16 bit No M_01-03-00-000

Description
When the emulated encoder output (EEO) is configured to generate an index pulse (Z pulse) once per rev
(DRV.EMUEMODE is 1, 6, or 8) this parameter and DRV.EMUEZOFFSET define the location of the
Z pulse. DRV.EMUEZOFFSET defines the position of the Z pulse within one revolution. The pulse is gen-
erated each time this position is reached. For example, if this value is set to 32,768 (180 degrees), the Z
pulse will be generated at 180 degrees, 540 degrees, 900 degrees, and so on.
When the EEO is configured to generate and absolute index pulse (DRV.EMUEMODE is 2,7, or 9) this
parameter, DRV.,EMUEZOFFSET and DRV.EMUEMTURN define the location of the Z pulse.
DRV.EMUEMTURN is used to define which turn of the position range the Z pulse is located.

328 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.21 DRV.EMUEMODE

DRV.EMUEZOFFSET is used to define the position of the Z pulse within one revolution. For example, if
DRV.EMUETURN is set to 1, and DRV.EMUEZOFFSET is set to 32,768 (180 degrees), then the index
pulse will be generated at position 540 degrees.
When the EEO is configured in pass through mode (DRV.EMUEMODE is 12, 13, or 14) the EEO Z pulse
will be generated each time the encoder's physical Z pulse is generated (the physical Z pulse is "passed
through").
DRV.EMUEMODE sets the EEO connector to act as either an input or output as follows.
Setting Function
0 (recom-
Input (see to select the type of inputs the secondary feedback will accept)
mended)
1 EEO Output, A/B with once per rev index
2 EEO Output, A/B with absolute index pulse.
3 Input, A/B signals (Deprecated)
4 Input, step and direction signals (Deprecated)
5 Input, CW/CCW (Cw/Ccw) Signals (Deprecated)
6 Step/Dir with one Z-pulse/rev
Step/Dir with one absolute Z-pulse (depends on DRV.EMUEOFFSET and
7
DRV.EMUETURN)
8 CW/CCW output with one Z-pulse/rev
CW/CCW output with one absoulte Z-pulse (depends on
9
DRV.EMUEOFFSET and DRV.EMUETURN)
Allows the X9 connector to be used as a General Purpose I/O or SynqNet
10
fieldbus controlled I/O (See )
FB3 Input (Tertiary feedback is reported with FB3.P (pg 465)). Use
11
FB3.MODE (pg 462) to select the feedback type.
12 Output - A/B with index pass through.
13 Output - Step/Dir with index pass through.
14 Output - CW/CCW with index pass through.
15 Output - A/B stepper control.
16 Output - Step/Dir stepper control.
17 Output - CW/CCW stepper control.

Modes 3 to 5 are backwards compatible but deprecated. Refer to FB2.MODE (pg 452) and FB2.SOURCE
(pg 459) instead.

If you are using multi-turn or single tune absolute feedback devices, and the once per rev
or absolute Z pulse modes (DRV.EMUEMODES 1,2,6,7,8, or 9) the Z pulse generated
by the EEO will always be aligned with the same mechanical position of the primary
feedback position. If you are using an incremental feedback device and these modes,
then the origin of the primary feedback is not at the same mechanical position each time
the drive powers up. If you are using the pass through mode (DRV.EMUEMODES 12,
13, or 14) the Z pulse generated by the EEO will always be aligned with the same mech-
anical position of the primary feedback position.

Related Topics
DRV.EMUERES (pg 334), DRV.EMUEZOFFSET (pg 335), DRV.EMUEMTURN (pg 330)

Kollmorgen | May 2014 329

 AKD BASIC Programming Manual | 7.13.22 DRV.EMUEMTURN

7.13.22 DRV.EMUEMTURN
General Information
Type R/W Parameter
Defines the location of the index pulse on the EEO (emulated encoder output) when
Description
DRV.EMUEMODE=2.
Units revolutions
Range 0 to 4,294,967,295
Default
0
Value
Data Type Integer
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3491h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2124 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 248 No 32 bit No M_01-03-00-000

Description
When the emulated encoder output (EEO) is configured to generate an absolute index pulse
(DRV.EMUEMODE is 2, 7 or 9) this parameter and DRV.EMUEZOFFSET define the location of the Z
pulse. DRV.EMUEMTURN is used to define which turn of the position range the Z pulse is located.
DRV.EMUEZOFFSET is used to define the position of the Z pulse within one revolution.

330 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.22 DRV.EMUEMTURN

Note: If you are using multi-turn or single tune absolute feedback devices the Z pulse from generated by
the EEO will always be aligned with the same mechanical position of the of the primary feedback position.
If you are using an incremental feedback device then the origin of the primary feedback is not at the same
mechanical position each time the drive powers up.

Related Topics
DRV.EMUEMODE (pg 328), DRV.EMUERES (pg 334)

Kollmorgen | May 2014 331

 AKD BASIC Programming Manual | 7.13.23 DRV.EMUEPULSEWIDTH

7.13.23 DRV.EMUEPULSEWIDTH
General Information
Type TBD
Sets the encoder output pulse width for modes 6 to
Description
7.
Units us(microseconds)
Range 4.08 us to 2621.48 us
Default
4.08 us
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2525 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1050 No 32 bit No

Description
EMU Encoder Out Pulse Width Register
Sets pulse width for CW/CCW and Step and Direction modes. This parameter does not effect the A quad
B mode. To calculate emuOutPulseWidth:
(Desired pulse width -40 nsec)/520 nsec
Requirement DSFPGA-03-306
Bits Bits Description
Read/Write
11:0 emuOutPulseWidth 12 bit unsigned number minimum resolution is 520 nsec.
Reset state – 0
15:12 reserved

332 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.23 DRV.EMUEPULSEWIDTH

l Register is in counts (12 bit)

l Register * 520ns + 40ns is the actual pulse with.
l Register = 1 = pulse width is 560ns = 0.56us (minimum value)
l For each register increment the pulse width is raised by 0.52us

Example
50 usecs pulse width
emuOutPulseWidth = (50 usecs – 40 nsec)/520 nsec = 96
actual pulse = 96*520 nsec + 40 nsec = 49.88 usecs.

Related Topics
DRV.EMUEMODE (pg 328)

Kollmorgen | May 2014 333

 AKD BASIC Programming Manual | 7.13.24 DRV.EMUERES

7.13.24 DRV.EMUERES
General Information
Type R/W Parameter
Description Sets the resolution of the EEO (emulated encoder output).
lines/rev (when DRV.EMUEMODE (pg 328) = 1, 2, or 3)
Units
counts/rev (when DRV.EMUEMODE (pg 328) = 4 or 5)
Range 0 to 16,777,215 lines per revolution
Default
0 lines per revolution
Value
Data Type Integer
M_01-00-00-000 (resolution increased from 65,535 to 16,777,215 in M_01-04-00-
Start Version
000)

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3535h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2125 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 250 No 32 bit No M_01-03-00-000

Description
This parameter sets the emulated encoder (EEO) resolution. DRV.EMUERES also defines how many
lines are output for one revolution of the primary feedback (when this port is configured as an output), or
how many lines will be considered a full revolution of the handwheel (when this port is configured as an
input).

Related Topics
DRV.EMUEMODE (pg 328)

334 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.25 DRV.EMUEZOFFSET

7.13.25 DRV.EMUEZOFFSET
General Information
Type R/W Parameter
Sets the location of the EEO (emulated encoder output) index pulse (when
Description
DRV.EMUEMODE=1).
Units 1/65536 rev
Range 0 to 65535 rev
Default
0 rev
Value
Data Type Integer
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3537h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
® 2126 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 252 No 16 bit No M_01-03-00-000

Description
When emulated encoder output (EEO) multiturn is selected (DRV.EMUEMODE (pg 328)=1), this para-
meter is used by itself to define the position if the Z pulse within one revolution.When the primary feed-
back position (within a revolution) equals this value, an index pulse will output. Also, if
DRV.EMUEMODE=1 then this parameter is used in conjunction with DRV.EMUEMTURN.
When the EEO is configured to generate an absolute index pulse (DRV.EMUEMODE is 2, 7 or 9) this
parameter and DRV.EMUEZOFFSET define the location of the Z pulse. DRV.EMUEMTURN is used to

Kollmorgen | May 2014 335

 AKD BASIC Programming Manual | 7.13.25 DRV.EMUEZOFFSET

define which turn of the position range the Z pulse is located and DRV.EMUEZOFFSET is used to define
the position of the Z pulse within one revolution.
Note: If you are using multi-turn or single tune absolute feedback devices the Z pulse from generated by
the EEO will always be aligned with the same mechanical position of the of the primary feedback position.
If you are using an incremental feedback device then the origin of the primary feedback is not at the same
mechanical position each time the drive powers up.

Related Topics
DRV.EMUEMODE (pg 328), DRV.EMUEMTURN (pg 330)

336 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.26 DRV.EN

7.13.26 DRV.EN
General Information
Type Command
Description Enables the axis (software).
Units N/A
Range N/A
Analog drive software is enabled.
Default
All other types of drive software are dis-
Value
abled.
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet
2127 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 254 No Command No M_01-03-00-000

Description
DRV.EN issues a software enable to the drive. You can query the value of DRV.ACTIVE (pg 305) to
check whether the drive is currently enabled or disabled.
You can also query the value of DRV.DISSOURCES (pg 323) to check whether the software enable bit is
high (software enabled was issued by executing DRV.EN) or the software enable bit is low (software dis-
able was issued by executing DRV.DIS). If the drive software enable bit is low and DRV.EN is executed,
then drive faults are automatically cleared during the software enable process.

Related Topics
DRV.DIS (pg 320), DRV.DISSOURCES (pg 323),DRV.ACTIVE (pg 305)

Kollmorgen | May 2014 337

 AKD BASIC Programming Manual | 7.13.27 DRV.ENDEFAULT

7.13.27 DRV.ENDEFAULT
General Information
Type R/W Parameter
Sets the default state of the software
Description
enable.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Boolean
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2128 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 256 No 8 bit No M_01-03-00-000

Description
DRV. ENDEFAULT sets the default state of the software enable on power up for drives without field-
buses (DRV.CMDSOURCE other than 1).

It is recommended to not use this parameter with a BASIC program (keep

DRV.ENDEFAULT = 0 / default value). Instead set DRV.SWENABLE = 1 at the begin-
ning of the BASIC program.

338 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.28 DRV.FAULTHIST

7.13.28 DRV.FAULTHIST
General Information
Type R/O Parameter
Reads the last 50 faults from NV
Description
memory.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
DRV.FAULTHIST returns the last 50 faults that occurred in the drive. The faults are shown with their fault
number (which matches the one displayed on the drive display) and a time stamp that indicates when they
last occurred.
Issue a DRV.CLRFAULTHIST (pg 309) to clear this fault log.

Related Topics
DRV.FAULTS (pg 340), DRV.CLRFAULTHIST (pg 309)

Kollmorgen | May 2014 339

 AKD BASIC Programming Manual | 7.13.29 DRV.FAULTS

7.13.29 DRV.FAULTS
General Information
Type R/O Parameter
Reads the active
Description
faults.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
DRV.FAULTS returns a list of all currently active faults in the system, preceded by their fault number
which matches the number displayed on the drive display.
To clear the faults, either issue a DRV.CLRFAULTS or issue a DRV.DIS followed by DRV.EN.
If no active faults are in the system, then after executing DRV.CLRFAULTS the value read by
DRV.FAULTS is "No faults active".

Example
-->DRV.FAULTS
502: Bus under voltage.
-->

Related Topics
DRV.CLRFAULTS (pg 310), DRV.FAULTHIST (pg 339), DRV.CLRFAULTHIST (pg 309)

340 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.30 DRV.FAULT1 to DRV.FAULT10

7.13.30 DRV.FAULT1 to DRV.FAULT10

General Information
Type R/O
Description Location of fault codes for any active fault conditions.
Units N/A
Range Any supported fault code or 0.
Default
N/A
Value
Data Type Integer
Start Version M_01-06-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed?
954 DRV.FAULT1
956 DRV.FAULT2
958 DRV.FAULT3
960 DRV.FAULT4
962 DRV.FAULT5
Modbus No 16 bit No
964 DRV.FAULT6
966 DRV.FAULT7
968 DRV.FAULT8
970 DRV.FAULT9
972 DRV.FAULT10

Description
These parameters are holding registers where any active faults will be kept. A value of zero represents
that no fault is present. Non-zero values correspond to specific fault codes in the drive (see fault and warn-
ing messages). The registers are populated in the order of when the fault occurs (DRV.FAULT1,
DRV.FAULT2, DRV.FAULT3, and so on).
Notes:

Kollmorgen | May 2014 341

 AKD BASIC Programming Manual | 7.13.30 DRV.FAULT1 to DRV.FAULT10

l If DRV.FAULT1 value is 0, then the drive does not have any faults.
l Only active faults are shown. This is not a fault history.
l These registers are an alternative to the string type parameter DRV.FAULTS (pg 340), so that field-
busses and AKD BASIC users have easier access to the details of the faults in the drive.
l Warnings are not shown in the registers, only faults.

Related Topics
DRV.ACTIVE (pg 305) | DRV.WARNING1 to DRV.WARNING3 (pg 387)

342 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.31 DRV.HANDWHEEL

7.13.31 DRV.HANDWHEEL
General Information
Type R/O Parameter
Reads the EEO input
Description
value.
Units 1/4,294,967,296 rev
Range 0 to 4,294,967,295 rev
Default
0 rev
Value
Data Type Integer
Start Version M_01-00-00-000
End Version M_01-03-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 2050h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2129 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 258 No 32 bit No M_01-03-00-000

Description
When the EEO is selected as an input (DRV.EMUEMODE (pg 328)=3,4,5), this parameter reads the EEO
value (where 4,294,967,296 is a full revolution, then the value rolls over). DRV.EMUERES (pg 334)
defines the how many counts constitute a revolution on the EEO. This parameter represents the feedback
2 positions when feedback 2 is configured to be active.
When secondary feedback is selected (DRV.EMUEMODE is 0 and FB2.SOURCE = 1 (X9), or
FB2.SOURCE = 2 (X7)), this parameter represents the secondary feedback position (where

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 AKD BASIC Programming Manual | 7.13.31 DRV.HANDWHEEL

4,294,967,296 is a full revolution, then the value rolls over). FB2.ENCRES defines how many counts
define a revolution for the secondary feedback.

Related Topics
DRV.EMUERES (pg 334), DRV.EMUEMODE (pg 328)

344 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.32 DRV.HANDWHEELSRC

7.13.32 DRV.HANDWHEELSRC
General Information
Type NV Parameter
Description Selects the feedback for handwheel operation.
Units None
Range 2-3
Default Value 2
Data Type U8
Start Version M_01-05-08-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2611 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1224 No 8 bit No

Description
This command sets the feedback which will be used as the handwheel source. If the selected Feedback
is incompatible with the selected emulated encoder mode, a warning will be displayed.
Feedback 3 is only supported on drives with model numbers similar to AKD-x-xxxxx-NBxx-xxxx and will
only work with Endat 2.2 multiturn encoder.

Kollmorgen | May 2014 345

 AKD BASIC Programming Manual | 7.13.33 DRV.HELP

7.13.33 DRV.HELP
General Information
Type R/O Parameter
Reads the minimum, maximum, and default values for a specific parameter or com-
Description
mand.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
This parameter returns more information about a specific parameter or command.
In most cases, except special parameters, this command tells you the minimum, maximum, default, and
actual value of a parameter. Exceptions are commands that do not have these values (such as DRV.EN
(pg 337)) or information commands (such as DRV.VER (pg 384)).

346 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.34 DRV.HELPALL

7.13.34 DRV.HELPALL
General Information
Type R/O Parameter
Retrieves the minimum, maximum, default, and actual values for all available parameters
Description
and commands.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
This parameter retrieves all information about all parameters and commands in the firmware. In most
cases, DRV.HELPALL returns the minimum, maximum, default, and actual value for each parameter and
command. Exceptions include parameters and commands that do not have these values (such as
DRV.EN (pg 337)) or pure INFO commands (such as DRV.VER (pg 384)).

Kollmorgen | May 2014 347

 AKD BASIC Programming Manual | 7.13.35 DRV.HWENABLE

7.13.35 DRV.HWENABLE
General Information
Type R/O
Description Status of the hardware enable.
Units N/A
Range 0 to 1
Default
N/A
Value
Data Type Integer
Start Version tbd

Variants Supported
Variant Supported
AKD Base No
AKD with Position Indexer No
AKD EtherCAT No
AKD CANopen No
AKD BASIC Yes
AKD SynqNet No
AKD EtherNet/IP No
AKD Profinet No
AKD sercos® III No
AKD-N No
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2527 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1054 No 8 bit No

Description
Status of the Hardware Enable.
0 - not enabled
1 - enabled
Notes: This parameter reflects the status of the hardware enable only, not if the status of the power stage.
The status of the power stage enable is determined by DRV.ACITVE.

Related Topics
DRV.DISSOURCES (pg 323) | DRV.ACTIVE

348 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.36 DRV.HWENDELAY

7.13.36 DRV.HWENDELAY
General Information
Type NV Parameter
Delay time between inactive Hardware Enable input and
Description
drive disable.
Units Milliseconds
Range 0 to 167 ms
Default
0 ms
Value
Data Type Integer
Start Ver-
01-05-08-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2612 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1222 No 8 bit No

Description
By default, when the Hardware Disable input deactivates, the drive is immediately disabled. However, on
a vertical axis this may allow the load to drop slightly before the brake is applied.
To ensure that the brake is applied before the power stage is disabled, set DRV.HWENDELAY to a value
which allows the brake to apply fully.
While the brake is applying, the drive will also attempt to decelerate the motor using the standard drive dis-
able settings such as DRV.DISMODE, CS.DEC, CS.VTHRESH and CS.TO.

Prior to version 01-05-08-000, the brake would only apply when velocity dropped below
CS.VTHRESH or MOTOR.TBRAKETO expired. Starting with 01-05-08-000, the brake
will now apply immediately when the Hardware Enable Input line is deactivated.

Kollmorgen | May 2014 349

 AKD BASIC Programming Manual | 7.13.37 DRV.HWENMODE

7.13.37 DRV.HWENMODE
General Information
Type R/W Parameter
Selects the action that the hardware enable digital input will per-
Description
form.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
Start Version M_01-03-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3506h/0 M_01-03-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Byte
® 2130 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 260 No 8 bit No M_01-03-00-000

Description
This parameter selects the action that the hardware enable digital input will perform.
0 = The rising edge of the hardware enable will clear the drive faults.
1 = The rising edge of the hardware enable will not clear the drive faults.
The high/low state of the hardware enable is always used to control the active enable state of the drive.

350 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.38 DRV.ICONT

7.13.38 DRV.ICONT
General Information
Type R/O Parameter
Reads the continuous rated current
Description
value.
Units Arms
Range N/A
Default
N/A
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2131 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 262 No 32 bit Yes M_01-03-00-000

Description
DRV.ICONT returns the drive continuous rated current in Arms.

Related Topics
DRV.IPEAK (pg 355)

Kollmorgen | May 2014 351

 AKD BASIC Programming Manual | 7.13.39 DRV.INFO

7.13.39 DRV.INFO
General Information
Type R/O Parameter
Reads general information about the
Description
drive.
Units N/A
Range N/A
Default
N/A
Value
Data Type String
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
DRV.INFO returns general information about the drive.

Example
Advanced Kollmorgen Drive
-------------------------------------------------------------------
---
Drive model : AKD-P00306-NACC-0000
Drive type : Position Indexer
Continuous current : 3.000 Arms
Peak current: 9.000 Arms
Voltage : 120/240 VAC
Option Board : Not applicable
Connectivity : EtherCAT

Product serial number: R-0939-00048

Hardware version : --
Mac address: 00-23-1B-00-50-F1
Processor ID: 0xE5040003

Firmware version: M_01-04-16-000_Z_2011-09-12_14-03-45_AP

Operational image : M_01-04-16-000_Z_2011-09-12_14-03-45_AP

352 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.39 DRV.INFO

Resident image : R_00-00-28-000

Revision : 19074
Source Location: local

FPGA Version: FP0003_0103_00_00

Operational image : FP0003_0103_00_00
Resident image : FPB003_0100_00_00
Size: 1600

Control board serial number : 4-0921-00196

Part number : 0
Revision : 7
Board ID : Standard

Power board serial number : 4-0922-00156

Part number : 0

TCP/IP IP address : 169.254.250.241

Subnet mask : 255.255.0.0
Default gateway : 0.0.0.0
DHCP server : 0.0.0.0

Temporary fieldbus type : EtherCAT

FPGA size : 1600
Advanced Kollmorgen Drive
------------------------------------------------------------
Drive model : KC1-B00306-NBAN-0000
Drive type : Base
Continuous current : 3.000 Arms
Peak current : 9.000 Arms
Voltage : 120/240 VAC
Option board : Not applicable
Connectivity : Analog

Product serial number : R-1207-00219

Hardware Version : D
MAC address : 00-23-1B-00-E4-5C
Processor ID : 0xE5040003

Firmware Version : M_01-06-01-000_Z_2012-04-12_15-48-26_TI

Operational image : M_01-06-01-000_Z_2012-04-12_15-48-26_TI
Resident image : R_00-00-37-000
Revision : 30037
Source Location : local
Firmware Build : Standard

FPGA Version : FP0007_0301_00_00

Operational image : FP0007_0301_00_00
Resident image : FPB007_0301_00_00
Size : 45

Control board Serial number : 4-0140-29153

Part number : 105-200500-01 Rev L
Revision : 9
Board ID : Standard

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 AKD BASIC Programming Manual | 7.13.39 DRV.INFO

Power board Serial number : 4-0203-35992

Part number : 105-232000-01 Rev K

TCP/IP IP Address : 169.254.250.92

Subnet Mask : 255.255.0.0
Default Gateway : 0.0.0.0
DHCP Server : 0.0.0.0

354 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.40 DRV.IPEAK

7.13.40 DRV.IPEAK
General Information
Type R/O Parameter
Reads the peak rated current
Description
value.
Units Arms
Range N/A
Default
N/A
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2132 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 264 No 32 bit Yes M_01-03-00-000

Description
DRV.IPEAK returns the drive peak rated current in Arms.

Related Topics
DRV.ICONT (pg 351)

Kollmorgen | May 2014 355

 AKD BASIC Programming Manual | 7.13.41 DRV.IZERO

7.13.41 DRV.IZERO
General Information
Type NV Parameter
Sets the current that will be used during the DRV.ZERO pro-
Description
cedure.
Units Arms
Range Drive peak current to 0 Arms
Default
0 Arms
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2133 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 266 No 32 bit No M_01-03-00-000

Description
This parameter sets the current that is used during the DRV.ZERO (pg 389) procedure.

Related Topics
DRV.ZERO (pg 389)

356 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.42 DRV.LIST

7.13.42 DRV.LIST
General Information
Type R/O Parameter
Reads the list of available parameters and com-
Description
mands.
Units N/A
Range N/A
Default
N/A
Value
Data Type String
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
DRV.LIST reads the list of available commands and parameters from the drive.
To filter this list, enter DRV.LIST followed by the prefix of the commands and parameters that you wish to
display.

Example
Return a list of all available commands in the system:
-->DRV.LIST
Return all commands with the prefix DRV:
-->DRV.LIST DRV

Kollmorgen | May 2014 357

 AKD BASIC Programming Manual | 7.13.43 DRV.LOGICVOLTS

7.13.43 DRV.LOGICVOLTS
General Information
Type R/O Parameter
Reads the logic
Description
voltages.
Units mv , Ω
Range N/A
Default
N/A
Value
Data Type String
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
DRV.LOGICVOLTS reads the logic voltages data of 1.2 V, 2.5 V, 3.3 V, 5 V, 12 V, –12 V, and 3.3 AV.

Example
Below is an example of the output for this command:
ch0 = 1.2V : 1211 mv
ch1 = 2.5V :2488 mv
ch2 = 3.3V :3274 mv
ch3 = 5V :4950 mv
ch4 = 12V :11892 mv
ch5 = -12V :-11912 mv
ch6 = 3.3AV :3300 mv
ch7 = R ohm :100000 ohm

358 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.44 DRV.MEMADDR

7.13.44 DRV.MEMADDR
General Information
Type R/W Parameter
Sets the read and write
Description
address.
Units N/A
Range N/A
Default
U8
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
DRV.MEMADDR sets the address that is used by DRV.MEMDATA. The input can be either an internal
parameter of the drive or any direct address from the DSP address space (SDRAM, internal RAM, or asyn-
chronous memory). The input value can be either decimal or hexadecimal with 0x prefix.
Type extension can be one of the following:
U8,S8,U16,S16,U32,S32,U64,S64.

Examples
Setting to an internal parameter:
-->DRV.MEMADDR CCommandHandler.Debug1
Setting to an internal address:
-->DRV.MEMADDR 0xffabcde.u16

Related Topics
DRV.MEMDATA (pg 360)

Kollmorgen | May 2014 359

 AKD BASIC Programming Manual | 7.13.45 DRV.MEMDATA

7.13.45 DRV.MEMDATA
General Information
Type R/W Parameter
Sets or reads a value from an internal
Description
address.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
DRV.MEMDATA reads a value from the address that was set by DRV.MEMADDR (pg 359) or writes a
value to this address. The input value can be either decimal or hexadecimal with 0x prefix.

Examples
Read a value from internal address:
-->DRV.MEMDATA 01
Write a hexadecimal value to an internal address:
-->DRV.MEMADDR 0x01

Related Topics
DRV.MEMADDR (pg 359)

360 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.46 DRV.MOTIONDISSOURCES

7.13.46 DRV.MOTIONDISSOURCES
General Information
Type R/O Parameter
Returns some causes of a motion dis-
Description
able.
Units N/A
Range N/A
Default
N/A
Value
Data Type Integer
Start Version M_01-10-03-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
This parameter reports some of the reasons that motion may not be allowed on the axis. There are addi-
tional reasons why the drive cannot accept a motion command that are not reported by this command (for
example, fieldbus control bits or fault status).
Value Description
0 Motion not blocked by reason indicated for value 1, 2, or 3.
1 Suspend Motion Active
2 Brake not released
3 Rotor flux not ready

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 AKD BASIC Programming Manual | 7.13.47 DRV.MOTIONSTAT

7.13.47 DRV.MOTIONSTAT
General Information
Type R/O Parameter
Reads the motion status of the
Description
drive.
Units N/A
Range 0 to 4,294,967,295
Default
N/A
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3492h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2134 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 268 No 32 bit No M_01-03-00-000

Description
This command indicates the current status of the drive internal motion (see table below).
Bit Significance Description
0 0x00000001 Motion task is active (high active)
1 0x00000002 Home position found /reference point set (high active)
Home routine finished (high active). Bits 1 and 2 both must be set to confirm
2 0x00000004
that the homing process is complete.

362 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.47 DRV.MOTIONSTAT

Bit Significance Description

3 0x00000008 Homing active (high active)
4 0x00000010 Homing error condition has occurred (high active)*
5 0x00000020 Slave in electronic gearing mode synchronized (high active)
6 0x00000040 Electronic gearing is active (high active)
7 0x00000080 Emergency stop procedure in progress (high active)
8 0x00000100 Emergency stop procedure has an error (high active)
9 0x00000200 Service motion active (high active)
10 0x00000400 A motion task could not be activated /invalid MT (high active)**
11 0x00000800 Motion task target position has been reached. See also (high active).
12 0x00001000 Motion task target velocity has been reached. See also (high active).
Motion task encountered an exception. A motion task exception can happen
during a static motion task activation, or during activation of motion task on
13 0x00002000
the fly (when velocity is not zero). The status bit will be reset automatically on
successful activation of any motion, or by a command DRV.CLRFAULT.
The target position of a motion task has been crossed. This situation occurs
for motion tasks with a change on the fly when triggering the DRV.STOP (pg
14 0x00004000 378) command just before the reaching the target velocity of the current act-
ive motion task. The ramp-down procedure with the motion task deceleration
ramp causes the target position to be crossed (high active).
Drive actual position is within the motion task target position window
15 0x8000
MT.TPOSWND.
16 0x10000 AKD BASIC trajectory generator is executing a move.
17 0x20000 AKD BASIC trajectory generator has completed a move.

* A possible error condition for homing to a reference switch could be that no reference switch was found
between two hardware limit switches.
** A possible error condition for an invalid motion task could be that a motion task tried to trigger auto-
matically following motion task that has never been initialized (called an "empty motion" task).

Kollmorgen | May 2014 363

 AKD BASIC Programming Manual | 7.13.48 DRV.NAME

7.13.48 DRV.NAME
General Information
Type NV Parameter
Sets and reads the name of the
Description
drive.
Units N/A
Range N/A
Default
No-Name
Value
Data Type String
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
You can assign a unique name to any drive under the following conditions:
l Only use ASCII characters
l Max length of 10 characters
l No spaces in name

This name is one way to identify the drive in a multiple drive network (for instance, in a TCP/IP network on
which multiple drives reside).
From the terminal screen, DRV.NAME returns the name of the drive as ASCII characters.

364 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.49 DRV.NVCHECK

7.13.49 DRV.NVCHECK
General Information
Type R/O Parameter
NV Parameter Check-
Description
sum
Units None
Range N/A
Default
N/A
Value
Data Type Integer
Start Version M_01-04-12-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1042 Yes low 32 bit word No M_01-04-12-000

Description
DRV.NVCHECK returns a checksum of all the drives NV parameters. This parameter can be used to
detect changes in parameters.
In some applications a master device needs to confirm the AKD drive contains an expected set of drive
parameters. Reading and checking all the drive parameters individually is viable but this would be a long
process involving many reads over the network. DRV.NVCHECK is a checksum on all the NV para-
meters and this parameter can be read in a single transaction. DRV.NVCHECK will return the same num-
ber if all the drive parameters match. If any of the drive parameters are changed then DRV.NVCHECK
will return a different value.

Related Topics
DRV.NVLIST (pg 366)

Kollmorgen | May 2014 365

 AKD BASIC Programming Manual | 7.13.50 DRV.NVLIST

7.13.50 DRV.NVLIST
General Information
Type R/O Parameter
Lists the NV parameters and values from the
Description
RAM.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
DRV.NVLIST lists all the drive parameters that reside in NV memory.
The list includes each parameter name, followed by its current value from the RAM.

366 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.51 DRV.NVLOAD

7.13.51 DRV.NVLOAD
General Information
Type R/O Parameter
Loads all data from the NV memory of the drive into the RAM para-
Description
meters.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet
2788 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1576 No Command No M_01-06-03-000

Description
DRV.NVLOAD loads all data from the NV memory of the drive into the RAM parameters.

Related Topics
DRV.NVLOAD , DRV.NVLIST (pg 366)

Kollmorgen | May 2014 367

 AKD BASIC Programming Manual | 7.13.52 DRV.NVSAVE

7.13.52 DRV.NVSAVE
General Information
Type Command
Saves the drive parameters from the RAM to the NV
Description
memory.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
1010h/1
CANopen M_01-00-00-000
35EBh/0
CANopen

Fieldbus Address Attributes Signed?

Profinet
2469 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 938 No Command No

Description
DRV.NVSAVE saves the current drive parameter values from the RAM to the NV memory.
The drive parameters that were saved to the NV are read from the NV on the next drive boot, causing the
values to be automatically set to the saved values on every drive boot.
Executing DRV.RSTVAR does not modify the values of the NV, but instead sets the drive values in RAM
to their defaults.

Related Topics
DRV.RSTVAR (pg 373)

368 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.53 DRV.ONTIME

7.13.53 DRV.ONTIME
General Information
Type R/O Parameter
Description Returns how long the drive has been running since last power up.
Units Days:Hours:Minutes:Seconds
Range N/A
Default
N/A
Value
Data Type String
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
This parameter returns the length of time that the drive has been running for the current session (since the
last power up).

Related Topics
Returns how long the drive has been running since first activated. (pg 374)

Kollmorgen | May 2014 369

 AKD BASIC Programming Manual | 7.13.54 DRV.OPMODE

7.13.54 DRV.OPMODE
General Information
Type NV Parameter
Sets the drive operation mode (current, velocity, or pos-
Description
ition).
Units N/A
Range 0 to 2
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 35B4h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Byte
2135 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 270 No 8 bit No M_01-03-00-000

Description
DRV.OPMODE specifies the operation mode of the drive. You must also use DRV.CMDSOURCE to set
the source of the command to the drive.
The operation mode values can be set as follows:

370 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.54 DRV.OPMODE

Mode Description
Current (torque) operation
0
mode
1 Velocity operation mode
2 Position operation mode

DRV.OPMODE can be changed while the drive is enabled or disabled. If you are using the terminal to
change the operation mode, then it is recommended that you disable the drive before changing the oper-
ation mode. If you change the operation mode from the terminal while the drive is enabled, the system
may experience a step change in demand.

Example
Set the source of the command to a TCP/IP channel and the desired operation mode to velocity:
-->DRV.CMDSOURCE 0
-->DRV.OPMODE 1

Related Topics
DRV.CMDSOURCE (pg 312)

Kollmorgen | May 2014 371

 AKD BASIC Programming Manual | 7.13.55 DRV.READFORMAT

7.13.55 DRV.READFORMAT
General Information
Type R/W Parameter
Sets the value returned to either decimal or hexa-
Description
decimal.
Units N/A
Range 10 or 16
Default
10
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Description
DRV.READFORMAT sets the return values type to either decimal or hexadecimal.
Format Description
10 Sets the read values to decimal format
Sets the read values to hexadecimal
16
format

372 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.56 DRV.RSTVAR

7.13.56 DRV.RSTVAR
General Information
Type Command
Sets default values in the drive without re-booting the drive and without resetting the NV
Description
memory.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet
2136 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 272 No Command No M_01-03-00-000

Description
DRV.RSTVAR causes the drive to return to the default values without the need to re-boot the drive first
and without resetting the NV memory. Use DRV.RSTVAR to return to the default settings and recover a
working drive.

Kollmorgen | May 2014 373

 AKD BASIC Programming Manual | 7.13.57 DRV.RUNTIME

7.13.57 DRV.RUNTIME
General Information
Type R/O Parameter
Returns how long the drive has been running since first activ-
Description
ated.
Units Days:Hours:Minutes:Seconds
Range N/A
Default
N/A
Value
Data Type String
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1578 No No M_01-06-03-000

Description
DRV.RUNTIME returns the length of time that the drive has been running since it was first activated. This
time includes the current session and the total amount of time from all previous sessions.

374 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.58 DRV.SETUPREQBITS

7.13.58 DRV.SETUPREQBITS
General Information
Type R/O Parameter
Reads the bitwise set status of parameters that must be set before the drive can be
Description
enabled.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2805 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1580 No 32-bits No M_01-06-03-000

Description
This parameter returns the bitwise set status of parameters that needs to be set up before the drive can be
enabled. The drive can only be enabled when this parameter returns 0.

If MOTOR.AUTOSET (pg 548) is set to 1 (parameters automatically calculated from

motor ID data), then all values in the list will be initialized from the feedback device.
Otherwise, the parameters must be set manually.
The following table lists the parameters which require setup for each motor type.

Kollmorgen | May 2014 375

 AKD BASIC Programming Manual | 7.13.58 DRV.SETUPREQBITS

Parameter Bit Default Value Linear Per- Induction Induction Interior Brush
manent Motor V/f Motor Permanent Motor
Magnet Open Loop Closed Magnet
Loop
IL.KP 0 50 [V/A] √ - √ √ √
MOTOR.IPEAK 1 2 Arms √ √ √ √ √
MOTOR.ICONT 2 1 Arms √ √ √ √ √
MOTOR.POLES 4 6 √ √ √ √ -
MOTOR.LQLL 7 17mH - - - √ -
MOTOR.LDLL 8 17mH - - - √ -
MOTOR.KE 9 0 - - - √ -
MOTOR.IMTR 10 100ms - - √ - -
MOTOR.IMID 11 0 - - √ - -
MOTOR.VOLTRATED 12 230 Vrms - √ - - -
MOTOR.VRATED 13 0 - - - √ -
MOTOR.LISAT 14 25 x - - - √ -
DRIVE.IPEAK
MOTOR.VRIDK1 15 0 - - - √ -
MOTOR.VRIDK2 16 0 - - - √ -
MOTOR.IDMAX 17 0.5 x - - - √ -
MOTOR.IPEAK
IL.KDPRATIO 18 1 - - - √ -
MOTOR.PITCH 19 32 √ - - - -
MOTOR.VOLTMAX 20 480 Vrms - - - √ √

Related Topics
DRV.SETUPREQLIST (pg 377), MOTOR.AUTOSET (pg 548)

376 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.13.59 DRV.SETUPREQLIST

7.13.59 DRV.SETUPREQLIST
General Information
Type R/O Parameters
Reads the list of parameters that must be set before the drive can be
Description
enabled.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
This parameter returns the list of parameters that must be set before the drive can be enabled and also
whether or not each one of those parameters is set. This list of parameters will vary depending on the
value MOTOR.TYPE. The drive can only be enabled when all commands have a value of 0.

If MOTOR.AUTOSET (pg 548) is set to 1 (parameters automatically calculated from

motor ID data), then all values in the list will be initialized from the feedback device.
Otherwise, the parameters must be set manually.

Example
-->DRV.SETUPREQLIST
IL.KP 0
MOTOR.ICONT 0
MOTOR.IPEAK 0
MOTOR.POLES 0
-->

Related Topics
DRV.SETUPREQBITS (pg 375), MOTOR.AUTOSET (pg 548)

Kollmorgen | May 2014 377

 AKD BASIC Programming Manual | 7.13.60 DRV.STOP

7.13.60 DRV.STOP
General Information
Type Command
This command stops all drive
Description
motion.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 35FEh/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet
2137 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 274 No Command No M_01-03-00-000

Description
This command stops drive motion. In torque and velocity modes, the command value will immediately be
set to 0. In position mode, the axis will decelerate to a full stop. If the position command is from a gearing
master, the drive will cancel gearing and decelerate to a stop. This command has no effect if the com-
mand source is an analog input (Analog Position, Analog Velocity, or Analog Torque).
If the command values are coming from a fieldbus master, the stop may be immediately overwritten by a
new fieldbus command. Use a controlled stop input or disable command to ensure a stop.

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AKD BASIC Programming Manual | 7.13.61 DRV.SWENABLE

7.13.61 DRV.SWENABLE
General Information
Type R/W Parameter
Description Controls whether power can flow to the motor.
Units none
Range 0 to 1
Default
0
Value
Data Type Integer

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1056 No 8 bit No M_01-05-11-000

Description
The following commands disable or enable the drive:
l 0 (disables the drive)
l 1 (enables the drive)

Before power can flow to the motor, the following must all be true:
1. Drive is not faulted.
2. DRV.SWENABLE* input (J4-6) is connected to I/O RTN.
3. DRV.SWENABLE Parameter is set to 1.

Related Topics
DRV.ACTIVE (pg 305)

Kollmorgen | May 2014 379

 AKD BASIC Programming Manual | 7.13.62 DRV.TEMPERATURES

7.13.62 DRV.TEMPERATURES
General Information
Type R/O Parameter
Reads the temperature of drive com-
Description
ponents.
Units °C
Range 55 to 125 °C
Default
N/A
Value
Data Type String
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
3610h/0
CANopen M_01-00-00-000
3611h/0
CANopen

Description
DRV.TEMPERATURES reads the temperature in different parts of the drive (power and control boards).
The temperature is read from temperature sensors located in the drive.

Example
Below is an example of the output for this command :
Control Temperature: 39 °C
Power1 Temperature: 31 °C
Power2 Temperature: Sensor does not exist.
Power3 Temperature: Sensor does not exist.

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AKD BASIC Programming Manual | 7.13.63 DRV.TIME

7.13.63 DRV.TIME
General Information
Type R/W
Description A continuous time counter in the drive.
Units Milliseconds
Range 0 to 4294967295 (~ 49 days)
Default
N/A
Value
Data Type Integer
Start Version

Variants Supported
Variant Supported
AKD Base No
AKD with Position Indexer No
AKD EtherCAT No
AKD CANopen No
AKD BASIC Yes
AKD SynqNet No
AKD EtherNet/IP No
AKD Profinet No
AKD sercos® III No
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2529 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1058 No 32 bit No

Description
A continuous time counter in the drive. The timer starts at zero and counts up until it rolls over. If a new
value is written to the timer, it continues to count up starting at the written value. The DRV.TIME value is
set to zero when the AKD BASIC is powered on.

Related Topics
DRV.RUNTIME (pg 374) | WHEN.DRV.TIME

Kollmorgen | May 2014 381

 AKD BASIC Programming Manual | 7.13.64 DRV.TYPE

7.13.64 DRV.TYPE
General Information
R/W on the CC drive model. R/O on all other drive mod-
Type
els.
Description Selects the operational fieldbus on CC drive models.
Units N/A
Range 0 to 8
Default
2
Value
Data Type Integer
Start Version M_01-03-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2138 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 276 No 8 bit No M_01-03-00-000

Description
DRV.TYPE allows you to select the operational fieldbus for your drive. This parameter is read-write on the
CC drive models and read-only on all other drive models. To change the operational fieldbus of your drive:
1. Set DRV.TYPE to one of the following values. Only values 0 to 3 are selectable. All other values
are read only.

0 = Analog (no EtherCAT or CANopen) with no position indexer functionality.

1 = Analog (no EtherCAT or CANopen) with position indexer functionality.
2 = EtherCAT
3 = CANopen
4 = SynqNet
5 = EtherNet/IP
6 = BASIC Langauge (not fieldbus)

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AKD BASIC Programming Manual | 7.13.64 DRV.TYPE

7 = Profinet
8 = sercos® III

2. Save the parameters to the NV memory on the drive by issuing the DRV.NVSAVE command
3. Power cycle the 24 V supply to the drive. When the drive has finished powering up, it will be work-
ing with the new selection.

Changing DRV.TYPE does not immediately change the type of the drive fieldbus selection. You must
power cycle the drive to start the drive with the selected functionality.
You cannot use EtherCAT and CANopen at the same time. Use FBUS.TYPE or DRV.INFO to identify
the fieldbus currently in use.
DRV.TYPE does not change if you use DRV.RSTVAR.

Related Topics
DRV.INFO (pg 352)

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 AKD BASIC Programming Manual | 7.13.65 DRV.VER

7.13.65 DRV.VER
General Information
Type R/O Parameter
Reads the drive ver-
Description
sion.
Units N/A
Range N/A
Default
N/A
Value
Data Type String
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
DRV.VER reads both FPGA and firmware versions.
The version data presented is hard coded in the firmware code.

Example
Below is an example of the output for this command:
Danaher Motion - Digital Servo Drive
-------------------------------------
FPGA version : FP0004_0001_00_07
Firmware Version : M_0-0-15_T_2009-01-19_10-36-28_IR

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AKD BASIC Programming Manual | 7.13.66 DRV.VERIMAGE

7.13.66 DRV.VERIMAGE
General Information
Type R/O Parameter
Returns the version data from each
Description
image.
Units N/A
Range N/A
Default
N/A
Value
Data Type String
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
DRV.VERIMAGE reads the versions of the different images in the drive. This parameter returns the ver-
sion data from each image .i00 file.

Example
Below is an example of the output for this parameter:

Danaher Motion - Digital Servo Drive

------------------------------------
Resident Firmware: R_0-0-11
Operational Firmware: M_0-0-15
Resident FPGA: FPB004_0001_00_07
Operational FPGA : FP0004_0001_00_07

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 AKD BASIC Programming Manual | 7.13.67 DRV.WARNINGS

7.13.67 DRV.WARNINGS
General Information
Type R/O Parameter
Reads the active warn-
Description
ings.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
DRV.WARNINGS returns a list of all currently active warnings in the system.

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AKD BASIC Programming Manual | 7.13.68 DRV.WARNING1 to DRV.WARNING3

7.13.68 DRV.WARNING1 to DRV.WARNING3

General Information
Type R/O
Location of fault codes for any active warning con-
Description
ditions.
Units N/A
Range Any supported fault code or 0
Default
N/A
Value
Data Type Integer
Start Ver-
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Parameter Fieldbus Address Attributes Signed?
Profinet DWord
DRV.WARNING1 ® 2791
sercos III 4 Octets
Profinet DWord
DRV.WARNING2 2792 No
sercos® III 4 Octets
Profinet DWord
DRV.WARNING3 2793
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

1582 DRV.WARNING1
Modbus 1584 DRV.WARNING2 No 16 bit No
1586 DRV.WARNING3

Description
These parameters are holding registers where any active warnings will be displayed. A value of zero rep-
resents that no warning is present. Non-zero values correspond to specific warning codes in the drive (see
fault and warning messages). The registers are populated in the order of when the warning occurs
(DRV.WARNING1, DRV.WARNING2, DRV.WARNING3, and so on).
Notes:

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 AKD BASIC Programming Manual | 7.13.68 DRV.WARNING1 to DRV.WARNING3

l If DRV.WARNING1 value is 0, then the drive does not have any faults.
l Only active warnings are shown. This is not a warning history.
l These registers are an alternative to the string type parameter DRV.WARNINGS so
that fieldbuses and AKD BASIC user programs have integer-type parameters to
access to the details of the warnings in the drive.
l Faults are not shown in the registers, only warnings.

Related Topics
DRV.FAULT1 to DRV.FAULT10 (pg 341)

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AKD BASIC Programming Manual | 7.13.69 DRV.ZERO

7.13.69 DRV.ZERO
General Information
Type R/W Parameter
Sets the zero mode. The procedure is activated when the drive is
Description
enabled.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2139 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 278 No 8 bit No M_01-03-00-000

Description
The zero procedure is a sequence in which phase commutation is initialized. During this procedure, the
motor is held at a certain known electrical position (by applying a current defined by DRV.IZERO (pg
356)). After the motor rests at this position, the commutation angle is calculated and set automatically.

Related Topics
DRV.IZERO (pg 356)

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 AKD BASIC Programming Manual | 7.14 EGEAR Parameters

7.14 EGEAR Parameters

This section describes the EGEAR parameters.

7.14.1 EGEAR.ACCLIMIT 391

7.14.2 EGEAR.DECLIMIT 393
7.14.3 EGEAR.ERROR 395
7.14.4 EGEAR.LOCK 396
7.14.5 EGEAR.ON 397
7.14.6 EGEAR.PULSESIN 398
7.14.7 EGEAR.PULSESOUT 399
7.14.8 EGEAR.RATIO 400
7.14.9 EGEAR.TYPE 401

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AKD BASIC Programming Manual | 7.14.1 EGEAR.ACCLIMIT

7.14.1 EGEAR.ACCLIMIT
General Information
Type R/W
Description EGEAR.ACCLIMIT sets the maximum acceleration.
Depends on UNIT.ACCROTARY (pg 713) or UNIT.ACCLINEAR (pg 712)
Units Rotary: rps/s, rpm/s, deg/s², (Custom Units)/s² , rad/s²
Linear: counts/s² , mm/s² , µm/s² , (Custom Units)/s²
Note: The range and default values of (Custom Units)/s² units depend on the values
of PIN and POUT. The range and default values listed in this table are derived from
the default values of PIN and POUT.
Rotary:
0.004 to 8,000,000 rps/s
0.224 to 480,000,016.384 rpm/s
1.341 to 2,879,999,967.232 deg/s²
Range 0.019 to 40,000,000 (Custom Units)/s²
0.023 to 50,265,481.216 rad/s²
Linear:
16,000,000 to 15,912,994,294,290,448.384 counts/s²
0.119*MOTOR.PITCH (pg 570) to 256,000,000*MOTOR.PITCH (pg 570) mm/s²
119.209*MOTOR.PITCH (pg 570) to 255,999,998,951.424*MOTOR.PITCH (pg
570) µm/s²
0.019 to 40,000,000(Custom Units)/s²
Note: The range and default values of (Custom Units)/s² units depend on the values
of PIN and POUT. The range and default values listed in this table are derived from
the default values of PIN and POUT.
Rotary:
166.669 rps/s
10,000.170 rpm/s
60,001.016 deg/s²
Default
833.347 (Custom Units)/s²
Value
1,047.215 rad/s²
Linear:
715,839,984,631.808 counts/s²
5,333.424*MOTOR.PITCH (pg 570) mm/s²
5,333,423.616*MOTOR.PITCH (pg 570) µm/s²
833.347 (Custom Units)/s²

Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed?
Modbus 1060 Yes low 32 bit word No

Description
EGEAR.ACCLIMIT sets the maximum acceleration that will be commanded on the follower when
EGEAR.ON is turned ON or the electronic gearing ratio (EGEAR.RATIO or EGEAR.PUSLESOUT /
EGEAR.PUSLESIN ) is increased. This maximum acceleration limit remains in effect until

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 AKD BASIC Programming Manual | 7.14.1 EGEAR.ACCLIMIT

EGEAR.LOCK is achieved. Once EGEAR.LOCK is achieved the follower will follow the master with
whatever acceleration or deceleration is required.
EGEAR.ACCLIMIT is independent of EGEAR.DECLIMIT. Each variable must be set, independently, to
the appropriate value for the desired motion.

Example
' This example shows how to use EGEAR.ACCLIMIT to limit
' acceleration and then make up the lost distance.
EGEAR.ACCLIMIT = 10000
EGEAR.RATIO = 1
DRV.SWENABLE = 1
EGEAR.ERROR = 0
EGEAR.TYPE = 0
EGEAR.ON = 1
While EGEAR.LOCK = 0 : wend 'wait for LOCK
MOVE.RELATIVEDIST = EGEAR.ERROR
MOVE.GOREL

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AKD BASIC Programming Manual | 7.14.2 EGEAR.DECLIMIT

7.14.2 EGEAR.DECLIMIT
General Information
Type R/W
EGEAR.DECLIMIT sets the maximum deceleration that will be commanded on the fol-
Description lower when EGEAR.ON is turned OFF or the electronic gearing ratio (EGEAR.RATIO or
EGEAR.PULSESOUT / EGEAR.PUSLESIN ) is decreased.
Depends on UNIT.ACCROTARY (pg 713) or UNIT.ACCLINEAR (pg 712)
Units Rotary: rps/s, rpm/s, deg/s², (Custom Units)/s² , rad/s²
Linear: counts/s² , mm/s² , µm/s² , (Custom Units)/s²
Note: The range and default values of (Custom Units)/s² units depend on the values of
PIN and POUT. The range and default values listed in this table are derived from the
default values of PIN and POUT.
Rotary:
0.004 to 8,000,000 rps/s
0.224 to 480,000,016.384 rpm/s
1.341 to 2,879,999,967.232 deg/s²
Range 0.019 to 40,000,000 (Custom Units)/s²
0.023 to 50,265,481.216 rad/s²
Linear:
16,000,000 to 15,912,994,294,290,448.384 counts/s²
0.119*MOTOR.PITCH (pg 570) to 256,000,000*MOTOR.PITCH (pg 570) mm/s²
119.209*MOTOR.PITCH (pg 570) to 255,999,998,951.424*MOTOR.PITCH (pg 570)
µm/s²
0.019 to 40,000,000 (Custom Units)/s²
Note: The range and default values of (Custom Units)/s² units depend on the values of
PIN and POUT. The range and default values listed in this table are derived from the
default values of PIN and POUT.
Rotary:
166.669 rps/s
10,000.170 rpm/s
60,001.016 deg/s²
Default
833.347 (Custom Units)/s²
Value
1047.215 rad/s²
Linear:
715,839,984,631.808 counts/s²
5,333.424*MOTOR.PITCH (pg 570) mm/s²
53,33,423.616*MOTOR.PITCH (pg 570) µm/s²
833.347 (Custom Units )/s²

Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed?
Modbus 1062 Yes low 32 bit word No

Description

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 AKD BASIC Programming Manual | 7.14.2 EGEAR.DECLIMIT

EGEAR.DECLIMIT sets the maximum deceleration that will be commanded on the follower when
EGEAR.ON is turned OFF or the electronic gearing ratio (EGEAR.RATIO or EGEAR.PULSESOUT /
EGEAR.PUSLESIN ) is decreased. This maximum deceleration limit remains in effect until
EGEAR.LOCK is achieved. Once EGEAR.LOCK is achieved the follower will follow the master with
whatever acceleration or deceleration is required.
Set EGEAR.DECLIMIT prior to initiating EGEAR.ON.

Related Topics
EGEAR.ACCLIMIT (pg 391) |EGEAR.ERROR (pg 395) | EGEAR.LOCK (pg 396)

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AKD BASIC Programming Manual | 7.14.3 EGEAR.ERROR

7.14.3 EGEAR.ERROR
General Information
Type R/W
Indicates the amount of position deviation that has accumulated on the
slave axis (in an electronic gearing application) as a result of the slave
Description
axis limiting its acceleration or deceleration while achieving velocity syn-
chronization.
Units Position counts
Range -140,737,488,355,328 to 140,737,488,355,328
Default
0
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1064 Yes low 32 bit word No M_01-05-11-000

Description
EGEAR.ERROR is never automatically set to zero. It accumulates position deviation each time accel-
eration limiting is activated. Typically, set EGEAR.ERROR to zero before doing something that activates
acceleration limiting.
The slave axis’ acceleration or deceleration is limited to EGEAR.ACCLIMIT or EGEAR.DECLIMIT
whenever:
1. Gearing is turned on or turned off.
2. Ratio is changed.
3. EGEAR.PULSESIN or EGEAR.PULSESOUT is changed.

Example
EGEAR.ACCLIMIT = 10000
EGEAR.PULSESIN = 1
EGEAR.PULSESOUT = 1
EGEAR.ERROR = 0
EGEAR.TYPE = 0
EGEAR.ON = 1
While EGEAR.LOCK = 0 : wend
MOVE.RELATIVEDIST = EGEAR.ERROR
MOVE.GOREL 'catch up the position lost while acceleration was being
limited

Related Topics
EGEAR.LOCK (pg 396) | EGEAR.ACCLIMIT (pg 391) |EGEAR.DECLIMIT (pg 393)

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 AKD BASIC Programming Manual | 7.14.4 EGEAR.LOCK

7.14.4 EGEAR.LOCK
General Information
Type R/O
EGEAR.LOCK indicates when the slave axis (follower axis) in an electronic gearing
Description
application has achieved velocity synchronization with the electronic gearing master.
Units None
Range 0 to 1
Default
0
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1066 No 8 bit No M_01-05-11-000

Description
EGEAR.LOCK indicates when the slave axis (follower axis) in an electronic gearing application has
achieved velocity synchronization with the electronic gearing master. EGEAR.ERROR contains the
amount of position deviation accumulated while the slave axis was limiting its acceleration or decel-
eration.
The slave axis’ acceleration or deceleration is limited to EGEAR.ACCLIMIT or EGEAR.DECLIMIT
whenever:
1. Gearing is turned on or turned off.
2. Ratio is changed.
3. EGEAR.PULSESINor EGEAR.PULSESOUT is changed.

Example
EGEAR.ACCLIMIT = 10000
EGEAR.PULSESIN = 1
EGEAR.PULSESOUT = 1
EGEAR.ERROR = 0
EGEAR.TYPE = 0
EGEAR.ON = 1
While EGEAR.LOCK = 0 : wend
MOVE.RELATIVEDIST = EGEAR.ERROR
MOVE.GOREL 'catch up the position lost while acceleration was being
limited

Related Topics
EGEAR.ACCLIMIT (pg 391) | EGEAR.DECLIMIT (pg 393) | EGEAR.ERROR (pg 395)

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AKD BASIC Programming Manual | 7.14.5 EGEAR.ON

7.14.5 EGEAR.ON
General Information
Type Command
Starts the electronic gearing; active in opmode 2
Description
(position) only.
Units N/A
Range 0 to 1
Default
N/A
Value
Data Type Integer
Start Ver-
N/A
sion

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1068 No 8 bit No M_01-05-11-000

Description
The command EGEAR.ON starts the electronic gearing procedure according to the selected electronic
gearing mode:
Mode Description
0 Gearing Off
1 Gearing On

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 AKD BASIC Programming Manual | 7.14.6 EGEAR.PULSESIN

7.14.6 EGEAR.PULSESIN
General Information
Type R/W
Specifies the number of encoder counts used when specifying an exact electronic gear-
Description
ing ratio.
Units Motor revolutions / Encoder Revolution
Range 0 to 65,535
Default
1
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1070 No 16 bit No M_01-05-11-000

Description
EGEAR.PULSESIN is the number of encoder counts the motor moves for each EGEAR.PULSESOUT
number of position counts. EGEAR.PULSESIN must be set more recently than EGEAR.RATIO in order
to use exact electronic gearing.

Related Topics
MOVE.MOVING (pg 604) | EGEAR.ON (pg 397) | FB2.SOURCE (pg 459) | FB2.ENCRES (pg 451) |
FB2.MODE (pg 452)

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AKD BASIC Programming Manual | 7.14.7 EGEAR.PULSESOUT

7.14.7 EGEAR.PULSESOUT
General Information
Type R/W
Description Specifies the number of position counts used in an exact electronic gearing ratio.
Units Position counts
Range -32,768 to 32,767
Default
1
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1072 No 8 bit Yes M_01-05-11-000

Description
EGEAR.PULSESOUT is the number of position counts the motor moves for each EGEAR.PULSESIN
number of encoder counts. EGEAR.PULSESOUT must be set more recently than EGEAR.RATIO in
order to use exact electronic gearing.

Related Topics
EGEAR.PULSESIN (pg 398) | EGEAR.RATIO (pg 400) |EGEAR.ON (pg 397) | FB2.SOURCE (pg 459) |
FB2.ENCRES (pg 451) | FB2.MODE (pg 452)

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 AKD BASIC Programming Manual | 7.14.8 EGEAR.RATIO

7.14.8 EGEAR.RATIO
General Information
Type TBD
Sets the electronic gearing ratio (rev to rev) between the encoder shaft (master) and the
Description
motor shaft (slave).
Units Motor revolutions / Encoder Revolution
Range -2,000 to 2,000
Default
1
Value
Data Type Float

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1074 No 32 bit No M_01-05-11-000

Description
Ratio must be set more recently than EGEAR.PULSESIN or EGEAR.PULSESOUT in order to use
EGEAR.RATIO to control electronic gearing.

Related Topics
EGEAR.ON (pg 397) | EGEAR.PULSESIN (pg 398) | EGEAR.PULSESOUT (pg 399) | FB2.SOURCE
(pg 459) | FB2.ENCRES (pg 451) | FB2.MODE (pg 452)

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AKD BASIC Programming Manual | 7.14.9 EGEAR.TYPE

7.14.9 EGEAR.TYPE
General Information
Type R/W
Description Sets the allowed direction of motion for electronic gearing.
Units N/A
Range 0 to 2
Default
0
Value
Data Type Integer
Start Version TBD

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1076 No 8 bit No M_01-05-11-000

Description
EGEAR.TYPE sets allowed direction of motion for electronic gearing:
0 - Both directions
1 - Positive direction
2 - Negative direction

EGEAR.TYPE cannot be changed on the fly. EGEAR.TYPE is considered only when

Gearing is turned on (EGEAR = 1).
When unidirectional gearing is used (EGEAR.TYPE = 1 or 2) then motion in the allowed direction occurs
only when the master encoder returns to the point at which it originally reversed direction. Other motion
commands, such as MOVE.GOVEL or MOVE.GOREL, may be executed while gearing is active. These
moves will be superimposed (added to) on the motion caused by electronic gearing.

Related Topics
EGEAR.ON (pg 397)

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 AKD BASIC Programming Manual | 7.15 EXTENCODER Parameters

7.15 EXTENCODER Parameters

This section describes the EXTENCODER parameters.

7.15.1 EXTENCODER.FREQ 403

7.15.2 EXTENCODER.POSITION 404
7.15.3 EXTENCODER.POSMODULO 405

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AKD BASIC Programming Manual | 7.15.1 EXTENCODER.FREQ

7.15.1 EXTENCODER.FREQ
General Information
Type R/O
Description Gets the external encoder (EEO) velocity.
Units Hz
Range -2^63 to +2^63 - 1
Default
0 Counts
Value
Data Type Float

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1078 No 32 bit No M_01-05-11-000

Description
Gets the external encoder (EEO) velocity.

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 AKD BASIC Programming Manual | 7.15.2 EXTENCODER.POSITION

7.15.2 EXTENCODER.POSITION
General Information
Type R/W
Description Gets the external encoder (EEO) position.
Units 1/(2^64)
-2^63 to +2^63 -1
Range OR
0 to EXTENCODER.POSMODULO
Default
0 Counts
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1080 Yes 64 bit Yes M_01-05-11-000

Description
Gets the external encoder (EEO) position.

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AKD BASIC Programming Manual | 7.15.3 EXTENCODER.POSMODULO

7.15.3 EXTENCODER.POSMODULO
General Information
Type R/W
Description Sets/gets the external encoder (EEO) modulo position.
Units 1/(2^64)
Range 0 to +2^64 - 1
Default
0 Counts (off)
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1084 Yes 64 bit No M_01-05-11-000

Description
Sets/gets the external encoder (EEO) modulo position.

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 AKD BASIC Programming Manual | 7.16 FAULT Parameters

7.16 FAULT Parameters

This section describes the FAULT parameters.

7.16.1 FAULTx.ACTION 407

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AKD BASIC Programming Manual | 7.16.1 FAULTx.ACTION

7.16.1 FAULTx.ACTION
General Information
Type R/W
Gets/Sets the Fault Action for Fault 130, 131, 132,
Description
134, 139, 451, and 702.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
Start Ver-
M_01-04-16-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Parameter Fieldbus Address Attributes Signed?
Profinet Byte
FAULT130.ACTION ® 2601
sercos III 2 Octets
Profinet Byte
FAULT132.ACTION 2602
sercos® III 2 Octets
Profinet Byte
FAULT130.ACTION 2603
sercos® III 2 Octets
Profinet Byte
FAULT132.ACTION 2604 No
sercos® III 2 Octets
Profinet Byte
FAULT139.ACTION 2797
sercos® III 2 Octets
Profinet Byte
FAULT451.ACTION 2615
sercos® III 2 Octets
Profinet Byte
FAULT702.ACTION 2605
sercos® III 2 Octets

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 AKD BASIC Programming Manual | 7.16.1 FAULTx.ACTION

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

1202 FAULT130.ACTION
1204 FAULT131.ACTION
1206 FAULT132.ACTION
Modbus 1208 FAULT134.ACTION No 8 bit No
1594 FAULT139.ACTION
1210 FAULT702.ACTION
1230 FAULT451.ACTION

Description
This Parameter determines the action the drive should take when Fault 130, 131, 132, 134, 139, 451, or
702 occurs.
Parameter Value Drive Action
0 Disable Ampllifier
1 Ignore (fault will not be reported)

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AKD BASIC Programming Manual | 7.17 FB1 Parameters

7.17 FB1 Parameters

This section describes the FB1 parameters.

7.17.1 FB1.BISSBITS 410

7.17.2 FB1.ENCRES 411
7.17.3 FB1.HALLSTATE 413
7.17.4 FB1.HALLSTATEU 415
7.17.5 FB1.HALLSTATEV 416
7.17.6 FB1.HALLSTATEW 417
7.17.7 FB1.IDENTIFIED 418
7.17.8 FB1.INITSIGNED 420
7.17.9 FB1.LASTIDENTIFIED 421
7.17.10 FB1.MECHPOS 422
7.17.11 FB1.MEMVER 423
7.17.12 FB1.MOTORPHASE 424
7.17.13 FB1.MOTORPOLES 425
7.17.14 FB1.OFFSET 426
7.17.15 FB1.ORIGIN 428
7.17.16 FB1.P 430
7.17.17 FB1.PDIR 431
7.17.18 FB1.PFIND 432
7.17.19 FB1.PFINDCMDU 433
7.17.20 FB1.POFFSET 434
7.17.21 FB1.POLES 435
7.17.22 FB1.PSCALE 436
7.17.23 FB1.PUNIT 438
7.17.24 FB1.RESKTR 439
7.17.25 FB1.RESREFPHASE 440
7.17.26 FB1.SELECT 441
7.17.27 FB1.TRACKINGCAL 443
7.17.28 FB1.USERBYTE0 to FB1.USERBYTE7 444
7.17.29 FB1.USERDWORD0 to FB1.USERDWORD1 446
7.17.30 FB1.USERWORD0 to FB1.USERWORD3 448

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 AKD BASIC Programming Manual | 7.17.1 FB1.BISSBITS

7.17.1 FB1.BISSBITS
General Information
Type NV Parameter
Specifies the number of Biss Sensor (Position) Bits for the BiSS Mode C encoder in
Description
use.
Units bits
Range 0 to 64 bits
Default
32 bits
Value
Data Type Integer
See Also FB1.SELECT (pg 441), FB1.IDENTIFIED (pg 418)
Start Version M_01-01-00-100 and M_01-01-03-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2140 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 280 No 8 bit No M_01-03-00-000

Description
FB1.BISSBITS specifies the number of BiSS sensor (position) bits for the BiSS Mode C encoder in use.
Typically the value is either 26 or 32 for a BiSS Mode C Renishaw encoder. The required value for this
parameter is provided by the feedback device manufacturer for the particular device being used.

410 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.2 FB1.ENCRES

7.17.2 FB1.ENCRES
General Information
Depends on FB1.IDENTIFIED. See table in description
Type
below.
Description Sets the resolution of the motor encoder.
Units Encoder counts
Range 0 to 232-1
Default
1,024
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3533h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2141 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 282 No 32 bit No M_01-03-00-000

Description
This parameter sets or gets the resolution of the motor encoder (encoder feedback systems only) in num-
ber of counts per revolution for a rotary motor and the number of encoder pitches per motor pole pitch for a
linear motor. The number of encoder counts per revolution is obtained by multiplying the motor catalog res-
olution in units of PPR by four. For example, for a 1024 PPR resolution motor, the number of encoder
counts per revolution is 1024*4 = 4096. For this motor FB1.ENCRES must be set to 4096.

Kollmorgen | May 2014 411

 AKD BASIC Programming Manual | 7.17.2 FB1.ENCRES

For linear motors, the value of FB1.ENCRES is set to the number of encoder pitches per motor pole pitch.
For a motor with 32 mm pole pitch, and a 40 µm encoder pitch, the value for FB1.ENCRES should be set
to 32 mm/40 µm = 800.
Depending on the value of FB1.IDENTIFIED, FB1.ENCRES changes between read-only and read-write.
The following table lists the FB1.IDENTIFIED values and FB1.ENCRES's corresponding type.
FB1.IDENTIFIED value FB1.ENCRES type
10 (Incremental encoder) R/W
11 (Incremental encoder, no halls) R/W
20 (Sine encoder) R/W
21 (Sine encoder, no halls) R/W
30 (Endat 2.1) R/O
31 (Endat 2.2) R/O
32 (biSS) R/O
33 (hiperface) R/O
34 (biSS Mode C) R/W
40 (Resolver) R/W
41 (sfd) R/O
42 (Tamagawa) R/O

412 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.3 FB1.HALLSTATE

7.17.3 FB1.HALLSTATE
General Information
Type R/O Parameter
Reads the Hall switch values (encoder feedback
Description
only).
Termianl: Binary
Units
Scope: N/A
Terminal: 0 0 0 to 1 1 1
Range
Scope: 0 to 7
Default
N/A
Value
Terminal: String
Data Type
Scope: Integer
Start Version M_01-00-00-000

AKD BASIC Information

Data Type Integer

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
FB1.HALLSTATE reads the Hall switch values (encoder feedback only).
Terminal:
When called from the terminal, FB1.HALLSTATE will return three numbers from 0 0 0 to 1 1 1, where:
l Hall U = Digit 1
l Hall V = Digit 2
l Hall W = Digit 3

0 is a low voltage state, and 1 is a high voltage state on the hall effect.
Scope:
When viewing FB1.HALLSTATE from the scope screen, the result is a single integer. This integer is the
sum of the three hall bit states, where FB1.HALLSTATE = Hall U + Hall V + Hall W. If the hall is not act-
ive, it will return 0. When a hall is active, each hall will contribute the following value to the sum:

Kollmorgen | May 2014 413

 AKD BASIC Programming Manual | 7.17.3 FB1.HALLSTATE

l Hall U = 1
l Hall V = 2
l Hall W = 4

Value Hall U Hall V Hall W

0 - - -
1 √ - -
2 - √ -
3 √ √ -
4 - - √
5 √ - √
6 - √ √
7 √ √ √
The following sequences indicate the direction of rotation.
Sequence Direction
1,5,4,6,2,3,1 Positive
1,3,2,6,4,5,1 Negative

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AKD BASIC Programming Manual | 7.17.4 FB1.HALLSTATEU

7.17.4 FB1.HALLSTATEU
General Information
Type R/O Parameter
Reads the state of Hall switch
Description
U.
Units N/A
Range 0 and 1
Default
1
Value
Data Type Integer
See Also FB1.HALLSTATE (pg 413)
Start Version M_01-03-07-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2466 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 932 No 8 bit No

Description
FB1.HALLSTATEU reads the state of Hall switch U.

Kollmorgen | May 2014 415

 AKD BASIC Programming Manual | 7.17.5 FB1.HALLSTATEV

7.17.5 FB1.HALLSTATEV
General Information
Type R/O Parameter
Reads the state of Hall switch
Description
V.
Units N/A
Range 0 and 1
Default
1
Value
Data Type Integer
See Also FB1.HALLSTATE (pg 413)
Start Version M_01-03-07-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2467 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 934 No 8 bit No

Description
FB1.HALLSTATEV reads the state of Hall switch V.

416 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.6 FB1.HALLSTATEW

7.17.6 FB1.HALLSTATEW
General Information
Type R/O Parameter
Reads the state of Hall switch
Description
W.
Units N/A
Range 0 and 1
Default
1
Value
Data Type Integer
See Also FB1.HALLSTATE (pg 413)
Start Version M_01-03-07-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2468 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 936 No 8 bit No

Description
FB1.HALLSTATEW reads the state of Hall switch W.

Kollmorgen | May 2014 417

 AKD BASIC Programming Manual | 7.17.7 FB1.IDENTIFIED

7.17.7 FB1.IDENTIFIED
General Information
Type R/O Parameter
Reads the type of feedback device used by the drive/-
Description
motor.
Units N/A
Range N/A
Default
N/A
Value
Data Type Integer
See Also FB1.SELECT
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2142 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 284 No 8 bit No M_01-03-00-000

Description
This parameter is set according to FB1.SELECT on drive power up if FB1.SELECT is not –1; otherwise
the parameter value is read from the drive memory.
Type Description
0 Unknown
1 No encoder
10 Incremental encoder with A/B Quad, marker pulse and Hall
Incremental encoder with A/B Quad, marker pulse and no Hall
11

20 Sine Encoder , with marker pulse and Hall

418 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.7 FB1.IDENTIFIED

Type Description
21 Sine encoder , with marker pulse & No Halls
30 EnDat 2.1 with Sine Cosine
31 EnDat 2.2
32 BiSS with Sine Cosine
33 HIPERFACE
34 BiSS Mode C Renishaw
40 Resolver
41 SFD (Smart Feedback Device)
42 Tamagawa
43 Network Cyclic Feedback
44 FB2 Cyclic Feedback
45 SFD3
46 Hiperface DSL
50 Reserved

Kollmorgen | May 2014 419

 AKD BASIC Programming Manual | 7.17.8 FB1.INITSIGNED

7.17.8 FB1.INITSIGNED
General Information
Type NV Parameter
Sets initial feedback value as signed or
Description
unsigned.
Units N/A
Range 0 to 1
Default
1
Value
Data Type Integer
See Also FB1.ORIGIN
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2143 Yes
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 286 No 8 bit Yes M_01-03-00-000

Description
This parameter sets whether the initial value of the feedback read from the feedback device will be set as
a signed or as an unsigned value.
0 = Unsigned
1 = Signed
The drive internal process for the feedback initialization is as follows:
1. Reads the position feedback.
2. Adds the origin to the feedback.
3. Determines modulo from Step 2 by the actual feedback bits.
4. Sets the position feedback sign according to FB1.INITSIGNED.

420 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.9 FB1.LASTIDENTIFIED

7.17.9 FB1.LASTIDENTIFIED
General Information
Type NV Parameter
Stores the feedback type auto-detected during the last feedback initialization. Auto-detec-
Description
tion will look for this type first.
Units N/A
Range 30 (EnDat 2.1), 32 (BiSS with Sine Cosine), 33 (HIPERFACE), 41 (SFD), 45 (SFD3)
Default
41 (SFD)
Value
Data Type Integer
Start Ver-
M_01-10-01-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
If FB1.SELECT (pg 441) is set to -1, AKD automatically detects the feedback device. When auto-detec-
tion is successful, the identified feedback type is stored in FB1.LASTIDENTIFIED. On the next feedback
initialization, the auto-detection algorithm will first look for the last identified type, speeding up feedback
initialization and shortening drive boot time.
The time to automatically identify the device is shortened when FB1.LASTIDENTIFIED is already set to
the correct feedback type.
Note that this parameter must be saved to non-volatile memory with DRV.NVSAVE (pg 368) in order to
take effect each time the drive powers up.

Kollmorgen | May 2014 421

 AKD BASIC Programming Manual | 7.17.10 FB1.MECHPOS

7.17.10 FB1.MECHPOS
General Information
Type R/O Parameter
Reads the mechanical pos-
Description
ition.
Units counts
Range 0 to 4,294,967,295 counts
Default
N/A
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2144 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 288 No 32 bit No M_01-03-00-000

Description
FB1.MECHPOS reads the mechanical angle which is equal to the lower 32 bits in the 64-bit position feed-
back word.

422 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.11 FB1.MEMVER

7.17.11 FB1.MEMVER
General Information
Type R/O Parameter
Returns the memory feedback ver-
Description
sion.
Units N/A
Range N/A
Default
N/A
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
FB1.MEMVER returns the memory feedback version (only applicable for feedbacks with memory).

Kollmorgen | May 2014 423

 AKD BASIC Programming Manual | 7.17.12 FB1.MOTORPHASE

7.17.12 FB1.MOTORPHASE
General Information
Type NV Parameter
Description Sets the motor phase of the motor associated with FB1.
Units Electrical degrees
Range 0 to 359
Default Value 0
Data Type Integer
Start Version M_01-11-04-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
This parameter sets the phase offset for commutation of the motor associated with FB1. When multiple
motors are driven by a single AKD, this allows different motor configurations to be saved for each value of
IL.FBSOURCE (➜ p. 1).
When IL.FBSOURCE is set to 0, the value of FB1.MOTORPHASE will overwrite the value of
MOTOR.PHASE (pg 567). Additionally, while IL.FBSOURCE = 0, a write to MOTOR.PHASE will also
overwrite FB1.MOTORPHASE.

424 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.13 FB1.MOTORPOLES

7.17.13 FB1.MOTORPOLES
General Information
Type NV Parameter
Description Sets the number of motor poles associated with FB1.
Units N/A
Range 0 to 510
Default Value 0
Data Type Integer
Start Version M_01-11-04-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
This parameter sets the number of motor poles associated with FB1. When multiple motors are driven by
a single AKD, this allows different motor configurations to be saved for each value of IL.FBSOURCE (➜
p. 1).
When IL.FBSOURCE is set to 0, the value of FB1.MOTORPOLES will overwrite the current value of
MOTOR.POLES (pg 571). Additionally, while IL.FBSOURCE = 0, a write to MOTOR.POLES will also
overwrite FB1.MOTORPOLES.

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 AKD BASIC Programming Manual | 7.17.14 FB1.OFFSET

7.17.14 FB1.OFFSET
General Information
Type NV-Parameter
Description Sets position feedback offset.
Depends on UNIT.ACCROTARY or UNIT.PLINEAR
Units Rotary: counts, rad, deg, Custom Units16-bit counts
Linear: counts, mm, µm, Custom Units16-bit counts
Rotary:
-5,123,372,000,000,005.000 to 5,123,372,000,000,005.000 counts
-7495.067 to 7495.067 rad
-429,436.096 to 429,436.096 deg
-5,964.390 to 5,964.390 [Custom Units]
-78,176,452.637 to 78,176,452.636 16-bit counts
Range Linear:
-5,123,372,000,000,005.000 to 5,123,372,000,000,005.000 counts
-1192.878*MOTOR.PITCH (pg 570) to 1192.878*MOTOR.PITCH mm
-1192877.952*MOTOR.PITCH to 1192877.952*MOTOR.PITCH µm
-5964.390 to 5964.390 Custom Units
-78176452.637 to 78176452.636 16-bit counts

Default
0
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
3533h/0 M_01-00-00-000
CANopen

426 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.14 FB1.OFFSET

Fieldbus Address Attributes Signed?

Profinet DWord
® 2145 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 290 Yes 64-bits Yes M_01-06-03-000

Description
FB1.OFFSET is a value added to the position feedback (PL.FB (pg 621)).

Example
If PL.FB is 10 deg and FB1.OFFSET is set to –10 deg, then the next read of PL.FB will return ~0 deg.

Related Topics
PL.FB (pg 621)

Kollmorgen | May 2014 427

 AKD BASIC Programming Manual | 7.17.15 FB1.ORIGIN

7.17.15 FB1.ORIGIN
General Information
Type NV Parameter
Description Adds to the initial feedback position.
Depends on UNIT.PROTARY (pg 718) or UNIT.PLINEAR (pg
716)
Units
Rotary: counts, rad, deg, custom units, 16-bit counts
Linear: counts, mm, µm, custom units, 16-bit counts
Rotary:
0.000 to 5,123,372,000,000.000 counts
0.000 to 7,495.067 rad
0.000 to 429,436.096 deg
0.000 to 5,964.390 custom units
0.000 to 78,176,452.636 16-bit counts
Range
Linear:
0.000 to 5,123,372,000,000.000 counts
0.000 to 1,192.878 mm
0.000 to 1,192,877.952 µm
0.000 to 5,964.390 custom units
0.000 to 78,176,452.636 counts16 Bit
Default
0 counts
Value
Data Type Float
See Also FB1.INITSIGNED
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3656h/0 M_01-00-00-000
CANopen

428 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.15 FB1.ORIGIN

Fieldbus Address Attributes Signed?

Profinet DWord
® 2147 No
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 294 Yes 64 bit No M_01-03-00-000

Description
FB1.ORIGIN is a value that is added to the feedback device position.
If the modulo is disabled (PL.MODPEN (pg 636) is set to disabled), then the origin is added to the position
feedback.
Initial position value = ( <feedback from device> + FB1.ORIGIN )
However, if modulo is enabled (PL.MODPEN is set to enabled) then the modulo is applied to both the feed-
back device position and the origin value.
The modulo value is defined by PL.MODP1 (pg 630) and PL.MODP2 (pg 632)
Initial position value = ( <feedback from device> + FB1.ORIGIN ) modulo
The drive internal process for the feedback initialization is as follows:
1. Reads the position feedback.
2. Adds the origin to the feedback.
3. Determines modulo from Step 2 by the actual feedback bits.
4. Sets the position feedback sign according to FB1.INITSIGNED (pg 420).

Example
This example assumes that the drive is connected to a single turn feedback device with memory.
FB1.ORIGIN is set to 22 degrees and saved into NV memory.
Drive boots and reads from feedback device position 340 degrees. According to the description section
above, calculation will be:
With PL.MODPEN disabled:
Initial feed back will be set to 366 degrees.
(340 + 22) = 366 degrees.
With PL.MODPEN enabled:
Initial feedback will be set to 2 degrees.
PL.MODP1 = 0
PL.MODP2 = 360
(340 + 22) modulo 360 = 2 degrees.

Kollmorgen | May 2014 429

 AKD BASIC Programming Manual | 7.17.16 FB1.P

7.17.16 FB1.P
General Information
Type R/O Parameter
Description Reads position from the primary feedback.
Units Depends on FB1.PUNIT (pg 438) counts or custom units.
Range N/A
Default
N/A
Value
Data Type S64
Start Version M_01-05-08-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1610 Yes 64-bits Yes M_01-06-03-000

Description
This parameter reads the position of the primary feedback device connected to X10. The position can be
read as counts or in custom units. This is the raw position read back from the device. The output format is
32:32, the upper 32 bits represent the multi-turns and the lower 32 bits represent the position of the feed-
back.

430 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.17 FB1.PDIR

7.17.17 FB1.PDIR
General Information
Type NV-Parameter
Sets the counting direction for feedback channel
Description
1.
Units None
Range 0 to 1
Default
0
Value
Data Type U8
See Also N/A
Start Version M_01-05-11-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2807 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1614 No 8-bits No M_01-06-03-000

Description
FB1.PDIR will change the sign and with it the direction of feedback channel 1.

Example
If position feedback = 35,185.932 counts and you set:
--> FB1.PDIR 1
then position feedback = -35,185.932 counts

Kollmorgen | May 2014 431

 AKD BASIC Programming Manual | 7.17.18 FB1.PFIND

7.17.18 FB1.PFIND
General Information
Type R/W Parameter
A procedure that allows the user to find the commutation angle for encoder
Description
feedback, which has no halls.
Units NA
Range 0, 1
Default
0
Value
Data Type Integer
See Also FB1.PFINDCMDU (pg 433)
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2149 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 298 No 8 bit No M_01-03-00-000

Description
A procedure that allows the user to find the commutation angle for encoder feedback (which has no Halls).

432 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.19 FB1.PFINDCMDU

7.17.19 FB1.PFINDCMDU
General Information
Type R/W Parameter
Current value used during the phase finding procedure
Description
(PFB.PFIND=1)
Units A
Range 0 to DRV.IPEAK
Default
0
Value
Data Type Float
See Also PFB.PFIND
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2150 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 300 No 32 bit No M_01-03-00-000

Description
FB1.PFINDCMDU sets the current value used during the phase finding procedure.

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 AKD BASIC Programming Manual | 7.17.20 FB1.POFFSET

7.17.20 FB1.POFFSET
General Information
Type NV-Parameter
Description Sets the offset for primary feedback.
Units counts, custom units
-5,123,372,000,000,005.000 to 5,123,372,000,000,005.000 counts
Range or
-10,485,760.000 to 10,485,760.000 custom units
Default
0
Value
Data Type S64
See Also N/A
Start Version M_01-05-11-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2809 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1618 Yes 64-bits Yes M_01-06-03-000

Description
FB1.POFFSET is the value added to the primary feedback position (FB1.P (pg 430)).

Example
If FB1.P is 10000 counts and FB1.POFFSET is set to –10000 counts, then the next read of FB1.P will
return ~0 counts.

434 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.21 FB1.POLES

7.17.21 FB1.POLES
General Information
Type R/W Parameter
Reads the number of feedback
Description
poles.
Units N/A
Range 2 to 128
Default
2
Value
Data Type Integer
See Also MOTOR.POLES
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2151 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 302 No 16 bit No M_01-03-00-000

Description
FB1.POLES sets the number of individual poles in the feedback device. This variable is used for the com-
mutation function, as well as for velocity feedback scaling, and represents the number of individual poles
(not pole pairs). The division value of motor poles (MOTOR.POLES) and feedback poles (FB1.POLES)
must be an integer when moving drive to enable, otherwise a fault is issued.

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 AKD BASIC Programming Manual | 7.17.22 FB1.PSCALE

7.17.22 FB1.PSCALE
General Information
Type R/W Parameter
Sets position scaling value for fieldbus transferred position
Description
objects.
Units N/A
Range 0 to 32
Default
20
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2152 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 304 No 8 bit No M_01-03-00-000

Description
Position values transfered over fieldbus are converted from native 64-bit values to a maximum 32-bit pos-
ition value. This parameter sets the resolution/revolution of position values back to the controller.
FB1.PSCALE determines the counts per revolution of position values delivered by fieldbus. The default
value is 20, which yields 2^20 counts/revolution. This scaling is used for CAN PDOs 6064 (Position
Actual Value) and 60F4 (Following Error Actual Value).

Example
The drive always works internally with 64-bit position values. The drive internal 64-bit actual position
should contain the following value:
0x0000.0023.1234.ABCD

436 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.22 FB1.PSCALE

The lower 32 bits represent the mechanical angle of the feedback. The upper 32 bits represent the number
of turns.
FB1.PSCALE = 20
The 32-bit position is: 0x0231234A

FB1.PSCALE = 16
The 32-bit position is: 0x00231234

Kollmorgen | May 2014 437

 AKD BASIC Programming Manual | 7.17.23 FB1.PUNIT

7.17.23 FB1.PUNIT
General Information
Type NV Parameter
Description Sets the unit for FB1.P.
Units N/A
Range 0, 3
Default Value 0
Data Type U8
See Also N/A
Start Version M_01-05-11-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
2812 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1624 No 32-bits No M_01-06-03-000

Description
FB1.PUNIT sets the position unit for FB1.P.
Value Description
0 Counts (32.32 format)
3 (FB1.PIN/FB1.POUT) per revolution.

Related Topics
FB1.P (pg 430)

438 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.24 FB1.RESKTR

7.17.24 FB1.RESKTR
General Information
Type NV Parameter
Sets the resolver nominal transformation
Description
ratio.
Units N/A
Range 0.001 to 50.000
Default
0.5
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2153 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 306 No 16 bit No M_01-03-00-000

Description
This parameter sets the resolver nominal transformation ratio. It affects the resolver excitation output amp-
litude.
The value can be obtained from the resolver data sheet.

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 AKD BASIC Programming Manual | 7.17.25 FB1.RESREFPHASE

7.17.25 FB1.RESREFPHASE
General Information
Type NV Parameter
Sets the electrical degrees of phase lag in the
Description
resolver.
Units electrical degrees
Range -180 to 180°
Default
-2°
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2154 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 308 No 32 bit Yes M_01-03-00-000

Description
This parameter sets the electrical degrees of phase lag in the resolver.
See the motor resolver datasheet for the value for this parameter .

440 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.26 FB1.SELECT

7.17.26 FB1.SELECT
General Information
Type NV Parameter
Description Sets user entered type or identified type (–1).
Units N/A
-1, 1, 10, 11, 20, 21, 30, 31, 32, 33, 34, 40, 41, 42, 43, 45, 46,
Range
50
Default
-1
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 353Bh/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Byte
® 2155 Yes
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 310 No 8 bit Yes M_01-03-00-000

Description
FB1.SELECT sets the feedback type manually (see FB1.IDENTIFIED) or allows the drive to auto-
matically identify the feedback type on power up.
FB1 5V Power Supply Notes:
If FB1.SELECT = -1, the 5V power supply will only turn on during the initialization phase. If the feedback
type cannot be automatically detected, the 5V power supply will be turned off, and remain off until a
DRV.CLRFAULTS is issued (which will re-start the FB1 initialization), or FB1.SELECT is manually set to
a specific feedback type.

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 AKD BASIC Programming Manual | 7.17.26 FB1.SELECT

When FB1.SELECT is manually set to a specific feedback type, the FB1 5V power supply will remain on,
unless a short is detected. This is useful for encoder types that may require calibration.
FB1.SELECT Input Values
Changing these input values will manually set the value of FB1.IDENTIFIED (pg 418).

If the feedback setting fails, FB1.IDENTIFIED is automatically set to 0 (no feedback

identified).

Input
Description
Value
The drive automatically identifies the type of feedback as part of the power up process. Setting
this value does not modify FB1.IDENTIFIED, unless it is saved in the NV memory for the next
power up. If a feedback with memory is connected to the drive, the value of FB1.IDENTIFIED is
set automatically to the feedback identified and all parameters read from the feedback are set
–1
according to the values read from the feedback. If no feedback is connected or a feedback with
no memory is connected, the value of FB1.IDENTIFIED is set to 0 (no feedback identified) and
all values normally read from the feedback are read from NV memory (if stored in NV) otherwise
they are set to the default values.
0 Unknown. No feedback identified.
Manually sets the type to No Encoder. This setting can be used if no feedback device is con-
1 nected to the X10 connector. This may be the case if FB2 or FB3 is used for position or velocity
control.
10 Manually sets the type to Incremental encoder with A/B Quad, marker pulse and Hall.
11 Manually sets the type to Incremental encoder with A/B Quad, marker pulse and no Hall.
20 Manually sets the type to Sine Encoder , with marker pulse and Hall.
21 Manually sets the type to Sine encoder , with marker pulse & No Halls.
30 Manually sets the type to Endat 2.1 with Sine Cosine.
31 Manually sets the type to Endat 2.2.
32 Manually sets the type to BiSS (Analog) with Sine Cosine.
Manually sets the type to Hiperface.

Note that all Hiperface feedback types are supported by the AKD. This includes SEL/SEK 37,
SEL/SEK 52, SKM/SKS 36, SRS/SRM 50, SRS/SRM 60, SEK 90, SEK160, and SEK 260. The
AKD drive will support any new Hiperface device, since any new device will be released with a
33
label type of 0xFF. Devices with this label type have all of the pertinent information to configure
these devices (number of single turn bits, number of multi-turn bits, and number of sine/cosine
periods) stored in their memory. The AKD is able to read this information, and automatically con-
figure the drive for proper operation. Note that the devices SEK 90, SEK 160, and SEK 260 are
label type 0xFF.
34 Manually sets the type to BiSS Mode C, Renishaw.
40 Manually sets the type to Resolver.
41 Manually sets the type to SFD (Smart Feedback Device).
42 Manually sets the type to Tamagawa.
43 Manually sets the type to use Cylic Feedback from the Motion Network.
Manually sets the type to SFD3. This value is only supported on model numbers AKD-xxyyzz-
45
NBxx. This value is only supported for firmware version 01-11-00-000 and later.
Manually sets the type to Hiperface DSL. This value is only supported on model numbers AKD-
xxyyzz-NBxx.This value is only supported for firmware versions 01-09-00-000 and later.
46
An external dongle between the two wires from the DSL to the X10 connector is required to use
Hiperface DSL.
50 This value is reserved and should not be used.

442 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.27 FB1.TRACKINGCAL

7.17.27 FB1.TRACKINGCAL
General Information
Type NV Parameter
Controls tracking calibration
Description
algorithm.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2156 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 312 No 8 bit No M_01-03-00-000

Description
This parameter turns the tracking calibration algorithm on or off for sine-cosine or resolver.
0 = Tracking calibration is off.
1 = Tracking calibration is on.

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 AKD BASIC Programming Manual | 7.17.28 FB1.USERBYTE0 to FB1.USERBYTE7

7.17.28 FB1.USERBYTE0 to FB1.USERBYTE7

General Information
Type R/W
Reads and writes data stored in two 32 bit words in the Endat feedback
Description
device.
Units N/A
Range 0 to 255
Default
0
Value
Data Type Integer
Start Version M_01-05-08-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2813 No
sercos III 2 Octets

Description
FB1.USERBYTE, FB1.USERWORD, and FB1.USERDWORD share two 32bit words in the Endat feed-
back device. These three parameters offer different ways to store and access the data stored in these two
32bit words. The table below defines each parameters function. The values are automatically stored non-
volatile in the feedback device.
Parameter Bits Attributes
FB1.USERBYTE0 to FB1.USERBYTE7 8 bit signed or unsigned char
FB1.USERWORD0 to FB1.USERWORD3 16 bit signed or unsigned short
FB1.USERDWORD0 to FB1.USERDWORD1 32 bit singed or unsigned int

The parameters overlap each other in the following way:

BYTE0 BYTE1 BYTE2 BYTE3 BYTE4 BYTE5 BYTE6 BYT7
WORD0 WORD1 WORD2 WORD3
DWORD0 DWORD1

For example, if BYTE1 is modified, WORD0 and DWORD0 are modified as well.

444 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.28 FB1.USERBYTE0 to FB1.USERBYTE7

Example
-->FB1.USERDWORD1 65536
-->FB1.USERBYTE1
0
-->FB1.USERBYTE2
1
-->FB1.USERBYTE3
0

-->FB1.USERBYTE3 1 (write to the highest byte of FB1.USERDWORD0)

-->FB1.USERDWORD0
16842752
-->FB1.USERWORD0
0
-->FB1.USERWORD1
257

Kollmorgen | May 2014 445

 AKD BASIC Programming Manual | 7.17.29 FB1.USERDWORD0 to FB1.USERDWORD1

7.17.29 FB1.USERDWORD0 to FB1.USERDWORD1

General Information
Type R/W
Reads and writes data stored in two 32 bit words in the Endat feedback
Description
device.
Units N/A
Range 0 to 4,294,967,295
Default
0
Value
Data Type Integer
Start Version M_01-05-08-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2814 No
sercos III 4 Octets

Description
FB1.USERBYTE, FB1.USERWORD, and FB1.USERDWORD share two 32bit words in the Endat feed-
back device. These three parameters offer different ways to store and access the data stored in these two
32bit words. The table below defines each parameters function. The values are automatically stored non-
volatile in the feedback device.
Parameter Bits Attributes
FB1.USERBYTE0 to FB1.USERBYTE7 8 bit signed or unsigned char
FB1.USERWORD0 to FB1.USERWORD3 16 bit signed or unsigned short
FB1.USERDWORD0 to FB1.USERDWORD1 32 bit singed or unsigned int

The parameters overlap each other in the following way:

BYTE0 BYTE1 BYTE2 BYTE3 BYTE4 BYTE5 BYTE6 BYT7
WORD0 WORD1 WORD2 WORD3
DWORD0 DWORD1

For example, if BYTE1 is modified, WORD0 and DWORD0 are modified as well.

446 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.29 FB1.USERDWORD0 to FB1.USERDWORD1

Example
-->FB1.USERDWORD1 65536
-->FB1.USERBYTE1
0
-->FB1.USERBYTE2
1
-->FB1.USERBYTE3
0

-->FB1.USERBYTE3 1 (write to the highest byte of FB1.USERDWORD0)

-->FB1.USERDWORD0
16842752
-->FB1.USERWORD0
0
-->FB1.USERWORD1
257

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 AKD BASIC Programming Manual | 7.17.30 FB1.USERWORD0 to FB1.USERWORD3

7.17.30 FB1.USERWORD0 to FB1.USERWORD3

General Information
Type R/W
Reads and writes data stored in two 32 bit words in the Endat feedback
Description
device.
Units N/A
Range 0 to 65,535
Default
0
Value
Data Type Integer
Start Version M_01-05-08-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2815 No
sercos III 2 Octets

Description
FB1.USERBYTE, FB1.USERWORD, and FB1.USERDWORD share two 32bit words in the Endat feed-
back device. These three parameters offer different ways to store and access the data stored in these two
32bit words. The table below defines each parameters function. The values are automatically stored non-
volatile in the feedback device.
Parameter Bits Attributes
FB1.USERBYTE0 to FB1.USERBYTE7 8 bit signed or unsigned char
FB1.USERWORD0 to FB1.USERWORD3 16 bit signed or unsigned short
FB1.USERDWORD0 to FB1.USERDWORD1 32 bit singed or unsigned int

The parameters overlap each other in the following way:

BYTE0 BYTE1 BYTE2 BYTE3 BYTE4 BYTE5 BYTE6 BYT7
WORD0 WORD1 WORD2 WORD3
DWORD0 DWORD1

For example, if BYTE1 is modified, WORD0 and DWORD0 are modified as well.

448 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.17.30 FB1.USERWORD0 to FB1.USERWORD3

Example
-->FB1.USERDWORD1 65536
-->FB1.USERBYTE1
0
-->FB1.USERBYTE2
1
-->FB1.USERBYTE3
0

-->FB1.USERBYTE3 1 (write to the highest byte of FB1.USERDWORD0)

-->FB1.USERDWORD0
16842752
-->FB1.USERWORD0
0
-->FB1.USERWORD1
257

Kollmorgen | May 2014 449

 AKD BASIC Programming Manual | 7.18 FB2 Parameters

7.18 FB2 Parameters

This section describes the FB2 parameters.

7.18.1 FB2.ENCRES 451

7.18.2 FB2.MODE 452
7.18.3 FB2.MOTORPHASE 453
7.18.4 FB2.MOTORPOLES 454
7.18.5 FB2.P 455
7.18.6 FB2.DIR 456
7.18.7 FB2.POFFSET 457
7.18.8 FB2.PUNIT 458
7.18.9 FB2.SOURCE 459

450 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.18.1 FB2.ENCRES

7.18.1 FB2.ENCRES
General Information
Type NV Parameter
Sets the secondary feedback (FB2) resolution (also defines resolution of virtual encoder
Description
in AKD BASIC).
Units counts/rev
Range 0 to 262,140 counts/rev
Default
0
Value
Data Type Integer
See Also FB2.MODE, FB2.SOURCE (pg 459)
Start Ver-
M_01-03-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2492 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 984 No 32 bit No

Description
This parameter sets the feedback 2 (FB2) resolution and defines how many counts input into the sec-
ondary feedback will be considered a full revolution.
In AKD BASIC FB2.ENCRES also defines the resolution of the virtual encoder when using the CAMVM
commands. A runtime error will occur if the you use the CAMVM commands without defining a resolution
in FB2.ENCRES. If a real encoder and a virtual encoder are both used, the resolution for the virtual
encoder will be that of the real encoder.

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 AKD BASIC Programming Manual | 7.18.2 FB2.MODE

7.18.2 FB2.MODE
General Information
Type R/W Parameter
Sets the mode for the second feedback inputs, EEO connector (X9) and high speed opto
Description
inputs (pins 9 and 10 on X7).
Units N/A
Range 0 to 2
Default
0
Value
Data Type Integer
See Also FB2.ENCRES (pg 451), PL.FBSOURCE (pg 623)
Start Ver-
M_01-03-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2493 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 986 No 16 bit No

Description
This parameter sets the feedback 2 input type as follows:
0 = Input A/B Signals
1 = Input Step and Direction Signals
2 = Input, up-down signals

452 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.18.3 FB2.MOTORPHASE

7.18.3 FB2.MOTORPHASE
General Information
Type NV Parameter
Description Sets the motor phase of the motor associated with FB2.
Units Electrical degrees
Range 0 to 359
Default Value 0
Data Type Integer
Start Version M_01-11-04-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Description
This parameter sets the phase offset for commutation of the motor associated with FB2. When multiple
motors are driven by a single AKD, this allows different motor configurations to be saved for each value of
IL.FBSOURCE.
When IL.FBSOURCE is set to 1, the value of FB2.MOTORPHASE will overwrite the value of
MOTOR.PHASE (pg 567). Additionally, while IL.FBSOURCE = 1, a write to MOTOR.PHASE will also
overwrite FB2.MOTORPHASE.

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 AKD BASIC Programming Manual | 7.18.4 FB2.MOTORPOLES

7.18.4 FB2.MOTORPOLES
General Information
Type NV Parameter
Description Sets the number of motor poles associated with FB2.
Units N/A
Range 0 to 510
Default Value 0
Data Type Integer
Start Version M_01-11-04-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Description
This parameter sets the number of motor poles associated with FB2. When multiple motors are driven by
a single AKD, this allows different motor configurations to be saved for each value of IL.FBSOURCE (➜
p. 1).
When IL.FBSOURCE is set to 1, the value of FB2.MOTORPOLES will overwrite the current value of
MOTOR.POLES (pg 571).Additionally, while IL.FBSOURCE = 1, a write to MOTOR.POLES will also
overwrite FB2.MOTORPOLES.

454 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.18.5 FB2.P

7.18.5 FB2.P
General Information
Type R/O Parameter
Description Reads position from the secondary feedback.
Units Depends on FB1.PUNIT (pg 438) counts or custom units.
Range N/A
Default
N/A
Value
Data Type U64
See Also FB1.HALLSTATE (pg 413)
Start Version M_01-05-08-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2816 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1632 Yes 64-bits Yes M_01-06-03-000

Description
This parameter reads the position back from the secondary feedback device that is connected to X7 or
X9, depending on the value of DRV.EMUEMODE. The position can be read as 32-bit counts or in cus-
tomer units.

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 AKD BASIC Programming Manual | 7.18.6 FB2.DIR

7.18.6 FB2.DIR
General Information
Type NV-Parameter
Sets the counting direction for feedback channel
Description
2.
Units None
Range 0 to 1
Default
0
Value
Data Type U8
See Also N/A
Start Version M_01-05-11-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2610 No
sercos III 2 Octets

Description
FB2.DIR will change the sign and with it the direction of feedback channel 2.

456 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.18.7 FB2.POFFSET

7.18.7 FB2.POFFSET
General Information
Type NV-Parameter
Description Sets the offset for secondary feedback.
Units counts, custom units
-5,123,372,000,000,005.000 to 5,123,372,000,000,005.000 counts
Range or
-10,485,760.000 to 10,485,760.000 custom units
Default
0
Value
Data Type S64
See Also N/A
Start Version M_01-05-11-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2819 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1638 Yes 64-bits Yes M_01-06-03-000

Description
FB2.POFFSET is the value added to the primary feedback position (FB2.P (pg 455)).

Example
If FB2.P is 10000 counts and FB2.POFFSET is set to –10000 counts, then the next read of FB2.P will
return ~0 counts.

Kollmorgen | May 2014 457

 AKD BASIC Programming Manual | 7.18.8 FB2.PUNIT

7.18.8 FB2.PUNIT
General Information
Type NV Parameter
Description Sets the unit for FB2.P.
Units N/A
Range 0, 3
Default Value 0
Data Type U8
See Also N/A
Start Version M_01-05-11-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
2822 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1644 No 32-bits No M_01-06-03-000

Description
FB2.PUNIT sets the position unit for FB2.P.
Value Description
0 Counts (32 bit format)
3 (FB2.PIN/FB2.POUT) per revolution.

Related Topics
FB2.P (pg 455)

458 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.18.9 FB2.SOURCE

7.18.9 FB2.SOURCE
General Information
Type R/W Parameter
Sets the source for the second feedback input. Choices are the EEO connectors (X9)
Description
which are RS485 inputs, or the X7 connector’s high speed opto inputs (pins 9 and 10).
Units N/A
Range 0 to 2
Default
0
Value
Data Type Integer
See Also FB2.ENCRES, FB2.MODE, PL.FBSOURCE (pg 623)
Start Ver-
M_01-03-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2494 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 988 No 16 bit No

Description
This parameter sets the secondary feedback source to be either the EEO connector (X9) or the high speed
opto inputs on the I/O Connector (X7) as follows:
0 = None
1 = Feedback Source X9 (EEO connector)
2 = Feedback Source X7 (High Speed Opto Inputs on the I/O Connector)
FB2 5V Power Supply Notes:
If FB2.SOURCE = 0 or 2 (X7), the 5V power supply will remain off.
If FB2.SOURCE = 1 (X9) the FB2 5V power supply will remain on unless a short is detected. This is use-
ful for encoder types that may require calibration.

Kollmorgen | May 2014 459

 AKD BASIC Programming Manual | 7.19 FB3 Parameters

7.19 FB3 Parameters

This section describes the FB3 parameters.

7.19.1 FB3.DIR 461

7.19.2 FB3.MODE 462
7.19.3 FB3.MOTORPHASE 463
7.19.4 FB3.MOTORPOLES 464
7.19.5 FB3.P 465
7.19.6 FB3.PDIR 466
7.19.7 FB3.POFFSET 467
7.19.8 FB3.PUNIT 468

460 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.19.1 FB3.DIR

7.19.1 FB3.DIR
General Information
Type NV Parameter
Sets the counting direction for the position feedback when PL.FBSOURCE =
Description
2.
Units None
Range 0 to 1
Default
0
Value
Data Type U8
See Also N/A
Start Version M_01-11-03-000

Variants Supported
Variant Supported
AKD Base No
AKD with Position Indexer No
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Description
FB3.DIR will change the sign and with it the direction of the position feedback (PL.FB (pg 621)) when
PL.FBSOURCE = 2 (FB3).

Kollmorgen | May 2014 461

 AKD BASIC Programming Manual | 7.19.2 FB3.MODE

7.19.2 FB3.MODE
General Information
Type NV Parameter
Description Selects the type of feedback connected to X9.
Units N/A
Range 0
Default Value 0
Data Type Integer
See Also NA
Start Version M_01-04-15-000

Variants Supported
Variant Supported
AKD Base No
AKD with Position Indexer No
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
2522 No
sercos® III 2 Octets

Fieldbus Index/Subindex
Modbus 1044

Description
This parameter selects the type of feedback connected to X9. The position is reported as the tertiary feed-
back position, by FB3.P.
Value Feedback
0 Endat 2.2 Feedback Device

This parameter is only supported on drives with model numbers similar to AKD-x-xxxxx-NBxx-xxxx.

462 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.19.3 FB3.MOTORPHASE

7.19.3 FB3.MOTORPHASE
General Information
Type NV Parameter
Description Sets the motor phase of the motor associated with FB3.
Units Electrical degrees
Range 0 to 359
Default Value 0
Data Type Integer
Start Version M_01-11-04-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Description
This parameter sets the phase offset for commutation of the motor associated with FB3. When multiple
motors are driven by a single AKD, this allows different motor configurations to be saved for each value of
IL.FBSOURCE.
When IL.FBSOURCE is set to 2, the value of FB3.MOTORPHASE will overwrite the value of
MOTOR.PHASE (pg 567). Additionally, while IL.FBSOURCE = 2, a write to MOTOR.PHASE will also
overwrite FB3.MOTORPHASE.

Kollmorgen | May 2014 463

 AKD BASIC Programming Manual | 7.19.4 FB3.MOTORPOLES

7.19.4 FB3.MOTORPOLES
General Information
Type NV Parameter
Description Sets the number of motor poles associated with FB3.
Units N/A
Range 0 to 510
Default Value 0
Data Type Integer
Start Version M_01-11-04-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Description
This parameter sets the number of motor poles associated with FB3. When multiple motors are driven by
a single AKD, this allows different motor configurations to be saved for each value of IL.FBSOURCE (➜
p. 1).
When IL.FBSOURCE is set to 2, the value of FB3.MOTORPOLES will overwrite the current value of
MOTOR.POLES (pg 571). Additionally, while IL.FBSOURCE = 2, a write to MOTOR.POLES will also
overwrite FB3.MOTORPOLES.

464 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.19.5 FB3.P

7.19.5 FB3.P
General Information
Type R/O Parameter
Description Reads position from the tertiary feedback.
Depends on FB3.PUNIT (pg 468) counts or custom
Units
units.
Range N/A
Default Value N/A
Data Type S64
See Also N/A
Start Version M_01-04-15-000

Variants Supported
Variant Supported
AKD Base No
AKD with Position Indexer No
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Parameter Address Attributes Signed?
Profinet DWord
® FB3.P_32 2523
sercos III 8 Octets
Yes
Profinet DWord
FB3.P 2823
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1646 Yes 64-bits Yes M_01-06-03-000

Description
This parameter reads the position back from the tertiary feedback device that is connected to X9, when
DRV.EMUEMODE = 11. The position can be read as 64-bit singed count or in customer units. Values
read by this parameter depend on FB3.Dir and FB3.OFFSET.
This parameter is only supported on drives with model numbers similar to AKD-x-xyyzz-NBxx-yyzz and
will only work with Endat 2.2 multiturn encoder. The output format is 32:32 the upper 32 bits represents
the multiturns and the lower 32 bits for position of the feedback.

Related Topics
DRV.EMUEMODE (pg 328) | FB3.PUNIT (pg 468) | FB3.PIN | FB3.POUT | FB3.PDIR (pg 466) |

Kollmorgen | May 2014 465

 AKD BASIC Programming Manual | 7.19.6 FB3.PDIR

7.19.6 FB3.PDIR
General Information
Type NV-Parameter
Sets the counting direction for feedback channel
Description
3.
Units None
Range 0 to 1
Default
0
Value
Data Type U8
See Also N/A
Start Version M_01-05-11-000

Variants Supported
Variant Supported
AKD Base No
AKD with Position Indexer No
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2825 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1650 No 8-bits No M_01-06-03-000

Description
FB3.PDIR will change the sign and with it the direction of feedback channel 3 (FB3.P (pg 465)).

Example
If FB3.P = 35,185.932 and you set:
--> FB3.PDIR 1
then FB3.P = -35,185.932

466 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.19.7 FB3.POFFSET

7.19.7 FB3.POFFSET
General Information
Type NV-Parameter
Description Sets the offset for tertiary feedback.
Units counts, custom units
-5,123,372,000,000,005.000 to 5,123,372,000,000,005.000 counts
Range or
-10,485,760.000 to 10,485,760.000 custom units
Default
0
Value
Data Type S64
See Also N/A
Start Version M_01-05-11-000

Variants Supported
Variant Supported
AKD Base No
AKD with Position Indexer No
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2827 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1654 Yes 64-bits Yes M_01-06-03-000

Description
FB3.POFFSET is the value added to the primary feedback position (FB3.P (pg 465)).

Example
If FB3.P is 10000 counts and FB3.POFFSET is set to –10000 counts, then the next read of FB3.P will
return ~0 counts.

Kollmorgen | May 2014 467

 AKD BASIC Programming Manual | 7.19.8 FB3.PUNIT

7.19.8 FB3.PUNIT
General Information
Type NV Parameter
Description Sets the unit for FB3.P.
Units N/A
Range 0, 3
Default Value 0
Data Type U8
See Also N/A
Start Version M_01-05-11-000

Variants Supported
Variant Supported
AKD Base No
AKD with Position Indexer No
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
2830 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1660 No 32-bits No M_01-06-03-000

Description
FB3.UNIT sets the position unit for FB3.P.
Value Description
0 Counts (32.32 format)
3 (FB3.PIN/FB3.POUT) per revolution.

Related Topics
FB3.P (pg 465)

468 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.20 GUI Parameters

7.20 GUI Parameters

GUI parameters are used within WorkBenchfor data reporting and data storage.

7.20.1 GUI.DISPLAY 470

7.20.2 GUI.PARAM01 471
7.20.3 GUI.PARAM02 472
7.20.4 GUI.PARAM03 473
7.20.5 GUI.PARAM04 474
7.20.6 GUI.PARAM05 475
7.20.7 GUI.PARAM06 476
7.20.8 GUI.PARAM07 477
7.20.9 GUI.PARAM08 478
7.20.10 GUI.PARAM09 479
7.20.11 GUI.PARAM10 480

Kollmorgen | May 2014 469

 AKD BASIC Programming Manual | 7.20.1 GUI.DISPLAY

7.20.1 GUI.DISPLAY
General Information
Type R/O Parameter
Reads drive display
Description
data.
Units N/A
Range N/A
Default
N/A
Value
Data Type Display
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
This parameter reports to the GUI what the drive currently is displaying. For all GUI commands, the data
is compressed and formatted for the GUI, not for the user.

470 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.20.2 GUI.PARAM01

7.20.2 GUI.PARAM01
General Information
Type NV Parameter
Description Used by the GUI to store data.
Units N/A
2,147,483,648 to
Range
2,147,483,647
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
The GUI uses this parameter to store data. Only the GUI can modify this data (not the user).

Kollmorgen | May 2014 471

 AKD BASIC Programming Manual | 7.20.3 GUI.PARAM02

7.20.3 GUI.PARAM02
General Information
Type NV Parameter
Description Used by the GUI to store data.
Units N/A
2,147,483,648 to
Range
2,147,483,647
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
The GUI uses this parameter to store data. Only the GUI can modify this data (not the user).

472 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.20.4 GUI.PARAM03

7.20.4 GUI.PARAM03
General Information
Type NV Parameter
Description Used by the GUI to store data.
Units N/A
2,147,483,648 to
Range
2,147,483,647
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
The GUI uses this parameter to store data. Only the GUI can modify this data (not the user).

Kollmorgen | May 2014 473

 AKD BASIC Programming Manual | 7.20.5 GUI.PARAM04

7.20.5 GUI.PARAM04
General Information
Type NV Parameter
Description Used by the GUI to store data.
Units N/A
2,147,483,648 to
Range
2,147,483,647
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
The GUI uses this parameter to store data. Only the GUI can modify this data (not the user).

474 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.20.6 GUI.PARAM05

7.20.6 GUI.PARAM05
General Information
Type NV Parameter
Description Used by the GUI to store data.
Units N/A
2,147,483,648 to
Range
2,147,483,647
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
The GUI uses this parameter to store data. Only the GUI can modify this data (not the user).

Kollmorgen | May 2014 475

 AKD BASIC Programming Manual | 7.20.7 GUI.PARAM06

7.20.7 GUI.PARAM06
General Information
Type NV Parameter
Description Used by the GUI to store data.
Units N/A
2,147,483,648 to
Range
2,147,483,647
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
The GUI uses this parameter to store data. Only the GUI can modify this data (not the user).

476 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.20.8 GUI.PARAM07

7.20.8 GUI.PARAM07
General Information
Type NV Parameter
Description Used by the GUI to store data.
Units N/A
2,147,483,648 to
Range
2,147,483,647
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
The GUI uses this parameter to store data. Only the GUI can modify this data (not the user).

Kollmorgen | May 2014 477

 AKD BASIC Programming Manual | 7.20.9 GUI.PARAM08

7.20.9 GUI.PARAM08
General Information
Type NV Parameter
Description Used by the GUI to store data.
Units N/A
2,147,483,648 to
Range
2,147,483,647
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
The GUI uses this parameter to store data. Only the GUI can modify this data (not the user).

478 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.20.10 GUI.PARAM09

7.20.10 GUI.PARAM09
General Information
Type NV Parameter
Description Used by the GUI to store data.
Units N/A
2,147,483,648 to
Range
2,147,483,647
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
The GUI uses this parameter to store data. Only the GUI can modify this data (not the user).

Kollmorgen | May 2014 479

 AKD BASIC Programming Manual | 7.20.11 GUI.PARAM10

7.20.11 GUI.PARAM10
General Information
Type NV Parameter
Description Used by the GUI to store data.
Units N/A
2,147,483,648 to
Range
2,147,483,647
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
The GUI uses this parameter to store data. Only the GUI can modify this data (not the user).

480 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.21 HWLS Parameters

7.21 HWLS Parameters

This section describes the HWLS parameters.

7.21.1 HWLS.NEGSTATE 482

7.21.2 HWLS.POSSTATE 483

Kollmorgen | May 2014 481

 AKD BASIC Programming Manual | 7.21.1 HWLS.NEGSTATE

7.21.1 HWLS.NEGSTATE
General Information
Type R/O Parameter
Reads the status of the negative hardware limit
Description
switch.
Units 0 to 1
Range N/A
Default
Integer
Value
Data Type HWLS.POSSTATE (pg 483)
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2211 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 422 No 8 bit No M_01-03-00-000

Description
HWLS.NEGSTATE reads the status of the negative HW limit switch as follows:
0 = Low
1 = High

482 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.21.2 HWLS.POSSTATE

7.21.2 HWLS.POSSTATE
General Information
Type R/O Parameter
Reads the status of the positive hardware limit
Description
switch.
Units N/A
Range 0 to 1
Default
N/A
Value
Data Type Integer
See Also HWLS.NEGSTATE (pg 482)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2212 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 424 No 8 bit No M_01-03-00-000

Description
HWLS.POSSTATE reads the status of the positive hardware limit switch as follows:
0 = Low
1 = High

Kollmorgen | May 2014 483

 AKD BASIC Programming Manual | 7.22 IL Parameters

7.22 IL Parameters
This section describes the IL parameters.

7.22.1 IL.BUSFF 485

7.22.2 IL.CMD 486
7.22.3 IL.CMDU 487
7.22.4 IL.DFOLDT 488
7.22.5 IL.DIFOLD 489
7.22.6 IL.FB 490
7.22.7 IL.FF 491
7.22.8 IL.FOLDFTHRESH 492
7.22.9 IL.FOLDFTHRESHU 493
7.22.10 IL.FOLDWTHRESH 494
7.22.11 IL.FRICTION 495
7.22.12 IL.IFOLD 496
7.22.13 IL.IUFB 497
7.22.14 IL.IVFB 498
7.22.15 IL.KACCFF 499
7.22.16 IL.KBUSFF 500
7.22.17 IL.KP 501
7.22.18 IL.KPDRATIO 502
7.22.19 IL.KPLOOKUPINDEX 503
7.22.20 IL.KPLOOKUPVALUE 504
7.22.21 IL.KPLOOKUPVALUES 506
7.22.22 IL.KVFF 507
7.22.23 IL.LIMITN 508
7.22.24 IL.LIMITP 509
7.22.25 IL.MFOLDD 510
7.22.26 IL.MFOLDR 511
7.22.27 IL.MFOLDT 512
7.22.28 IL.MI2T 513
7.22.29 IL.MI2TWTHRESH 514
7.22.30 IL.MIFOLD 515
7.22.31 IL.MIMODE 516
7.22.32 IL.OFFSET 517
7.22.33 IL.VCMD 518
7.22.34 IL.VUFB 519
7.22.35 IL.VVFB 520

484 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.1 IL.BUSFF

7.22.1 IL.BUSFF
General Information
Type R/O Parameter
Displays the current feedforward value injected by the field-
Description
bus.
Units Arms
Range N/A
Default
N/A
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2213 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 426 No 32 bit Yes M_01-03-00-000

Description
This parameter displays the current feedforward value injected by the fieldbus.

Kollmorgen | May 2014 485

 AKD BASIC Programming Manual | 7.22.2 IL.CMD

7.22.2 IL.CMD
General Information
Type R/O Parameter
Description Reads the value of the q-component current command.
Units Arms
Range ± Drive peak current (DRV.IPEAK)
Default Value N/A
Data Type Float
See Also DRV.IPEAK (pg 355)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
2214 Yes
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 428 No 32 bit Yes M_01-03-00-000

Description
IL.CMD displays the q-component current command value of the current loop after any limitation (such as
a parameter setting or I2t calculation).
IL.CMD is limited also by motor peak current, IL.LIMITN (pg 508) and IL.LIMITP (pg 509).

486 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.3 IL.CMDU

7.22.3 IL.CMDU
General Information
Type R/W Parameter
Description Sets the user current command.
Units Arms
Minimum range value = maximum of IL.LIMITN and -MOTOR.IPEAK
Range
Maximum range value = minimum of IL.LIMITP and MOTOR.IPEAK
Default
0 Arms
Value
Data Type Float
DRV.IPEAK (pg 355), DRV.OPMODE (pg 370),DRV.CMDSOURCE (pg
See Also
312)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2215 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 430 No 32 bit Yes M_01-03-00-000

Description
This parameter sets the user current command value.
The current command value, which is provided to the current loop (IL.CMD), can be limited further using a
parameter setting or I2t calculation. IL.CMDU is limited also by motor peak current, IL.LIMITN (pg 508)
and IL.LIMITP (pg 509).
For IPM motors (MOTOR.TYPE = 6), IL.CMDU is decomposed into d-component and q-component cur-
rent values, as both are used for closed loop current control. The d-component value is used to set
IL.DCMD (pg 1), and the q-component value is used to set IL.CMD (pg 486).

Kollmorgen | May 2014 487

 AKD BASIC Programming Manual | 7.22.4 IL.DFOLDT

7.22.4 IL.DFOLDT
General Information
Type R/W Parameter
Reads the drive foldback time constant of the exponential current drop (fold-
Description
back).
Units s
Range 1 to 65.535 s
Default
Usually 2.500 s, but may change according to the drive type.
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
This parameter is only available on AKD BASIC drives.

Description
IL.DFOLDT is the time constant of the exponential drop (foldback) of the current towards the drive con-
tinuous current.

488 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.5 IL.DIFOLD

7.22.5 IL.DIFOLD
General Information
Type R/O Parameter
Reads the drive foldback current
Description
limit.
Units Arms
Range 0 to 2,147,483.647 Arms
Default
N/A
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3559h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2833 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1666 No 32-bits No M_01-06-03-000

Description
IL.DIFOLD is the output of the drive foldback algorithm. It is an artificial current, which can be higher or
lower than the drive peak current (DRV.IPEAK). When IL.DIFOLD is lower than the existing current limit
(such as IL.LIMITP (pg 509)), it becomes the active current limit.
IL.DIFOLD decreases when the actual current is higher than drive continuous current and increases (up to
a certain level) when the actual current is lower than drive continuous current.

Kollmorgen | May 2014 489

 AKD BASIC Programming Manual | 7.22.6 IL.FB

7.22.6 IL.FB
General Information
Type R/O Parameter
Reads the actual value of the d-component cur-
Description
rent.
Units Arms
Range ± Drive peak current (DRV.IPEAK)
Default
N/A
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3558h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2216 Yes
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 432 No 32 bit Yes M_01-03-00-000

Description
This parameter reads the measured, de-rotated actual current value of the motor.
Note: Internally the resolution of the current scale is 20130 increments. For an AKD with a peak current of
9 amps, the current resolution applied is 9/20130 = .447 mA. For a 48 amp peak current drive, the res-
olution is 48/20130 = 2.38 mA. The current scaling is hard coded and cannot be changed by decreasing
the peak current settings in the drive.

490 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.7 IL.FF

7.22.7 IL.FF
General Information
Type R/O Parameter
Description Displays the current loop overall feedforward value
Units Arms
Range N/A
Default
N/A
Value
Data Type Float
IL.KBUSFF (pg 500), IL.KVFF (pg 507), IL.OFFSET (pg 517), IL.FRICTION (pg 495),
See Also
IL.KACCFF (pg 499)
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2217 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 434 No 32 bit No M_01-03-00-000

Description
This parameter displays the current loop overall feedforward value.

Kollmorgen | May 2014 491

 AKD BASIC Programming Manual | 7.22.8 IL.FOLDFTHRESH

7.22.8 IL.FOLDFTHRESH
General Information
Type R/O Parameter
Description Reads the foldback fault level.
Units Arms
Range 0 to 500 Arms
Default Drive peak current
Value (DRV.IPEAK)
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3420h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2218 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 436 No 32 bit No M_01-03-00-000

Description
IL.FOLDFTHRESH is the fault level of the current foldback algorithm. If IL.IFOLD (pg 496) drops below
the value for IL.FOLDFTHRESH, then a fault is generated and the drive is disabled.
To avoid reaching the current foldback fault level, set IL.FOLDFTHRESHU well below the continuous cur-
rent value for both the drive and the motor or set the IL.FOLDFTHRESHU value to zero.

492 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.9 IL.FOLDFTHRESHU

7.22.9 IL.FOLDFTHRESHU
General Information
Type NV Parameter
Sets the user value for the foldback fault
Description
level.
Units Arms
Range 0 to 500 Arms
Default
Drive peak current (DRV.IPEAK)
Value
Data Type Float
See Also IL.FOLDFTHRESH (pg 492)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3421h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2219 Yes
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 438 No 32 bit Yes M_01-03-00-000

Description
IL.FOLDFTHRESHU is the fault level of the current foldback algorithm. The value of IL.FOLDFTHRESH
is the minimum of DRV.IPEAK (pg 355), MOTOR.IPEAK (pg 560), and IL.FOLDFTHRESHU.

Kollmorgen | May 2014 493

 AKD BASIC Programming Manual | 7.22.10 IL.FOLDWTHRESH

7.22.10 IL.FOLDWTHRESH
General Information
Type NV Parameter
Sets the foldback warning
Description
level.
Units Arms
Range 0 to 500 Arms
Default
0A
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 355Ah/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2220 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 440 No 32 bit Yes M_01-03-00-000

Description
IL.FOLDWTHRESH is the warning level of the current foldback algorithm. When IL.IFOLD (pg 496) drops
below IL.FOLDWTHRESH a warning is generated.
To ensure that the current foldback warning level is never reached, IL.FOLDWTHRESH should be set
well below the continuous current value for both the drive and the motor. You can also set the
IL.FOLDFTHRESH (pg 492) value to zero.

494 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.11 IL.FRICTION

7.22.11 IL.FRICTION
General Information
Type R/W Parameter
Description Sets friction compensation value.
Units A
0 to the minimum of user positive current limit (IL.LIMITP) and motor peak current
Range
(MOTOR.IPEAK).IL.LIMITP (pg 509)
Default
0
Value
Data Type Float
See Also IL.FF
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3422h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2221 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 442 No 32 bit No M_01-03-00-000

Description
Position command derivative sign is multiplied by this value to be injected to the current command.

IL.FRICTION is active in Position and Velocity modes (DRV.OPMODE = 1, 2), but not
active in Torque mode (DRV.OPMODE = 0).

Kollmorgen | May 2014 495

 AKD BASIC Programming Manual | 7.22.12 IL.IFOLD

7.22.12 IL.IFOLD
General Information
Type R/O Parameter
Reads the overall foldback current
Description
limit.
Units A
Range 0 to 2,147,483.647 A
Default
N/A
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3425h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2222 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 444 No 32 bit No M_01-03-00-000

Description
Two current foldback algorithms run in parallel in the drive: the drive foldback algorithm and the motor fold-
back algorithm. Each algorithm uses different sets of parameters.
Each algorithm has its own foldback current limit, IL.DIFOLD and IL.MIFOLD. The overall foldback cur-
rent limit is the minimum of the two at any given moment.
IL.IFOLD = min (IL.DIFOLD, IL.MIFOLD).
IL.DIFOLD is an artificial current, which can be higher or lower than the drive or motor peak current. When
IL.IFOLD becomes lower than the existing current limit (such as IL.LIMITP (pg 509)), it becomes the act-
ive current limit.

496 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.13 IL.IUFB

7.22.13 IL.IUFB
General Information
Type R/O Parameter
Reads the sigma-delta measured current in the u-winding of the
Description
motor.
Units A
Range ± Drive peak current (DRV.IPEAK)
Default
N/A
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2223 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 446 No 32 bit Yes M_01-03-00-000

Description
This parameter displays the measured current in the u-winding of the motor.

Kollmorgen | May 2014 497

 AKD BASIC Programming Manual | 7.22.14 IL.IVFB

7.22.14 IL.IVFB
General Information
Type R/O Parameter
Sets the sigma-delta measured current in the u-winding of the
Description
motor.
Units A
Range ± Drive peak current (DRV.IPEAK)
Default
0A
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2224 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 448 No 32 bit Yes M_01-03-00-000

Description
IL.IVFB is an offset value that is added to the measured current in the u-winding of the motor. This value is
used for compensating for an error in the current measurement. The drive measures 256 times the current
in the u-winding when powering-up the drive. Afterwards, the drive calculates the average value of the
measured current and uses this value for the offset value.

498 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.15 IL.KACCFF

7.22.15 IL.KACCFF
General Information
Type R/W Parameter
Sets current loop acceleration feedforward gain
Description
value
Units mArms/(rad/s²)
Range 0.0 to 2.0 mArms/(rad/s²)
Default
0 mArms/(rad/s²)
Value
Data Type Float
See Also IL.FF (pg 491)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3426h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2225 Yes
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 450 No 32 bit Yes M_01-03-00-000

Description
This value sets the gain for the acceleration feedforward (a scaled second derivative of the position com-
mand is added to the current command value) .
This parameter is valid only in the position mode (DRV.OPMODE = 2).

Kollmorgen | May 2014 499

 AKD BASIC Programming Manual | 7.22.16 IL.KBUSFF

7.22.16 IL.KBUSFF
General Information
Type NV Parameter
Current loops fieldbus injected feed-forward
Description
gain
Units NA
Range 0 to 2
Default
0
Value
Data Type Float
See Also IL.FF (pg 491), IL.BUSFF (pg 485)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2226 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 452 No 32 bit No M_01-03-00-000

Description
This parameter scales the feedforward term added by the fieldbus to the current command. The nominal
feedforward value can be multiplied by this gain value.
This parameter is only used in the position mode (DRV.OPMODE = 2).

500 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.17 IL.KP

7.22.17 IL.KP
General Information
Type NV Parameter
Sets the proportional gain of the q-component of the PI reg-
Description
ulator.
Units V/A
Range 0 to 2,000 V/A
Default
Read from the motor or, if no memory, 50.009 V/A
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3598h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
2227 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 454 No 16 bit No M_01-03-00-000

Description
IL.KP is used to modify the proportional gain of the PI-loop that controls the q-component of the current.

Kollmorgen | May 2014 501

 AKD BASIC Programming Manual | 7.22.18 IL.KPDRATIO

7.22.18 IL.KPDRATIO
General Information
Type NV Parameter
Sets the proportional gain of the d-component current PI-regulator as a percentage of
Description
IL.KP
Units N/A
Range 0 to 100
Default
1
Value
Data Type Float
See Also IL.KP (pg 501)
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3596h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2228 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 456 No 32 bit No M_01-03-00-000

Description
This parameter modifies the proportional gain of the PI-loop, which controls the d-component of the cur-
rent.

502 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.19 IL.KPLOOKUPINDEX

7.22.19 IL.KPLOOKUPINDEX
General Information
Type R/W Parameter
Description Sets the index into the Current Loop Gain Scheduling Table.
Units N/A
Range 0 to 255
Default
0
Value
Data Type Integer
IL.KPLOOKUPVALUE (pg 504)IL.KPLOOKUPVALUES (pg 506)IL.KP (pg
See Also
501)
Start Version M_01-04-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2613 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1226 No 16 bit No

Description
This parameter sets the index into the Current Loop Gain Scheduling Table. The table is 256 records long,
spanning 0 A to 1.62 * DRV.IPEAK.
To determine the level of current that corresponds to a table index, use the following equation:
IL.CMD = (Table Index /157) * DRV.IPEAK

Kollmorgen | May 2014 503

 AKD BASIC Programming Manual | 7.22.20 IL.KPLOOKUPVALUE

7.22.20 IL.KPLOOKUPVALUE
General Information
R/W if motor memory not supported.
Type
R/O if motor memory supported.
Description Sets the value of the current loop gain scheduling index.
Units %
Range 0 to 100.000%
Default
0
Value
Data Type Float
IL.KPLOOKUPINDEX (pg 503), IL.KPLOOKUPVALUES (pg 506), IL.KP (pg
See Also
501)
Start Version M_01-04-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2614 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1228 No 32 bit No

Description
This parameter sets the value at the current index into the Current Loop Gain Scheduling Table. The table
is 256 records long, spanning 0 A to 1.62 * DRV.IPEAK. The value can range from 0% to 100% and
determines what percentage of IL.KP will be applied to the current loop.
If the feedback device supports motor memory (FB1.MEMVER >= 0.03 and MOTOR.AUTOSET = 1) this
parameter is read only. Each index value is automatically calculated and set. This calculation depends on
the value of MOTOR.LISAT (pg 564).
If the feedback device does not support motor memory, this parameter is read/write. Each index value
must be entered manually. Use the following equation to determine what level of current corresponds to a
table index:
IL.CMD = (Table Index/157) * DRV.IPEAK

504 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.20 IL.KPLOOKUPVALUE

Example
Assume:
DRV.IPEAK = 9 A
IL.KPLOOKUPINDEX = 100
IL.KPLOOKUPVALUE = 50
IL.KP = 240
When IL.CMD = 100/157 * 9 = 5.73 A, IL.KP will not be 240, but will be 50% * 240 = 120.

Kollmorgen | May 2014 505

 AKD BASIC Programming Manual | 7.22.21 IL.KPLOOKUPVALUES

7.22.21 IL.KPLOOKUPVALUES
General Information
Type R/W Parameter
Description Gets the Current Loop Gain Scheduling Table.
Units N/A
Range N/A
Default
N/A
Value
Data Type Table
IL.KPLOOKUPINDEX (pg 503), IL.KPLOOKUPVALUE (pg 504), IL.KP (pg
See Also
501)
Start Version M_01-04-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
Retrieves the Current Loop Gain Scheduling Table in a comma delimited table.
This table is 256 records long, and the table will return values in the following format:
-->IL.KPLOOKUPVALUES
Index Value
0, 100.000
1, 100.000
2, 100.000
3, 100.000
4, 100.000
5, 100.000
6, 100.000
7, 100.000
8, 100.000
9, 100.000
10, 100.000

506 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.22 IL.KVFF

7.22.22 IL.KVFF
General Information
Type R/W
Current loop velocity feed-forward
Description
gain.
Units N/A
Range 0 to 2
Default
0
Value
Data Type Float
See Also IL.FF (pg 491)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2229 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 458 No 32 bit Yes M_01-03-00-000

Description
This parameter sets the gain for the velocity loop feedforward. The nominal feedforward value can be mul-
tiplied by this gain value.
This parameter is only used in position mode (DRV.OPMODE (pg 370) = 2).

Kollmorgen | May 2014 507

 AKD BASIC Programming Manual | 7.22.23 IL.LIMITN

7.22.23 IL.LIMITN
General Information
Type NV Parameter
Sets the negative user (application-specific) current
Description
limit.
Units A
Range Negative drive peak current (DRV.IPEAK) to 0 A
Default
Negative drive peak current (DRV.IPEAK)
Value
Data Type Float
See Also IL.LIMITP (pg 509)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 356Fh/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2230 Yes
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 460 No 32 bit Yes M_01-03-00-000

Description
This parameter sets the negative user limit clamp value of the torqueproducing q-component current com-
mand (IL.CMD (pg 486)). The current command is additionally limited by the motor peak current setting
(MOTOR.IPEAK (pg 560)) and by the present value of the foldback I²t peak motor current protection.

508 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.24 IL.LIMITP

7.22.24 IL.LIMITP
General Information
Type NV Parameter
Sets the positive user (application-specific) current
Description
limit.
Units A
Range 0 A to drive peak current (DRV.IPEAK)
Default
Drive peak current (DRV.IPEAK)
Value
Data Type Float
See Also IL.LIMITN (pg 508)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 356Eh/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2231 Yes
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 462 No 32 bit Yes M_01-03-00-000

Description
This parameter sets the positive user limit clamp value of the torque-producing q-component current com-
mand (IL.CMD (pg 486)). The current command is additionally limited by the motor peak current setting
(MOTOR.IPEAK (pg 560)) and by the present value of the foldback I²t peak motor current protection.

Kollmorgen | May 2014 509

 AKD BASIC Programming Manual | 7.22.25 IL.MFOLDD

7.22.25 IL.MFOLDD
General Information
Type R/O Parameter
Sets the motor foldback maximum time at motor peak cur-
Description
rent.
Units s
Range 0.1 to 2400 s
Default
10 s
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2232 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 464 No 32 bit No M_01-03-00-000

Description
IL.MFOLDD sets the maximum time allowed for the motor to remain at peak current before starting to fold
towards the motor continuous current. When at motor peak current, IL.MFOLDD is the amount of time
before the foldback algorithm starts to reduce the current.

510 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.26 IL.MFOLDR

7.22.26 IL.MFOLDR
General Information
Type R/O Parameter
Description Sets the motor foldback recovery time.
Units s
Range 0.1 to 65,535 s
Default Calculated from other foldback para-
Value meters.
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2233 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 466 No 32 bit No M_01-03-00-000

Description
IL.MFOLDR sets the recovery time for the motor foldback algorithm. If 0 current is applied for at least the
recovery time duration, it is possible to apply motor peak current for the duration of IL.MFOLDD time.
The IL.MFOLDR value is automatically calculated from other foldback parameters.

Kollmorgen | May 2014 511

 AKD BASIC Programming Manual | 7.22.27 IL.MFOLDT

7.22.27 IL.MFOLDT
General Information
Type R/O Parameter
Sets the motor foldback time constant of the exponential current drop (fold-
Description
back).
Units s
Range 0.1 to 2,400 s
Default
10 s
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2234 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 468 No 32 bit No M_01-03-00-000

Description
IL.MFOLDT sets the time constant of the exponential drop (foldback) of the current towards motor con-
tinuous current.

512 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.28 IL.MI2T

7.22.28 IL.MI2T
General Information
Type R/O parameter
Description Motor I2t load.
Units %
Range 0 to 100%
Default
N/A
Value
Data Type Float
IL.MIMODE, IL.MI2TWTHRESH (pg
See Also
514)
Start Version M_01-04-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2592 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1184 No 16 bit No

Description
This parameter returns the motor I2t load in percent. The supplied current will be limited by IL.MIFOLD to
MOTOR.ICONT case that the load reaches a value of 100%. The current limit IL.MIFOLD will be restored
to MOTOR.IPEAK in case that the load falls under 95%.

Kollmorgen | May 2014 513

 AKD BASIC Programming Manual | 7.22.29 IL.MI2TWTHRESH

7.22.29 IL.MI2TWTHRESH
General Information
Type NV Parameter
Motor I2t load warning
Description
threshold.
Units %
Range 0 to 100%
Default
N/A
Value
Data Type Integer
See Also IL.MIMODE, IL.MI2T (pg 513)
Start Version M_01-04-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2834 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1668 No 8-bits No M_01-06-03-000

Description
This parameter defines a warning threshold for the IL.MI2T value. A warning n309 will be generated as
soon as the IL.MI2T exceeds the IL.MI2TWTHRESH value. The warning n309 will be cleared as soon as
IL.MI2T falls below the threshold.

514 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.30 IL.MIFOLD

7.22.30 IL.MIFOLD
General Information
Type R/O Parameter
Sets the motor foldback current
Description
limit.
Units A
Range 0 to 2147483.647 A
Default
N/A
Value
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 35A4h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2235 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 470 No 32 bit No M_01-03-00-000

Description
IL.MIFOLD sets the output of the motor foldback algorithm. It is an artificial current, which can be higher
or lower than the motor peak current. When IL.MIFOLD becomes lower than the existing current limit
(IL.LIMITP (pg 509)) it becomes the active current limit.
IL.MIFOLD decreases when the actual current is higher than motor continuous current and increases (up
to a certain level) when the actual current is lower than the motor continuous current.

Kollmorgen | May 2014 515

 AKD BASIC Programming Manual | 7.22.31 IL.MIMODE

7.22.31 IL.MIMODE
General Information
Type NV parameter
Description Motor protection mode.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
IL.MI2T (pg 513), IL.MI2TWTHRESH (pg
See Also
514)
Start Version M_01-04-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1670 No 8-bits No M_01-06-03-000

Description
This parameter determines the method of the motor protection.
0 – The motor foldback mechanism is responsible for protecting the motor from overload.
1 – The motor I2t mechanism is responsible for protecting the motor from overload.

516 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.32 IL.OFFSET

7.22.32 IL.OFFSET
General Information
Type RW Parameter
A constant current command added to compensate for grav-
Description
ity.
Units A
Range [IL.LIMITN (pg 508) to IL.LIMITP (pg 509)
Default
0A
Value
Data Type Float
See Also IL.FF
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3423h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2236 Yes
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 472 No 32 bit Yes M_01-03-00-000

Description
This value is added to the overall current loop feedforward value.

Kollmorgen | May 2014 517

 AKD BASIC Programming Manual | 7.22.33 IL.VCMD

7.22.33 IL.VCMD
General Information
Type R/O Parameter
Sets the output of the q-component PI reg-
Description
ulator.
Units Vrms
Range 0 Vrms to bus voltage
Default
N/A
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2237 Yes
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 474 No 16 bit Yes M_01-03-00-000

Description
Sets the output of the current loop that controls the q-component of the current.

518 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.22.34 IL.VUFB

7.22.34 IL.VUFB
General Information
Type R/O Parameter
Reads the measured voltage on the u-winding of the
Description
motor.
Units V
Range –1200*VBusScale to +1200*VBusScale
Default
N/A
Value
Data Type Integer
See Also IL.VVFB (pg 520)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2238 Yes
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 476 No 16 bit Yes M_01-03-00-000

Description
Reads the measured voltage on the u-winding of the motor.

Kollmorgen | May 2014 519

 AKD BASIC Programming Manual | 7.22.35 IL.VVFB

7.22.35 IL.VVFB
General Information
Type R/O Parameter
Reads the measured voltage on the v-winding of the
Description
motor.
Units V
Range –1200*VBusScale to +1200*VBusScale
Default
N/A
Value
Data Type Integer
See Also IL.VUFB (pg 519)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2239 Yes
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 478 No 16 bit Yes M_01-03-00-000

Description
The range for this parameter depends on whether the drive model is an MV/240 VAC or an HV/480 VAC.
The VBusScale parameter sets the drive model:
MV/240 VAC: VBusScale = 1
HV/480 VAC: VBusScale = 2
VBusScale is used for multiple parameter ranges that are model dependent, such as IL.KP.

520 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.23 IP Parameters

7.23 IP Parameters
This section describes the IP parameters.

7.23.1 IP.ADDRESS 522

7.23.2 IP.GATEWAY 524
7.23.3 IP.MODE 526
7.23.4 IP.RESET 528
7.23.5 IP.SUBNET 530

Kollmorgen | May 2014 521

 AKD BASIC Programming Manual | 7.23.1 IP.ADDRESS

7.23.1 IP.ADDRESS
General Information
Type NV Parameter
Description Gets/Sets the IP address of the drive.
Units N/A
Range 0.0.0.0 to 255.255.255.255
Default
0.0.0.0
Value
Data Type IP Address
See Also
Start Version M_01-04-05-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
This Parameter sets the IP address of the drive. If this parameter has not been set by the user, it will
return 0.0.0.0.
By default, DHCP is active, and the drive will acquire an IP Address on its own. When the drive is in
DHCP mode, IP.ADDRESS will return 0.0.0.0.
Notes:
l Even when the drive is in DHCP, the actual IP Address will not be returned using
this command. The value the user has stored will be returned.
l IP.ADDRESS will only be used by the drive when IP.MODE = 1

If manually setting the IP.ADDRESS, the IP.SUBNET and IP.GATEWAYmust be set up. After the
IP.RESET command is issued, the new IP settings will be active only if IP.MODE has been set to 1.

Recovering communications with a drive on an un-reachable IP address

Sometimes a drive may be configured for an IP Address, and the drive needs to be taken off-line, and
bench tested, or otherwise used outside of its saved IP Settings. If IP.MODE has been set to 1 (using soft-
ware defined static IP) the drive will boot up on an IP Address that may be unreachable with the host com-
puter’s settings.
If the IP address prevents communication the IP settings can be reset to default by the following pro-
cedure:

522 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.23.1 IP.ADDRESS

l Set both rotary switches to 0

l Hold down button B1 (top-side of drive) for 5 seconds.

The display will flash 0.0.0.0 and then attempt to discover an address by DHCP. Without removing logic
power from the drive, use Workbench to connect to the drive, reconfigure the IP address settings as
desired, and store the values to non-volatile memory.

Related Topics
IP.GATEWAY | IP.RESET | IP.SUBNET | IP.MODE

Kollmorgen | May 2014 523

 AKD BASIC Programming Manual | 7.23.2 IP.GATEWAY

7.23.2 IP.GATEWAY
General Information
Type NV Parameter
Description Gets/Sets the gateway IP of the drive.
Units N/A
Range 0.0.0.0 to 255.255.255.255
Default
0.0.0.0
Value
Data Type IP Address
See Also Communicating with the Drive
Start Version M_01-04-05-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
This Parameter sets the Gateway IP of the drive. This parameter determines what IP the drive can com-
municate with outside of its current subnet.
By default, DHCP is active, and the drive will acquire an IP Address on its own. When the drive is in
DHCP mode, IP.GATEWAY will return 0.0.0.0.
Notes:
l When the drive is in DHCP, the actual IP GATEWAY will not be returned using this
command. The value the user has stored will be returned.
l IP.GATEWAY will only be used by the drive when IP.MODE = 1

If manually setting the IP.ADDRESS (pg 522), the IP.SUBNET (pg 530) and IP.GATEWAY must be set
up. After the IP.RESET (pg 528) command is issued, the new IP settings will be active only if IP.MODE
(pg 526) has been set to 1.

Recovering communications with a drive on an un-reachable IP address

Sometimes a drive may be configured for an IP Address, and the drive needs to be taken off-line, and
bench tested, or otherwise used outside of its saved IP Settings. If IP.MODE has been set to 1 (using soft-
ware defined static IP) the drive will boot up on an IP Address that may be unreachable with the host com-
puter’s settings.
If the IP address prevents communication the IP settings can be reset to default by the following pro-
cedure:

524 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.23.2 IP.GATEWAY

l Set both rotary switches to 0

l Hold down button B1 (top-side of drive) for 5 seconds.

The display will flash 0.0.0.0 and then attempt to discover an address by DHCP. Without removing logic
power from the drive, use Workbench to connect to the drive, reconfigure the IP address settings as
desired, and store the values to non-volatile memory.

Related Topics
IP.ADDRESS (pg 522) | IP.RESET (pg 528) | IP.SUBNET (pg 530) | IP.MODE (pg 526)

Kollmorgen | May 2014 525

 AKD BASIC Programming Manual | 7.23.3 IP.MODE

7.23.3 IP.MODE
General Information
Type NV Parameter
Description Sets method of acquiring IP Address.
Units N/A
Range 0 to 2
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-04-013-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2606 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1212 No 16 bit No

Description
This command determines which method of acquiring an IP Address the drive will take.

Mode 0 and Mode 1 contain multiple methods of acquiring an IP Address. In these

modes each method will be implemented in the order they are listed below until an IP
Address is acquired
The drive will attempt to acquire a new IP Address as soon as the IP.RESET (pg 528) command is
issued.
IP Mode Mode of Acquiring IP Address
0 Rotary Switches, DHCP, Auto IP
1 IP.ADDRESS, IP.SUBNET, IP.GATEWAY
2 DHCP, Auto IP

526 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.23.3 IP.MODE

Recovering communications with a drive on an un-reachable IP address

Sometimes a drive may be configured for an IP Address, and the drive needs to be taken off-line, and
bench tested, or otherwise used outside of its saved IP Settings. If IP.MODE has been set to 1 (using soft-
ware defined static IP), the drive will boot up on an IP Address that may be unreachable with the host com-
puter’s settings.
If the IP address prevents communication the IP settings can be reset to default by the following pro-
cedure:
l Set both rotary switches to 0
l Hold down button B1 (top-side of drive) for 5 seconds.

The display will flash 0.0.0.0 and then attempt to discover an address by DHCP. Without removing logic
power from the drive, use Workbench to connect to the drive, reconfigure the IP address settings as
desired, and store the values to non-volatile memory.

Related Topics
IP.ADDRESS (pg 522)
IP.GATEWAY (pg 524)
IP.RESET (pg 528)
IP.SUBNET (pg 530)

Kollmorgen | May 2014 527

 AKD BASIC Programming Manual | 7.23.4 IP.RESET

7.23.4 IP.RESET
General Information
Type Command
Description Implements new IP settings.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Communicating with the
See Also
Drive
Start Version M_01-04-05-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet
2836 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1672 No Command No M_01-06-03-000

Description
When this command is issued a new IP will be acquired using IP.MODE (pg 526) to select what method is
used.
Notes:
l When issuing this command, it is likely the connection to the drive will be severed, and a new con-
nection will need to be made.
l IP.RESET will return an error if issued while the drive is enabled. IP.RESET is allowed when drive
is disabled, or in dynamic braking mode.
l Ensure all values of IP.ADDRESS (pg 522), IP.SUBNET (pg 530), and IP.GATEWAY (pg 524) are
configured if using IP.MODE 1

Recovering communications with a drive on an un-reachable IP address

528 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.23.4 IP.RESET

Sometimes a drive may be configured for an IP Address, and the drive needs to be taken off-line, and
bench tested, or otherwise used outside of its saved IP Settings. If IP.MODE has been set to 1 (using soft-
ware defined static IP), the drive will boot up on an IP Address that may be unreachable with the host com-
puter’s settings.
If the IP address prevents communication the IP settings can be reset to default by the following pro-
cedure:
l Set both rotary switches to 0
l Hold down button B1 (top-side of drive) for 5 seconds.

The display will flash 0.0.0.0 and then attempt to discover an address by DHCP. Without removing logic
power from the drive, use Workbench to connect to the drive, reconfigure the IP address settings as
desired, and store the values to non-volatile memory.

Related Topics
IP.ADDRESS (pg 522) | IP.GATEWAY (pg 524) | IP.SUBNET (pg 530) | IP.MODE

Kollmorgen | May 2014 529

 AKD BASIC Programming Manual | 7.23.5 IP.SUBNET

7.23.5 IP.SUBNET
General Information
Type NV Parameter
Description Gets/Sets the IP Subnet mask of the drive.
Units N/A
Range 0.0.0.0 to 255.255.255.255
Default
0.0.0.0
Value
Data Type IP Address
See Also
Start Ver-
M_01-04-05-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
This Parameter sets the IP Subnet mask of the drive. This parameter determines what IP addresses the
drive will be allowed to communicate with.
By default, DHCP is active, and the drive will acquire an IP Address on its own. When the drive is in
DHCP mode, IP.SUBNET will return 0.0.0.0.
Notes:
l When the drive is in DHCP, the actual IP Subnet mask will not be returned using this
command. The value the user has stored will be returned.
l IP.SUBNET will only be used by the drive when IP.MODE = 1

If manually setting the IP.ADDRESS, the IP.SUBNET and IP.GATEWAYmust be set up. After the
IP.RESET command is issued, the new IP settings will be active only if IP.MODE has been set to 1.
Recovering communications with a drive on an un-reachable IP address
Sometimes a drive may be configured for an IP Address, and the drive needs to be taken off-line, and
bench tested, or otherwise used outside of its saved IP Settings. If IP.MODE has been set to 1 (using soft-
ware defined static IP) the drive will boot up on an IP Address that may be unreachable with the host com-
puter’s settings.
If the IP address prevents communication the IP settings can be reset to default by the following pro-
cedure:

530 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.23.5 IP.SUBNET

l Set both rotary switches to 0

l Hold down button B1 (top-side of drive) for 5 seconds.

The display will flash 0.0.0.0 and then attempt to discover an address by DHCP. Without removing logic
power from the drive, use Workbench to connect to the drive, reconfigure the IP address settings as
desired, and store the values to non-volatile memory.

Related Topics
IP.ADDRESS | IP.GATEWAY | IP.RESET | 7.23.3 IP.MODE

Kollmorgen | May 2014 531

 AKD BASIC Programming Manual | 7.24 INTR Parameters

7.24 INTR Parameters

This section describes the INTR parameters.

7.24.1 Interrupt {Source} 533

7.24.2 Interrupt...End Interrupt 535

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AKD BASIC Programming Manual | 7.24.1 Interrupt {Source}

7.24.1 Interrupt {Source}

General Information
Type R/W
Description Interrupt sources enable or disable Interrupt...End Interrupt (pg 535) statements.
Units none
Range 0 (disabled) or 1 (enabled)
Default
0 (disabled)
Value
Data Type Integer

Description
Interrupt sources enable or disable Interrupt ... End Interrupt statements. If you enable a given interrupt
then there must be an Interrupt ... End Interrupt definition for that interrupt source in your program.
The table below lists the source names and a brief description for all the interrupt sources available on the
AKD BASIC.
Interrupt Source Interrupt Occurs
INTR.DIN1HI when DIN1.STATE goes from 0 to 1
INTR.DIN1LO when DIN1.STATE goes from 1 to 0
INTR.DIN2HI when DIN2.STATE goes from 0 to 1
INTR.DIN2LO when DIN2.STATE goes from 1 to 0
INTR.DIN3HI when DIN3.STATE goes from 0 to 1
INTR.DIN3LO when DIN3.STATE goes from 1 to 0
INTR.DIN4HI when DIN4.STATE goes from 0 to 1
INTR.DIN4LO when DIN4.STATE goes from 1 to 0
INTR.DIN5HI when DIN5.STATE goes from 0 to 1
INTR.DIN5LO when DIN5.STATE goes from 1 to 0
INTR.DIN6HI when DIN6.STATE goes from 0 to 1
INTR.DIN6LO when DIN6.STATE goes from 1 to 0
INTR.DIN7HI when DIN7.STATE goes from 0 to 1
INTR.DIN7LO when DIN7.STATE goes from 1 to 0
INTR.DIN21HI when DIN21.STATE goes from 0 to 1
INTR.DIN21LO when DIN21.STATE goes from 1 to 0
INTR.DIN22HI when DIN22.STATE goes from 0 to 1
INTR.DIN22LO when DIN22.STATE goes from 1 to 0
INTR.DIN23HI when DIN23.STATE goes from 0 to 1
INTR.DIN23LO when DIN23.STATE goes from 1 to 0
INTR.DIN24HI when DIN24.STATE goes from 0 to 1
INTR.DIN24LO when DIN24.STATE goes from 1 to 0
INTR.DIN25HI when DIN25.STATE goes from 0 to 1
INTR.DIN25LO when DIN25.STATE goes from 1 to 0
INTR.DIN26HI when DIN26.STATE goes from 0 to 1
INTR.DIN26LO when DIN26.STATE goes from 1 to 0
INTR.DIN27HI when DIN27.STATE goes from 0 to 1
INTR.DIN27LO when DIN27.STATE goes from 1 to 0
INTR.DIN28HI when DIN28.STATE goes from 0 to 1

Kollmorgen | May 2014 533

 AKD BASIC Programming Manual | 7.24.1 Interrupt {Source}

Interrupt Source Interrupt Occurs

INTR.DIN28LO when DIN28.STATE goes from 1 to 0
INTR.DIN29HI when DIN29.STATE goes from 0 to 1
INTR.DIN29LO when DIN29.STATE goes from 1 to 0
INTR.DIN30HI when DIN30.STATE goes from 0 to 1
INTR.DIN30LO when DIN30.STATE goes from 1 to 0
INTR.DIN31HI when DIN31.STATE goes from 0 to 1
INTR.DIN31LO when DIN31.STATE goes from 1 to 0
INTR.DISABLE when the drive gets disabled
INTR.DRV.FAULTS when the drive faults
INTR.DRV.HWENABLE when DRV.HWENABLE goes from 0 to 1
INTR.DRV.WARNINGS when the drive produces a warning
INTR.HWLS.NEGSTATE when HWLS.NEGSTATE goes from 0 to 1
INTR.HWLS.POSSTATE when HWLS.POSSTATE goes from 0 to 1
INTR.MODBUS when a Modbus User Parameter changes.
INTR.MSG when a character is received.
INTR.PL.ERR when PL.ERR = PL.ERRFTHRESH
INTR.PLS.P1 to when PLS.P1 to PLS.P8 is enabled and goes high, respect-
INTR.PLS.P8 ively.
when PL.FB > SWLS.LIMIT0 (if SWLS.LIMIT0 is the upper
INTR.SWLS.LIMIT0
limit)
when PL.FB < SWLS.LIMIT1 (if SWLS.LIMIT1 is the lower
INTR.SWLS.LIMIT1
limit)
after a number of milliseconds specified by VM.INTRTIMER
INTR.TIMER (VM.INTRTIMER must be set before setting INTR.TIMER =
1).

Example
Main
DRV.TIME = 0
INTR.DIN1LO = 1
while 1
pause(0.5)
DOUT1.STATE=0 : Pause(0.005) : DOUT1.STATE=1
wend
end main
'-------------- Interrupt Routines -------------------
Interrupt DIN1LO
print "I'm awake"
If DRV.TIME > 10 then
print "OK. That's it."
else
INTR.DIN1LO = 1
end if
End Interrupt

Related Topics
Interrupt...End Interrupt (pg 535)

534 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.24.2 Interrupt...End Interrupt

7.24.2 Interrupt...End Interrupt

General Information
Type Statement
The interrupt feature permits execution of a user-defined subroutine upon receipt of a hard-
Description
ware interrupt signal or a pre-defined interrupt event.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
The Interrupt statment marks the beginning of an Interrupt Service Routine. The Interrupt Service Routine
is defined by a program structure resembling a subroutine. The interrupt feature permits execution of a
user-defined subroutine upon receipt of a hardware interrupt signal or a pre-defined interrupt event.
Interrupts are triggered by pre-defined events or external hardware sources. The interrupt-source-name
and interrupt enable flag are unique for each interrupt source.
Receiving an interrupt will suspend program execution and the interrupt service routine will be executed.
Then program execution will resume at the point that it was interrupted.
Interrupts are enabled (or disabled) by setting (or clearing) the associated interrupt enable flag. Interrupts
are disabled until explicitly enabled. After an interrupt is triggered it is automatically disabled until it is
enabled again in your program.

Example
Main
DRV.TIME = 0
INTR.DIN1LO = 1
while 1
pause(0.5)
DOUT1.STATE=0 : Pause(0.005) : DOUT1.STATE=1
wend
end main
'-------------- Interrupt Routines -------------------
Interrupt DIN1LO
print "I'm awake"
If DRV.TIME > 10 then
print "OK. That's it."
else
INTR.DIN1LO = 1
end if
End Interrupt

Related Topics
Interrupt {Source} (pg 533) | Sub...End Sub (pg 138) | Restart (pg 134)

Kollmorgen | May 2014 535

 AKD BASIC Programming Manual | 7.25 LOAD-Parameter

7.25 LOAD-Parameter
This section describes the LOAD parameters.

7.25.1 LOAD.INERTIA 537

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AKD BASIC Programming Manual | 7.25.1 LOAD.INERTIA

7.25.1 LOAD.INERTIA
General Information
Type NV Parameter
Description Sets the load inertia.
kgcm² for rotary motors
Units
kg for linear motors
1 to 1,000,000 kgcm² or
Range
kg
Default
0 kgcm² or kg
Value
Data Type Float
See Also N/A
Start Version M_01-03-06-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2607 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1214 No 32 bit No

Description
LOAD.INERTIA sets the load inertia.

Kollmorgen | May 2014 537

 AKD BASIC Programming Manual | 7.26 MODBUS Paramters

7.26 MODBUS Paramters

This section describes the MODBUS parameters.

7.26.1 MODBUS.PIN 539

7.26.2 MODBUS.POUT 541
7.26.3 MODBUS.PSCALE 543
7.26.4 MODBUS.SCALING 545

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AKD BASIC Programming Manual | 7.26.1 MODBUS.PIN

7.26.1 MODBUS.PIN
General Information
Type R/W
Gets / Sets the Modbus User Units Input para-
Description
meter.
Units N/A
Range 1 to 4294967295
Default
1
Value
Data Type Integer
Start Version M_01-04-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet No
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2487 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 974 No 32 bit No

Description
MODBUS.PIN and MODBUS.POUT (pg 541) are used to apply user specified units to the feedback val-
ues retrieved over Modbus.
To use this parameter correctly, first the MODBUS.PSCALE (pg 543) must be known, this value determ-
ines the resolution per revolution of the motor for Modbus. Then the ratio of MODBUS.POUT (pg 541)
/MODBUS.PIN is applied to convert counts/rev into User Units/rev.

Example
Use Modbus Scaling to return feedback in Radians
MODBUS.PSCALE = 16 (65536 counts/rev or pole pitch)
MODBUS.PIN = 5215189
MODBUS.POUT = 500000

Kollmorgen | May 2014 539

 AKD BASIC Programming Manual | 7.26.1 MODBUS.PIN

If the motor is currently resting with a Modbus raw position 36,462 Counts (MODBUS.PSCALE (pg 543)
is set to return 65,536 per rev) andthe user requests the position using PL.FB over Modbus, the position
will be returned as:
36,462 * 500000 / 5215189 = 3495 (Radians * 1000)
Which equals 3.495 Radians

Related Topics
MODBUS.PSCALE (pg 543)
MODBUS.POUT (pg 541)

540 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.26.2 MODBUS.POUT

7.26.2 MODBUS.POUT
General Information
Type R/W
Gets / Sets the Modbus User Units Output para-
Description
meter.
Units N/A
Range 1 to 4294967295
Default
1
Value
Data Type Integer
Start Version M_01-04-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet No
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2488 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 976 No 32 bit No

Description
MODBUS.PIN (pg 539) and MODBUS.POUT are used to apply User specified Units to the feedback val-
ues retrieved over Modbus.
To use this parameter correctly, first the MODBUS.PSCALE (pg 543) must be known. This value determ-
ines the resolution per revolution of the motor for Modbus. Then the ratio of
MODBUS.POUT/MODBUS.PIN (pg 539) is applied to convert counts/rev into User Units/rev.
Example: Use Modbus Scaling to return feedback in Radians
MODBUS.PSCALE = 16 (65536 counts/rev or pole pitch)
MODBUS.PIN = 5215189
MODBUS.POUT = 500000
If the motor is currently resting with a Modbus raw position 36,462 Counts (MODBUS.PSCALE (pg 543)
is set to return 65,536 per rev) andthe user requests the position using PL.FB over Modbus, the position
will be returned as:

Kollmorgen | May 2014 541

 AKD BASIC Programming Manual | 7.26.2 MODBUS.POUT

36,462 * 500000 / 5215189 = 3495 (Radians * 1000)

Which equals 3.495 Radians

Related Topics
MODBUS.PSCALE (pg 543)
MODBUS.PIN (pg 539)

542 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.26.3 MODBUS.PSCALE

7.26.3 MODBUS.PSCALE
General Information
Type R/W
Gets/Sets the Feedback Resolution (per rev) over Mod-
Description
bus.
Units
Range 10 to 31
Default
20
Value
Data Type Integer
See Also N/A
Start Version M_01-04-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet No
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2489 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 978 No 16 bit No

Description
This parameter determines the number of encoder counts per mechanical revolution reported over Mod-
bus.
Modbus Resolution = 2^(MODBUS.PSCALE).
Notes:
l This scaling affects Position, Velocity and Acceleration when reading
values over Modbus. This scaling term does not affect units over any
other communication.

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 AKD BASIC Programming Manual | 7.26.3 MODBUS.PSCALE

l Additionally, see MODBUS.PIN (pg 539) and MODBUS.POUT (pg

541), as these are applied on top of MODBUS.PSCALE to allow for
user customizable units.

Related Topics
MODBUS.POUT (pg 541)
MODBUS.PIN (pg 539)

544 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.26.4 MODBUS.SCALING

7.26.4 MODBUS.SCALING
General Information
Type NV Parameter
Selects the scaling mode for Modbus val-
Description
ues.
Units N/A
Range 0 to 1
Default
1
Value
Data Type U8
Start Version M_01-04-15-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet No
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2524 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1048 No 8 bit No

Description
Modbus has its own scaling algorithms. For some simple HMI's, it is desirable to use Workbench units
instead of these Modbus-specific units. The parameter MODBUS.SCALING allows users to disable Mod-
bus scaling and enable WB (Telnet) scaling.
Setting Description
0 Modbus uses same scaling units as Workbench (set by UNIT parameters)
1 Modbus uses the Modbus-specific scaling units (set by MODBUS parameters)

Related Topics
UNIT Parameters (pg 711)

Kollmorgen | May 2014 545

 AKD BASIC Programming Manual | 7.27 MOTOR Parameters

7.27 MOTOR Parameters

This section describes the MOTOR parameters.

7.27.1 MOTOR.AUTOSET 548

7.27.2 MOTOR.BRAKE 550
7.27.3 MOTOR.BRAKEIMM 552
7.27.4 MOTOR.BRAKERLS 553
7.27.5 MOTOR.BRAKESTATE 554
7.27.6 MOTOR.CTF0 555
7.27.7 MOTOR.ICONT 556
7.27.8 MOTOR.IDDATAVALID 557
7.27.9 MOTOR.IDMAX 558
7.27.10 MOTOR.INERTIA 559
7.27.11 MOTOR.IPEAK 560
7.27.12 MOTOR.KE 561
7.27.13 MOTOR.KT 562
7.27.14 MOTOR.LDLL 563
7.27.15 MOTOR.LISAT 564
7.27.16 MOTOR.LQLL 565
7.27.17 MOTOR.NAME 566
7.27.18 MOTOR.PHASE 567
7.27.19 MOTOR.PHSADVK1 568
7.27.20 MOTOR.PHSADVK2 569
7.27.21 MOTOR.PITCH 570
7.27.22 MOTOR.POLES 571
7.27.23 MOTOR.R 572
7.27.24 MOTOR.SUPPORTEDPARAMS 573
7.27.25 MOTOR.TBRAKEAPP 574
7.27.26 MOTOR.TBRAKERLS 575
7.27.27 MOTOR.TBRAKETO 576
7.27.28 MOTOR.TEMP 577
7.27.29 MOTOR.TEMPC 578
7.27.30 MOTOR.TEMPFAULT 579
7.27.31 MOTOR.TEMPWARN 580
7.27.32 MOTOR.TYPE 581
7.27.33 MOTOR.VMAX 583
7.27.34 MOTOR.VOLTMAX 584
7.27.35 MOTOR.VOLTMIN 585

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AKD BASIC Programming Manual | 7.27 MOTOR Parameters

7.27.36 MOTOR.VOLTRATED 586

7.27.37 MOTOR.VRATED 587

Kollmorgen | May 2014 547

 AKD BASIC Programming Manual | 7.27.1 MOTOR.AUTOSET

7.27.1 MOTOR.AUTOSET
General Information
Type NV Parameter
Determines which drive parameters are calculated auto-
Description
matically.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Boolean
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3451h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Byte
2240 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 480 No 8 bit No M_01-03-00-000

Description
This parameter determines whether or not certain drive parameters (see lists below) are calculated auto-
matically. When MOTOR.AUTOSET = 1 these parameters are automatically calculated from the motor
ID data (read from memory-supporting feedback devices). Parameters loaded from motor memory are
then read-only and cannot be modified as long as MOTOR.AUTOSET = 1. If MOTOR.AUTOSET = 0,
parameters are not loaded from motor memory and must be configured by the user. Parameters which are
not loaded from motor memory are always read-write.

548 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.1 MOTOR.AUTOSET

Three conditions determine which parameters are calculated automatically by MOTOR.AUTOSET = 1.

See the lists below to determine which parameters will automatically be configured from the motor ID
data.
The following parameters may be configured automatically when MOTOR.AUTOSET = 1:
l MOTOR.BRAKE (pg 550)
l MOTOR.CTF0 (pg 555)
l MOTOR.ICONT (pg 556)
l MOTOR.INERTIA (pg 559)
l MOTOR.IPEAK (pg 560)
l MOTOR.KE (pg 561)
l MOTOR.KT (pg 562)
l MOTOR.LQLL (pg 565)
l MOTOR.NAME (pg 566)
l MOTOR.POLES (pg 571)
l MOTOR.R (pg 572)

If the motor's FB1.MEMVER > 0.01, AKD will also configure:

l MOTOR.PHASE (pg 567)
l MOTOR.TBRAKEAPP (pg 574)
l MOTOR.PHASE (pg 567)
l MOTOR.VRATED (pg 587)
l MOTOR.VOLTRATED (pg 586)

For firmware versions 01-09-00-000 and later, AKD will also configure:
l MOTOR.RTYPE
l MOTOR.TEMPFAULT (pg 579)

Kollmorgen | May 2014 549

 AKD BASIC Programming Manual | 7.27.2 MOTOR.BRAKE

7.27.2 MOTOR.BRAKE
General Information
Type NV Parameter
Sets the presence or absence of a motor
Description
brake.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Boolean
See Also N/A
Start Version M_01-00-00-000

AKD BASIC Information

Data Type Integer

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3587h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Byte
® 2241 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 482 No 8 bit No M_01-03-00-000

Description
The MOTOR.BRAKE parameter notifies the firmware whether a brake exists or not. It does not apply or
release the brake. If a brake is found to be present, the firmware considers hardware indications regarding
the brake circuits (such as open circuit or short circuit). If a brake does not exist, then the firmware ignores
the hardware indications since they are irrelevant.

550 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.2 MOTOR.BRAKE

Value Status
0 Motor brake does not exist.
Motor brake exists and brake hardware circuitry checks are
1
enabled.

Enabling the MOTOR.BRAKE (value set to 1) when no motor brake exists creates a fault.
The motor brake is polled every 16 ms.

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET=1.

Kollmorgen | May 2014 551

 AKD BASIC Programming Manual | 7.27.3 MOTOR.BRAKEIMM

7.27.3 MOTOR.BRAKEIMM
General Information
Type NV Parameter
Brake Immediately: in the case of a drive disable, apply the brake in all situ-
Description
ations.
Units N/A
Range 0 to 1
Default
0 (Inactive)
Value
Data Type Boolean
See Also N/A
Start Version M_01-05-11-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2616 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1232 No 8 bit No

Description
With the standard configuration, when the drive disables, the brake will not apply until velocity falls below
CS.VTHRESH for CS.TO milliseconds. However, in some machines (such as a vertical axis) the brake
should be applied immediately whenever the drive disables.
To ensure that the brake is applied immediately after any disable (due to fault, disable command, etc), set
MOTOR.BRAKEIMM = 1.

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AKD BASIC Programming Manual | 7.27.4 MOTOR.BRAKERLS

7.27.4 MOTOR.BRAKERLS
General Information
Type Command
Allows a user to release or apply the motor
Description
brake.
Units N/A
Range 0 to 2
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 484 No 8 bit No M_01-03-00-000

Description
This command allows a user to release or apply the motor brake.
0 = Drive controls the brake.
1 = Brake is released.
2 = Brake is applied.

A digital input mode is also used for the same purpose. The two mechanisms are inde-
pendent.

The CANopen-object 0x345A sub 1/2 can be used to control the brake state. See
CANopen manual on kollmorgen.com. (Functionality starts with firmware 1.7.4.0)

Kollmorgen | May 2014 553

 AKD BASIC Programming Manual | 7.27.5 MOTOR.BRAKESTATE

7.27.5 MOTOR.BRAKESTATE
General Information
Type R/O Parameter
Reads the actual status of the motor
Description
brake.
Units N/A
Brake released or not present.
Range
Brake applied.
Default
Brake applied or not present.
Value
Data Type String
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
This parameter reads the actual status of the motor brake and can only show two states:
1 = Brake released or not present
2 = Brake applied

554 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.6 MOTOR.CTF0

7.27.6 MOTOR.CTF0
General Information
Type NV Parameter
Sets the thermal constant of the motor
Description
coil.
Units mHz
Range 0.265 to 16,000 mHz
Default
10 mHz
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 486 No 32 bit No M_01-03-00-000

Description
This parameter is used to configure the thermal constant of the motor coil, which is the break frequency of
a single-pole low-pass filter model of the thermal dynamics of the motor coil.
This parameter, together with MOTOR.IPEAK (pg 560) and MOTOR.ICONT (pg 556), determine the
motor foldback parameters IL.MFOLDD (pg 510),IL.MFOLDT (pg 512), and IL.MFOLDR (pg 511).
Calculating MOTOR.CTF0
Given a motor coil/winding thermal time constant T in seconds, then:
MOTOR.CTF0 = 1/(2πT)

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET=1.

Kollmorgen | May 2014 555

 AKD BASIC Programming Manual | 7.27.7 MOTOR.ICONT

7.27.7 MOTOR.ICONT
General Information
Type NV Parameter
Sets the motor continuous cur-
Description
rent.
Units A
Range 0.1 to 500 A
Default
1.0 A
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

AKD BASIC Information

Type R/W

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 358Eh/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2244 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 488 No 32 bit No M_01-03-00-000

Description
This parameter is used to configure the motor continuous current.

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET=1.

556 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.8 MOTOR.IDDATAVALID

7.27.8 MOTOR.IDDATAVALID
General Information
Type R/O Parameter
Reports the status of the motor
Description
memory.
Units N/A
Range N/A
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-02-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2245 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 490 No 8 bit No M_01-03-00-000

Description
MOTOR.IDDATAVALID reports the status of the motor memory status.
The valid values for this keyword are the following:
Value Description
0 Error in identification
1 Success in identification
2 Identification in process
3 Identification not started yet
4 Success recognizing feedback, but failed to varify OEM data integrity

Kollmorgen | May 2014 557

 AKD BASIC Programming Manual | 7.27.9 MOTOR.IDMAX

7.27.9 MOTOR.IDMAX
General Information
Type NV Parameter
Maximum direct axis cur-
Description
rent.
Units Arms
Range 0.2 to 1000
Default
0.5 * MOTOR.IPEAK
Value
Data Type Float
Start Version M_01-11-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
This parameter is supported for IPM motors (MOTOR.TYPE = 6). MOTOR.IDMAX is the maximum motor
winding current in the direct (non-torque producing) axis.

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET = 1.

558 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.10 MOTOR.INERTIA

7.27.10 MOTOR.INERTIA
General Information
Type NV Parameter
Description Sets the motor inertia.
kgcm² for rotary motors
Units
kg for linear motors
1 to 200,000 kgcm² or
Range
kg
Default
100 kgcm² or kg
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 35ABh/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2246 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 492 No 32 bit No M_01-03-00-000

Description
This parameter sets the motor inertia.

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET=1.

Kollmorgen | May 2014 559

 AKD BASIC Programming Manual | 7.27.11 MOTOR.IPEAK

7.27.11 MOTOR.IPEAK
General Information
Type NV Parameter
Description Sets the motor peak current.
Units mA
Range 0.200 to 1,000 A
Default
2.000 A
Value
Data Type Float
IL.LIMITP (pg 509), IL.LIMITN (pg
See Also
508)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 358Fh/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2247 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 494 No 32 bit No M_01-03-00-000

Description
This parameter configures the drive for the motor's peak, instantaneous-rated current. MOTOR.IPEAK is
used to limit clamp the magnitude of the torque producing q-component current command (IL.CMD (pg
486)).

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET=1.

560 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.12 MOTOR.KE

7.27.12 MOTOR.KE
General Information
Type NV Parameter
Sets the motor back EMF con-
Description
stant.
Vpeak/krpm for Rotary Motors
Units
Vpeak/m/s for Linear Motors
Range 0.0 to 100,000
Default
0
Value
Data Type Float
See Also N/A
Start Version M_01-03-06-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed?
Modbus 1216 No 32 bit No

Description
MOTOR.KE defines the back EMF constant for the motor. The back EMF constant defines how much
voltage is generated at the motors coils. The relationship between MOTOR.KE and speed is described by
the following equation:
Coil Voltage = MOTOR.KE * VL.FB
VL.FB is in units of krpm for rotary motors and in units of m/s for linear motors.
The maximum speed for interior permanent magnet motors (IPM) is determined by MOTOR.KE and
VBUS.VALUE. An overspeed fault is generated if MOTOR.TYPE is set to 6 (IPM) and VL.FB *
MOTOR.KE exceeds VBUS.VALUE.

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET=1.

Kollmorgen | May 2014 561

 AKD BASIC Programming Manual | 7.27.13 MOTOR.KT

7.27.13 MOTOR.KT
General Information
Type NV Parameter
Description Sets the torque constant of the motor.
Units Nm/A
0.001 Nm/A to 1,000,000.000 Nm/A for rotary
Range motors.
0.001 Nm/A to 1,000,000.000 N/A for linear motors.
Default
0.1 Nm/A
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 496 No 32 bit No M_01-03-00-000

Description
This parameter is the torque constant of the motor in Nm/A.The value can be online checked according to
the following equation:
Kt = 60 *√3 * Ui/( 2 * π* n)
Where:
Ui = induced voltage of the motor
n = actual rotor velocity

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET=1.

562 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.14 MOTOR.LDLL

7.27.14 MOTOR.LDLL
General Information
Type NV Parameter
Motor line to line direct axis induct-
Description
ance.
Units mH
Range 1 to 2^31
Default
17.000
Value
Data Type Float
Start Version M_01-11-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Descriptio
This parameter is the motor line to line direct axis inductance. It is supported for the IPM motor type
(MOTOR.TYPE = 6).

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET = 1.

Kollmorgen | May 2014 563

 AKD BASIC Programming Manual | 7.27.15 MOTOR.LISAT

7.27.15 MOTOR.LISAT
General Information
Type NV Parameter
Motor quadrature axis inductance saturation char-
Description
acteristic.
Units Arms
Range 0.2A to 2*DRV.IPEAK
Default
1000
Value
Data Type Float
Start Version M_01-11-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Descriptio
This parameter is the quadrature axis inductance (Lqll) saturation characteristic as a function of quad-
rature current (Iq). It is used for q-axis current loop gain scheduling to maintain bandwidth and stability dur-
ing q-axis inductance saturation. This value can also be used for q-axis flux estimation during field
weakening, especially for IPM motors (MOTOR.TYPE = 6).

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET = 1.

564 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.16 MOTOR.LQLL

7.27.16 MOTOR.LQLL
General Information
Type NV Parameter
Sets the line-to-line motor
Description
Lq.
Units mH
Range 1 to 232 H
Default
17.000 H
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3455h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2249 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 498 No 32 bit No M_01-03-00-000

Description
This parameter is used to configure the motor line-to-line inductance.

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET=1.

Kollmorgen | May 2014 565

 AKD BASIC Programming Manual | 7.27.17 MOTOR.NAME

7.27.17 MOTOR.NAME
General Information
Type NV Parameter
Sets the motor
Description
name.
Units N/A
Range 11 chars
Default
N/A
Value
Data Type String
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
This parameter is used to set the motor name.

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET=1.

566 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.18 MOTOR.PHASE

7.27.18 MOTOR.PHASE
General Information
Type NV Parameter
Sets the motor
Description
phase.
Units Electrical degrees
Range 0 to 360°
Default
0°
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 359Ch/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
2250 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 500 No 16 bit No M_01-03-00-000

Description
This parameter sets the motor phase.

If MOTOR.AUTOSET = 1 and FB1.MEMVER > 0.01, this parameter will be auto-

matically configured for Kollmorgen motors.

Kollmorgen | May 2014 567

 AKD BASIC Programming Manual | 7.27.19 MOTOR.PHSADVK1

7.27.19 MOTOR.PHSADVK1
General Information
Type NV Parameter
First order phase advance polynomial coef-
Description
ficient.
Units N/A
Range -1.0 to 1.0
Default
0
Value
Data Type Float
Start Version M_01-11-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
This parameter is supported for IPM motors (MOTOR.TYPE = 6). MOTOR.PHSADVK1 is the first order
polynomial coefficient used to determine the direct axis current command for commutation phase
advance, according to the equation:
IdCmd(Ip) = PHSADVK2 * Ip^2 + PHSADVK1 * Ip
where Ip is the magnitude of the motor phase current:
Ip = sqrt(Id^2 + Iq^2)

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET=1.

568 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.20 MOTOR.PHSADVK2

7.27.20 MOTOR.PHSADVK2
General Information
Type NV Parameter
Second order phase advance polynomial coef-
Description
ficient.
Units N/A
Range -1.0 to 1.0
Default
0
Value
Data Type Float
Start Version M_01-11-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
This parameter is supported for IPM motors (MOTOR.TYPE = 6). MOTOR.PHSADVK2 is the second
order polynomial coefficient used to determine the direct axis current command for commutation phase
advance, according to the equation:
IdCmd(Ip) = PHSADVK2 * Ip^2 + PHSADVK1 * Ip
where Ip is the magnitude of the motor phase current:
Ip = sqrt(Id^2 + Iq^2)

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET=1.

Kollmorgen | May 2014 569

 AKD BASIC Programming Manual | 7.27.21 MOTOR.PITCH

7.27.21 MOTOR.PITCH
General Information
Type NV Parameter
Description Sets the motor pitch.
Units µm
1,000 to 1,000,000
Range
µm
Default
1.000 µm
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2251 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 502 No 32 bit No M_01-03-00-000

Description
This parameter defines the pole-to-pair pitch for the linear motor in micrometers.

570 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.22 MOTOR.POLES

7.27.22 MOTOR.POLES
General Information
Type NV Parameter
Sets the number of motor
Description
poles.
Units N/A
Range 0 to 128
Default
6
Value
Data Type Integer
See Also FB1.POLES (pg 435)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 359Dh/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
2252 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 504 No 16 bit No M_01-03-00-000

Description
MOTOR.POLES sets the number of motor poles. This command is used for commutation control and rep-
resents the number of individual magnetic poles of the motor (not pole pairs). The division value of motor
poles (MOTOR.POLES) and feedback poles (FB1.POLES) must be an integer when setting drive to
enable, otherwise a fault is issued.

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET=1.

Kollmorgen | May 2014 571

 AKD BASIC Programming Manual | 7.27.23 MOTOR.R

7.27.23 MOTOR.R
General Information
Type NV Parameter
Sets the stator winding resistance phase-phase in
Description
ohms.
Units Ω
Range 0.001 to 650 Ω
Default
10 Ω
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3456h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2253 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 506 No 32 bit No M_01-03-00-000

Description
MOTOR.R sets the stator winding resistance phase-to-phase in ohms.

This parameter is automatically configured for Kollmorgen motors when

MOTOR.AUTOSET=1.

572 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.24 MOTOR.SUPPORTEDPARAMS

7.27.24 MOTOR.SUPPORTEDPARAMS
General Information
Type R/O Parameter
Lists MOTOR parameters supported by configured motor
Description
type.
Units N/A
Range N/A
Default
N/A
Value
Data Type String
Start Version M_01-11-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Descriptio
This parameter lists all the MOTOR parameters that are supported for the motor type selected by the
MOTOR.TYPE parameter.

Example
The following output is produced for surface permanent magnet motors (MOTOR.TYPE = 0).
--> MOTOR.SUPPORTEDPARAMS
MOTOR.CTF0
MOTOR.ICONT
MOTOR.INERTIA
MOTOR.IPEAK
MOTOR.KE
MOTOR.KT
MOTOR.LISAT
MOTOR.LQLL
MOTOR.PHASE
MOTOR.POLES
MOTOR.R
MOTOR.VMAX
MOTOR.VOLTMAX

Kollmorgen | May 2014 573

 AKD BASIC Programming Manual | 7.27.25 MOTOR.TBRAKEAPP

7.27.25 MOTOR.TBRAKEAPP
General Information
Type NV Parameter
The delay time used for applying the motor
Description
brake.
Units ms
Range 0 to 1,000 ms
Default
75 ms
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 510 No 16 bit No M_01-03-00-000

Description
This parameter is used to configure the mechanical delay when applying the motor brake.
MOTOR.TBRAKEAPP is a time delay that is applied when a brake exists and the drive is disabled at the
end of a controlled stop. This delay lasts from the time that the brake is commanded to apply until the time
that the drive is disabled.
This feature allows you to disable the drive and apply the brake on a vertical application without the load
falling. Without this time delay, if you immediately disable the drive, then the load falls during the time
needed for the brake to mechanically apply.

If MOTOR.AUTOSET = 1 and FB1.MEMVER > 0.01, this parameter will be auto-

matically configured for Kollmorgen motors.

574 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.26 MOTOR.TBRAKERLS

7.27.26 MOTOR.TBRAKERLS
General Information
Type NV Parameter
The delay time used for releasing the motor
Description
brake.
Units ms
Range 0 to 1,000 ms
Default
75 ms
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 512 No 16 bit No M_01-03-00-000

Description
This parameter is used to configure the mechanical delay when releasing the motor brake.
MOTOR.TBRAKERLS is a time delay that is applied when a brake exists and the drive is enabled. When
the drive is enabled, the brake is commanded to release and, during the MOTOR.TBRAKERLS period of
time, the drive does not accept a motion command. This delay allows the brake to fully release before the
drive begins a new motion.

If MOTOR.AUTOSET = 1 and FB1.MEMVER > 0.01, this parameter will be auto-

matically configured for Kollmorgen motors.

Kollmorgen | May 2014 575

 AKD BASIC Programming Manual | 7.27.27 MOTOR.TBRAKETO

7.27.27 MOTOR.TBRAKETO
General Information
Type NV Parameter
Description Brake apply timeout for vertical axis.
Units Milliseconds
Range -1 to 30,000
Default
-1 (function disabled)
Value
Data Type Integer
See Also CS.VTHRESH (pg 258), CS.TO (pg 256), DRV.DISTO (pg 325)
Start Version 01-05-07-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2495 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 990 No 32 bit Yes

Description
When a drive is disabled (due to user command, digital input, or fault), the brake will normally not be
applied until velocity has fallen below CS.VTHRESH (pg 258). In some instances, such as a vertical axis,
it may desirable to apply the brake regardless of velocity.
MOTOR.TBRAKETO sets the maximum time allowed to pass between drive disable and application of
the motor brake. After this time, the brake will be applied even if velocity is higher than CS.VTHRESH (pg
258).
To disable the timer, set the value to -1.

Prior to version 01-05-07-000, this timeout was only applied when the Hardware Enable
was deactivated and the default was 30,000. From 01-05-07-000 on this timeout is
applied in all conditions and the default is -1.

576 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.28 MOTOR.TEMP

7.27.28 MOTOR.TEMP
General Information
Type R/O Parameter
Reads the motor temperature represented as the resistance of the motor PTC or
Description
NTC.
Units Ω
Range 0 to 232 Ω
Default
N/A
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3612h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2257 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 514 No 32 bit No M_01-03-00-000

Description
This parameter returns the motor temperature, which is represented as the resistance of the motor's PTC
or NTC.

Kollmorgen | May 2014 577

 AKD BASIC Programming Manual | 7.27.29 MOTOR.TEMPC

7.27.29 MOTOR.TEMPC
General Information
Type R/O Parameter
Reads the motor temperature in degrees
Description
Celsius.
Units Degrees Celsius
Range -215 to 215
Default
N/A
Value
Data Type Integer
Start Version M_01-10-04-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
When the motor has a thermistor with linear characteristics (MOTOR.RTYPE = 2, 3 or 4),
MOTOR.TEMPC returns the motor temperature in degrees Celsius, which is calculated from the res-
istance of the motor thermistor.
There is no algorithm to convert from resistance to degrees Celsius for non-linear thermistors. In this
case, MOTOR.TEMPC returns -32,768 which is an invalid temperature.

578 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.30 MOTOR.TEMPFAULT

7.27.30 MOTOR.TEMPFAULT
General Information
Type NV Parameter
Sets the motor temperature fault
Description
level.
Units Ω
Range 0 to 2,000,000,000 Ω
Default
0 Ω = switched off
Value
Data Type Integer
See Also MOTOR.TEMP (pg 577)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3586h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2258 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 516 No 32 bit No M_01-03-00-000

Description
This parameter is used to configure the motor temperature fault level as a resistance threshold of the
motor thermal sensor.
A zero value prevents any fault from being issued.

For firmware versions 01-09-00-000 and later, this parameter is automatically configured
for Kollmorgen motors when MOTOR.AUTOSET = 1.

Kollmorgen | May 2014 579

 AKD BASIC Programming Manual | 7.27.31 MOTOR.TEMPWARN

7.27.31 MOTOR.TEMPWARN
General Information
Type NV Parameter
Sets the motor temperature warning
Description
level.
Units Ω
Range 0 to 2,000,000,000 Ω
Default
0 Ω = switched off
Value
Data Type Integer
See Also MOTOR.TEMP (pg 577)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3453h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2259 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 518 No 32 bit No M_01-03-00-000

Description
This parameter is used to configure the motor temperature warning level as a resistance threshold of the
motor PTC.
A zero value prevents any warning from being created.

580 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.32 MOTOR.TYPE

7.27.32 MOTOR.TYPE
General Information
Type NV Parameter
Sets the motor
Description
type.
Units N/A
Range 0, 1, 2 ,4, 8
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2260 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 520 No 8 bit No M_01-03-00-000

Description
MOTOR.TYPE sets the drive control algorithms to different motor types as follows:
0 = Rotary motor
1 = Linear motor
2 = Induction Motor V/f Open Loop Control
4 = Induction Motor Closed Loop Control
8 = Rotary brush motor
The following table shows which MOTOR parameters must be configured for either permanent magnet,
induction motor v/f open loop, or induction motor closed loop motor types.

Kollmorgen | May 2014 581

 AKD BASIC Programming Manual | 7.27.32 MOTOR.TYPE

Permanent Induction Motor v/f Induction Motor

Keyword
Magnet Open Loop Closed Loop
MOTOR.NAME (pg 566) Yes Yes Yes
MOTOR.TYPE Yes Yes Yes
MOTOR.AUTOSET (pg
Yes No Yes
548)
MOTOR.IPEAK (pg 560) Yes Yes Yes
MOTOR.ICONT (pg 556) Yes Yes Yes
MOTOR.INERTIA (pg
Yes Yes Yes
559)
MOTOR.KT (pg 562) Yes No No
MOTOR.LQLL (pg 565) Yes No Yes
MOTOR.POLES (pg 571) Yes Yes Yes
MOTOR.VMAX (pg 583) Yes Yes Yes
MOTOR.R (pg 572) Yes Yes Yes
MOTOR.VOLTMAX (pg
Yes Yes Yes
584)
MOTOR.PHASE (pg 567) Yes No No
MOTOR.CTF0 (pg 555) Yes Yes Yes
MOTOR.KE (pg 561) Yes No No
MOTOR.IMTR No No Yes
MOTOR.IMID No No Yes
MOTOR.VOLTRATED
No Yes No
(pg 586)
MOTOR.VRATED (pg
No Yes No
587)
MOTOR.VOLTMIN (pg
No Yes No
585)

582 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.33 MOTOR.VMAX

7.27.33 MOTOR.VMAX
General Information
Type NV Parameter
Sets the maximum motor
Description
speed.
Units rpm
Range 100 to 40,000 rpm
Default
3,000 rpm
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 35A3h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
® 2261 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 522 No 16 bit No M_01-03-00-000

Description
This parameter sets the maximum motor mechanical speed. The value 1.2 x MOTOR.VMAX becomes
the overall overspeed fault threshold (VL.VFTHRESH) if it is less than the user overspeed fault threshold
(VL.THRESH), and for MOTOR.TYPE = 6 if it is less than the motor back EMF overspeed threshold
((1.02 x 1000 x VBUS.OVFTHRESH) / (MOTOR.KE x sqrt(2))).

Kollmorgen | May 2014 583

 AKD BASIC Programming Manual | 7.27.34 MOTOR.VOLTMAX

7.27.34 MOTOR.VOLTMAX
General Information
Type NV Parameter
Sets the motor maximum
Description
voltage.
Units Vrms
Range 110 to 900 Vrms
Default
230 Vrms
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3452h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
2262 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 524 No 16 bit No M_01-03-00-000

Description
This parameter sets the maximum permissible motor voltage. For instance, if a motor that is rated for a
400 V supply is connected to the drive, then the MOTOR.VOLTMAX setting is 400. This value also sets
regen resistor and over voltage thresholds in the drive to acceptable values for the motor so that the motor
windings are not damaged.

584 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.35 MOTOR.VOLTMIN

7.27.35 MOTOR.VOLTMIN
General Information
Type NV Parameter
Description Sets the minimum voltage for V/f control.
Units %
Range 0 to 100%
Default
2%
Value
Data Type U16
MOTOR.VRATED (pg 587), MOTOR.VOLTRATED (pg
See Also
586)
Start Version

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3457h/3 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
2837 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1674 No 16-bit No M_01-06-03-000

Description
This parameter configures the drive for the induction motor's minimum voltage at standstill. It is given as a
percentage (%) of the motor’s rated voltage. MOTOR.VOLTMIN is used to calculate the constant volts
per Hertz characteristics of the drive and motor and should be set to a value that generates a current of
about 40% of the rated current at standstill.

Kollmorgen | May 2014 585

 AKD BASIC Programming Manual | 7.27.36 MOTOR.VOLTRATED

7.27.36 MOTOR.VOLTRATED
General Information
Type NV Parameter
Description Sets the motor rated voltage.
Units V
Range 50 to 1,000 V
Default
230 V
Value
Data Type U16
MOTOR.VRATED (pg 587), MOTOR.VOLTMIN (pg
See Also
585)
Start Version M_01-03-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3457h/2 M_01-03-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
2838 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1676 No 16-bit No M_01-06-03-000

Description
This parameter configures the drive for the induction motor's rated voltage as indicated on the nameplate.
MOTOR.VOLTRATED is used to calculate the constant Volts per Hertz characteristics of the drive and
motor.

If MOTOR.AUTOSET = 1 and FB1.MEMVER > 0.01, this parameter will be auto-

matically configured for Kollmorgen motors.

586 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.27.37 MOTOR.VRATED

7.27.37 MOTOR.VRATED
General Information
Type NV Parameter
Description Sets the motor rated velocity (not maximum velocity)
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg
719)
Units
Rotary: rpm, rps, deg/s, custom units/s, rad/s
Linear: counts/s, mm/s, µm/s, custom units/s
Rotary:
0.000 to 15,000.000 rpm
0.000 to 250.000 rps
0.000 to 90,000.000 deg/s
0.000 to 1,250.000 custom units/s
Range 0.000 to 1,570.796 rad/s
Linear:
0.000 to 1,073,741,824,000.000 counts/s
0.000 to 8,000.000 mm/s
0.000 to 8,000,000.000 µm/s
0.000 to 1,250.000 custom units/s
Default
0 rpm
Value
Data Type U16
See Also MOTOR.VOLTRATED (pg 586), MOTOR.VOLTMIN (pg 585)
Start Version M_01-03-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3457h/1 M_01-03-00-000
CANopen

Kollmorgen | May 2014 587

 AKD BASIC Programming Manual | 7.27.37 MOTOR.VRATED

Fieldbus Address Attributes Signed?

Profinet DWord
® 2839 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1678 Yes 64-bit Yes M_01-06-03-000

Description
This parameter configures the drive for the rated velocity of the induction motor as indicated on the name-
plate. MOTOR.VRATED is used to calculate the constant volts per Hertz characteristics of the drive and
motor.

If MOTOR.AUTOSET = 1 and FB1.MEMVER > 0.01, this parameter will be auto-

matically configured for Kollmorgen motors.

588 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.28 MOVE Parameters

7.28 MOVE Parameters

This section describes the MOVE parameters.
MOVE parameters are only valid when DRV.OPMODE = 2 and
DRV.CMDSOURCE = 5.

7.28.1 MOVE.ABORT 590

7.28.2 MOVE.ACC 591
7.28.3 MOVE.DEC 593
7.28.4 MOVE.DIR 595
7.28.5 MOVE.DWELLTIME 596
7.28.6 MOVE.GOABS 597
7.28.7 MOVE.GOHOME 598
7.28.8 MOVE.GOREL 599
7.28.9 MOVE.GOUPDATE 600
7.28.10 MOVE.GOVEL 601
7.28.11 MOVE.INPOSITION 602
7.28.12 MOVE.INPOSLIMIT 603
7.28.13 MOVE.MOVING 604
7.28.14 MOVE.POSCOMMAND 605
7.28.15 MOVE.RELATIVEDIST 606
7.28.16 MOVE.RUNSPEED 607
7.28.17 MOVE.SCURVETIME 608
7.28.18 MOVE.TARGETPOS 609
7.28.19 MOVE.VCMD 610

Kollmorgen | May 2014 589

 AKD BASIC Programming Manual | 7.28.1 MOVE.ABORT

7.28.1 MOVE.ABORT
General Information
Type Command
MOVE.ABORT stops motor motion and
Description
allows continued program execution.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1144 No Command No M_01-05-11-000

Description
MOVE.ABORT stops motor motion and allows continued program execution. Deceleration is determined
by CS.DEC.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Example
This program segment commands the motor at constant velocity until input 1 goes to a logic 0. Then, the
motor is commanded to stop.

MOVE.ACC = 5000
‘Set acceleration rate equal to 5,000 rpm/sec
CS.DEC = 10000
'Set controlled stop deceleration rate to 10,000 rpm/sec
MOVE.RUNSPEED = 120
‘Set Run speed equal to 120 rpm
MOVE.GOVEL
When DIN2.STATE = 0, MOVE.ABORT
'Motor decelerates to a stop at CS.DEC (10,000 rpm/sec)
Print “Move Aborted!”

Related Topics
Stop (pg 137) | CS.DEC (pg 253)

590 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.28.2 MOVE.ACC

7.28.2 MOVE.ACC
General Information
Type R/W
Description Sets the maximum commanded acceleration rate when the speed is increased.
Depends on UNIT.ACCROTARY (pg 713) or UNIT.ACCLINEAR (pg 712)
Units Rotary: rps/s, rpm/s, deg/s², (Custom Units)/s² , rad/s²
Linear: counts/s² , mm/s² , µm/s² , (Custom Units)/s²
Note: The range and default values of (Custom Units)/s² units depend on the values of
PIN and POUT. The range and default values listed in this table are derived from the
default values of PIN and POUT.
Rotary:
0.004 to 8,000,000 rps/s
0.224 to 480,000,016.384 rpm/s
1.341 to 2,879,999,967.232 deg/s²
Range 0.019 to 40,000,000 (Custom Units)/s²
0.023 to 50,265,481.216 rad/s²
Linear:
16,000,000 to 15,912,994,294,290,448.384 counts/s²
0.119*MOTOR.PITCH (pg 570) to 256,000,000*MOTOR.PITCH (pg 570) mm/s²
119.209*MOTOR.PITCH (pg 570) to 255,999,998,951.424*MOTOR.PITCH (pg 570)
µm/s²
0.019 to 40,000,000(Custom Units)/s²
Note: The range and default values of (Custom Units)/s² units depend on the values of
PIN and POUT. The range and default values listed in this table are derived from the
default values of PIN and POUT.
Rotary:
166.666 rps/s
9,999.946 rpm/s
Default 59,999.676 deg/s²
Value 833.329 (Custom Units)/s²
1047.192 rad/s²
Linear:
715,824,012,722.176 counts/s²
5,333.305*MOTOR.PITCH (pg 570) mm/s²
5,333,304.320*MOTOR.PITCH (pg 570) µm/s²
833.329 (Custom Units)/s²
Data Type Float

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1088 Yes 64 bit No M_01-05-11-000

Description
Sets the maximum commanded acceleration rate when the speed is increased. Set MOVE.ACC prior to
initiating the move. You can update MOVE.ACC during a move by executing an MOVE.GOUPDATE
statement.

Kollmorgen | May 2014 591

 AKD BASIC Programming Manual | 7.28.2 MOVE.ACC

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Example
'This example sets MOVE.ACC to 10,000 rpm/sec and does a
'relative move of 10 motor revolutions.
MOVE.RUNSPEED = 1000
MOVE.ACC = 10000
MOVE.DEC = 10000
MOVE.RELATIVEDIST = 655360
MOVE.GOREL

Related Topics
MOVE.DEC (pg 593)

592 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.28.3 MOVE.DEC

7.28.3 MOVE.DEC
General Information
Type R/W
Description Sets the maximum commanded deceleration rate when the speed is decreased.
Depends on UNIT.ACCROTARY (pg 713) or UNIT.ACCLINEAR (pg 712)
Units Rotary: rps/s, rpm/s, deg/s², (Custom Units)/s² , rad/s²
Linear: counts/s² , mm/s² , µm/s² , (Custom Units)/s²
Note: The range and default values of (Custom Units)/s² units depend on the values of
PIN and POUT. The range and default values listed in this table are derived from the
default values of PIN and POUT.
Rotary:
0.004 to 8,000,000 rps/s
0.224 to 480,000,016.384 rpm/s
1.341 to 2,879,999,967.232 deg/s²
Range 0.004 to 8,000,000 (Custom Units)/s²
0.023 to 50,265,481.216 rad/s²
Linear:
16,000,000 to 15,912,994,294,290,448.384 counts/s²
0.119*MOTOR.PITCH (pg 570) to 256,000,000*MOTOR.PITCH (pg 570) mm/s²
119.209*MOTOR.PITCH (pg 570) to 255,999,998,951.424*MOTOR.PITCH (pg 570)
µm/s²
0.004 to 8,000,000 (Custom Units)/s²
Note: The range and default values of (Custom Units)/s² units depend on the values of
PIN and POUT. The range and default values listed in this table are derived from the
default values of PIN and POUT.
Rotary:
166.669 rps/s
10,000.170 rpm/s
Default 60,001.016 deg/s²
Value 166.669 (Custom Units)/s²
1047.215 rad/s²
Linear:
715,839,984,631.808 counts/s²
5,333.424*MOTOR.PITCH (pg 570) mm/s²
53,33,423.616*MOTOR.PITCH (pg 570) µm/s²
166.669 (Custom Units)/s²
Data Type Float

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1092 Yes 64 bit No M_01-05-11-000

Description
Sets the maximum commanded deceleration rate when the speed is decreased. Set MOVE.DEC prior to
initiating the move. You can update MOVE.DECduring a move by executing an MOVE.GOUPDATE state-
ment.

Kollmorgen | May 2014 593

 AKD BASIC Programming Manual | 7.28.3 MOVE.DEC

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Example
'This example sets MOVE.DEC to 5,000 rpm/sec and does a
'relative move of 10 motor revolutions.
MOVE.RUNSPEED = 1000
MOVE.ACC = 10000
MOVE.DEC = 10000
MOVE.RELATIVEDIST = 655360
MOVE.GOREL

Related Topics
MOVE.ACC (pg 591)

594 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.28.4 MOVE.DIR

7.28.4 MOVE.DIR
General Information
Type R/W parameter
MOVE.DIR specifies the direction the motor
Description turns when a MOVE.GOVEL statement is
executed.
Units none
Range 0 or 1
Default
0
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1096 No 32 bit No M_01-05-11-000

Description
MOVE.DIR specifies the direction the motor turns when a MOVE.GOVEL statement is executed. It has
no effect on any other motion statements. If MOVE.DIR = 0, the motor turns in the positive direction. If
MOVE.DIR = 1, the motor turns in the negative direction.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Kollmorgen | May 2014 595

 AKD BASIC Programming Manual | 7.28.5 MOVE.DWELLTIME

7.28.5 MOVE.DWELLTIME
General Information
Type R/W
Adds a dwell time at the end of a MOVE.GOREL or MOVE.GOABS move that will elapse
Description
before MOVE.MOVING is set equal to 0.
Units msecs
Range 0 to 2,147,483,647
Default
0
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1182 No 32 bit No M_01-05-11-000

Description
MOVE.DWELLTIME will add a pause after a Relative or absolute move is complete before the
MOVE.MOVING flag is set to 0.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Example
MOVE.RUNSPEED = 1000
MOVE.DWELLTIME = 5000
MOVE.RELATIVEDIST = 65536
MOVE.GOREL
'Wait for move to complete and pause 5 seconds
While MOVE.MOVING = 1 : Wend

Related Topics
MOVE.GOABS (pg 597) | MOVE.GOREL (pg 599)

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AKD BASIC Programming Manual | 7.28.6 MOVE.GOABS

7.28.6 MOVE.GOABS
General Information
Type Command
Description MOVE.GOABS moves the motor to the position specified by MOVE.TARGETPOS.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1098 No Command No M_01-05-11-000

Description
MOVE.GOABS (Go to Absolute Position) causes the motor to move to the position specified by
MOVE.TARGETPOS. This is an absolute position referenced to the position where PL.FB = 0.
Program execution continues with the line immediately following the MOVE.GOABS statement as soon
as the move is initiated. Program execution does not wait until the move is complete.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Related Topics
MOVE.POSCOMMAND (pg 605) | MOVE.ACC (pg 591) | MOVE.DEC (pg 593) | MOVE.RUNSPEED (pg
607) | MOVE.ABORT (pg 590) | MOVE.GOHOME (pg 598) | MOVE.MOVING (pg 604) |
MOVE.INPOSITION (pg 602)

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 AKD BASIC Programming Manual | 7.28.7 MOVE.GOHOME

7.28.7 MOVE.GOHOME
General Information
Type Command
Description MOVE.GOHOME causes the motor to move to the position specified where PL.FB = 0.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1102 No Command No M_01-05-11-000

Description
MOVE.GOHOME causes the motor to move to the position specified where PL.FB = 0. MOVE.GOHOME
is identical to MOVE.GOABS with MOVE.TARGETPOS = 0. The motor speed follows a velocity profile
as specified by MOVE.ACC, MOVE.DEC, and MOVE.RUNSPEED. This profile may be modified during
the move using MOVE.GOUPDATE.
Program execution continues with the line immediately following the MOVE.GOHOME statement as soon
as the move is initiated. Program execution does not wait until the move is complete.
The drive must be enabled in order for any motion to take place.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Related Topics
MOVE.POSCOMMAND (pg 605) | MOVE.ACC (pg 591) | MOVE.DEC (pg 593) | MOVE.RUNSPEED (pg
607) |MOVE.ABORT (pg 590)MOVE.GOABS (pg 597) | MOVE.MOVING (pg 604) | MOVE.INPOSITION
(pg 602)

598 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.28.8 MOVE.GOREL

7.28.8 MOVE.GOREL
General Information
Type Command
Description MOVE.GOREL moves the motor a distance specified by MOVE.RELATIVEDIST.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1106 No Command No M_01-05-11-000

Description
MOVE.GOREL (Go Relative) moves the motor a distance specified by MOVE.RELATIVEDIST.
The motor speed follows a velocity profile as specified by MOVE.ACC, MOVE.DEC, and
MOVE.RUNSPEED. This profile may be modified during the move using MOVE.GOUPDATE.
Program execution continues with the line immediately following the MOVE.GOREL statement as soon
as the move is initiated. Program execution does not wait until the move is complete.
The drive must be enabled in order for any motion to take place.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Related Topics
MOVE.POSCOMMAND (pg 605) | MOVE.ACC (pg 591) | MOVE.DEC (pg 593) | MOVE.RUNSPEED (pg
607) | MOVE.ABORT (pg 590) | MOVE.GOABS (pg 597) | MOVE.MOVING (pg 604) |
MOVE.INPOSITION (pg 602)

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 AKD BASIC Programming Manual | 7.28.9 MOVE.GOUPDATE

7.28.9 MOVE.GOUPDATE
General Information
Type Command
MOVE.GOUPDATE updates a move in progress with new move
Description
parameters.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1108 No Command No M_01-05-11-000

Description
MOVE.GOUPDATE updates a move in progress with new move parameters. This allows you to change
motion on-the-fly. MOVE.GOUPDATE updates MOVE.ACC, MOVE.DEC, MOVE.DIR, and
MOVE.RUNSPEED.
Program execution continues with the line immediately following the MOVE.GOUPDATE statement as
soon as the move is initiated. Program execution does not wait until the move is complete. The drive must
be enabled in order for any motion to take place.
MOVE.GOUPDATE does not initiate motion if there is no move in progress, the MOVE.GOUPDATE
statement is ignored.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Related Topics
MOVE.GOREL (pg 599) | MOVE.GOABS (pg 597) | MOVE.GOVEL (pg 601) | MOVE.GOHOME (pg 598)

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AKD BASIC Programming Manual | 7.28.10 MOVE.GOVEL

7.28.10 MOVE.GOVEL
General Information
Type Command
MOVE.GOVEL moves the motor at a constant speed specified by MOVE.RUNSPEED
Description
and direction specified by MOVE.DIR.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1110 No Command No M_01-05-11-000

Description
MOVE.GOVEL (Go at Velocity) moves the motor at a constant speed specified by MOVE.RUNSPEED
and direction specified by MOVE.DIR.
The motor speed follows a velocity profile as specified by MOVE.ACC, MOVE.DEC, and
MOVE.RUNSPEED. This profile may be modified during the move using MOVE.GOUPDATE.
Program execution continues with the line immediately following MOVE.GOVEL as soon as the move is
initiated. Program execution does not wait until the move is complete.
The drive must be enabled in order for any motion to take place.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Related Topics
MOVE.GOREL (pg 599) | MOVE.GOABS (pg 597) | MOVE.GOVEL (pg 601) | MOVE.GOHOME (pg 598)

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 AKD BASIC Programming Manual | 7.28.11 MOVE.INPOSITION

7.28.11 MOVE.INPOSITION
General Information
Type R/O
Indicates whether or not the motor has achieved command pos-
Description
ition.
Units none
Range 0 or 1
Default
0
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1112 No 32 bit No M_01-05-11-000

Description
MOVE.INPOSITION is used for monitoring move commands to ensure that the desired motion has been
completed. MOVE.INPOSITION is always 0 (False) or 1 (True).
MOVE.INPOSITION is 1 (True) if all the following are true:
l Drive is enabled.
l MOVE.MOVING = 0
l PL.ERR less than MOVE.INPOSLIMIT

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Related Topics
MOVE.MOVING (pg 604)

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AKD BASIC Programming Manual | 7.28.12 MOVE.INPOSLIMIT

7.28.12 MOVE.INPOSLIMIT
General Information
Type R/W
Specifies the tolerance of Position Error (PL.ERR) within which the MOVE.INPOSITION
Description
flag will be set to 1 (True).
Units 16 bit counts
Range 0 to 140,737,488,355,328
Default
0
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1114 Yes 64 bit Yes M_01-05-11-000

Description
Specifies the tolerance of Position Error (PL.ERR) within which the MOVE.INPOSITION flag will be set
to 1 (True). Set MOVE.INPOSLIMIT before using MOVE.INPOSITION.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Related Topics
MOVE.INPOSITION (pg 602)

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 AKD BASIC Programming Manual | 7.28.13 MOVE.MOVING

7.28.13 MOVE.MOVING
General Information
Type R/O
Description Indicates whether or not the commanded motion profile is complete.
Units N/A
Range 0 or 1
Default
0
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1118 No 32 bit No M_01-05-11-000

Description
MOVE.MOVING only indicates whether or not the commanded motion profile for MOVE.GOREL,
MOVE.GOABS, MOVE.GOHOME, and MOVE.GOVEL is complete. Even when the commanded motion
profile is completed (MOVE.MOVING = 0), there may still be motor motion as the result of settling time
and/or electronic gearing. MOVE.MOVING is not applicable for EGEAR commands.
0 - commanded motion complete
1 - move in progress

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Example
MOVE.RELATIVEDIST = 10000
MOVE.GOREL
While MOVE.MOVING : Wend
Pause(0.5)
MOVE.RELATIVEDIST = -MOVE.RELATIVEDIST
MOVE.GOREL

Related Topics
MOVE.INPOSITION (pg 602) | MOVE.INPOSITION (pg 602) | MOVE.GOREL (pg 599) | MOVE.GOABS
(pg 597) | MOVE.GOHOME (pg 598) | MOVE.GOVEL (pg 601)

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AKD BASIC Programming Manual | 7.28.14 MOVE.POSCOMMAND

7.28.14 MOVE.POSCOMMAND
General Information
Type R/W
Description Current Position Command from Trajectory Generator.
Depends on UNIT.PROTARY (pg 718) or UNIT.PLINEAR (pg 716)UNIT.ACCLINEAR
(pg 712)
Units
Rotary: counts, rad, deg, (Custom Units), 16-bit counts
Linear: counts, mm, µm, (Custom Units), 16-bit counts
Range N/A
Default
N/A
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1120 Yes 64 bit Yes M_01-05-11-000

Description
MOVE.POSCOMMAND contains the current position command from the trajectory generator.
The value of MOVE.POSCOMMAND is affected by MOVE.POSMODULO and MOVE.POSPOLARITY.
MOVE.POSCOMMAND can be used to determine the position being commanded. You can write to
MOVE.POSCOMMAND at any time; to establish a new home position (where MOVE.POSCOMMAND =
0). Writing to MOVE.POSCOMMAND will not affect motor motion.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Example
'set electrical home position when DIN1.STATE goes to 0.
'--------------------------------------
MOVE.DIR = 0 : MOVE.RUNSPEED = 100 : MOVE.GOVEL
When DIN1.STATE = 0, Continue
MOVE.ABORT
While MOVE.MOVING : Wend
MOVE.POSCOMMAND = 0

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 AKD BASIC Programming Manual | 7.28.15 MOVE.RELATIVEDIST

7.28.15 MOVE.RELATIVEDIST
General Information
Type R/W
Description Specifies the distance the motor turns during a relative move (MOVE.GOREL).
Depends on UNIT.PROTARY (pg 718) or UNIT.PLINEAR (pg 716)UNIT.ACCLINEAR
(pg 712)
Units
Rotary: counts, rad, deg, (Custom Units), 16-bit counts
Linear: counts, mm, µm, (Custom Units), 16-bit counts
Range N/A
Default
N/A
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1134 Yes 64 bit Yes M_01-05-11-000

Description
MOVE.RELATIVEDIST specifies the distance the motor moves during a relative move (MOVE.GOREL).
Specify MOVE.RELATIVEDIST before initiating MOVE.GOREL.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Example
'This example sets Move.RelativeDist to 655360 (10 motor revolu
'tions, assuming units is 16 bit position units or 65536
'counts/rev) and does a relative move.
MOVE.RUNSPEED = 1000
MOVE.ACC = 10000
MOVE.DEC = 5000
MOVE.RELATIVEDIST = 655360
MOVE.GOREL

Related Topics
MOVE.ACC (pg 591) | MOVE.DEC (pg 593) | MOVE.RUNSPEED (pg 607)

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AKD BASIC Programming Manual | 7.28.16 MOVE.RUNSPEED

7.28.16 MOVE.RUNSPEED
General Information
Type R/W
Sets the maximum speed allowed during a relative (MOVE.GOREL) or absolute
Description (MOVE.GOABS) move, and sets the commanded speed during a velocity move
(MOVE.GOVEL).
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg 719)UNIT.ACCLINEAR
(pg 712)
Units
Rotary: rpm, rps, deg/s, (Custom Units)/s, rad/s
Linear: counts/s, mm/s, µm/s, (Custom Units)/s
Range N/A
Default
N/A
Value
Data Type Float

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1138 Yes 64 bit No M_01-05-11-000

Description
Sets the maximum speed allowed during an incremental (MOVE.GOREL) or absolute (MOVE.GOABS)
move, and sets the commanded speed during a velocity move (MOVE.GOVEL). Specify
MOVE.RUNSPEED before initiating any move commands.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Related Topics
MOVE.GOVEL (pg 601) | MOVE.GOREL (pg 599)

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 AKD BASIC Programming Manual | 7.28.17 MOVE.SCURVETIME

7.28.17 MOVE.SCURVETIME
General Information
Type R/W
Description Sets the amount of S-curve smoothing applied to all velocity profiles.
Units Milliseconds
Range 0 to 512 (0, 0.5, 1, 2, 4, 8, 16, 32, 64, 128, 256, 512)
Default
0
Value
Data Type Float

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1142 No 32 bit No M_01-05-11-000

Description
MOVE.SCURVETIME sets the amount of S-curve smoothing applied to all velocity profiles. The greater
the value of MOVE.SCURVETIMEe, the smoother (lower jerk) the profile.
Specifying a non-zero value for MOVE.SCURVETIME increases move time by MOVE.SCURVETIME.
For example, a trapezoidal move (MOVE.SCURVETIME = 0) that takes 0.500 seconds to complete,
takes 0.756 seconds to complete if MOVE.SCURVETIME is set to 256.
Change MOVE.SCURVETIME only when the motor is not moving (MOVE.MOVING = 0). If you attempt
to change MOVE.SCURVETIME while the motor is moving a RunTime error is produced.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Related Topics
MOVE.ACC (pg 591) | MOVE.DEC (pg 593) | MOVE.GOREL (pg 599) | MOVE.GOABS (pg 597) |
MOVE.GOHOME (pg 598) | MOVE.GOVEL (pg 601)

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AKD BASIC Programming Manual | 7.28.18 MOVE.TARGETPOS

7.28.18 MOVE.TARGETPOS
General Information
Type R/W
MOVE.TARGETPOS specifies the target position for an absolute (MOVE.GOABS)
Description
move.
Depends on UNIT.PROTARY (pg 718) or UNIT.PLINEAR (pg 716)UNIT.ACCLINEAR
(pg 712)
Units
Rotary: counts, rad, deg, (Custom Units), 16-bit counts
Linear: counts, mm, µm, (Custom Units), 16-bit counts
Range N/A
Default
N/A
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1146 Yes 64 bit Yes M_01-05-11-000

Description
MOVE.TARGETPOS specifies the target position for an absolute (MOVE.GOABS) move.
MOVE.TARGETPOS is an absolute position referenced to the electrical home position (the position
where PL.FB = 0).
Set MOVE.TARGETPOS before initiating a MOVE.GOABS.

MOVE parameters are only valid when DRV.OPMODE = 2 and DRV.CMDSOURCE =

5.

Related Topics
MOVE.GOABS (pg 597)

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 AKD BASIC Programming Manual | 7.28.19 MOVE.VCMD

7.28.19 MOVE.VCMD
General Information
Type R/O
Description Trajectory Generator Velocity Command.
Depends on UNIT.VROTARY (pg 720),
UNIT.VLINEAR (pg 719) or
UNIT.ACCLINEAR (pg 712)
Units Rotary: rpm, rps, deg/s, (custom units)/s,
rad/s
Linear: counts/s, mm/s, µm/s, (custom units)
/s
Range N/A
Default
N/A
Value
Data Type Float

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1150 No 32 bit No M_01-05-11-000

Description
MOVE.VCMD reflects the velocity commanded by the Trajectory Generator when DRV.CMDSOURCE =
5 (program) and DRV.OPMODE = 2 (position). MOVE.VCMD is only valid when DRV.CMDSOURCE = 5
(program) and DRV.OPMODE = 2 (position).

Related Topics
DRV.CMDSOURCE (pg 312) | DRV.OPMODE (pg 370)

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AKD BASIC Programming Manual | 7.29 PL Parameters

7.29 PL Parameters
This section describes the PL parameters.

7.29.1 PL.CMD 612

7.29.2 PL.ERR 613
7.29.3 PL.ERRFTHRESH 615
7.29.4 PL.ERRMODE 617
7.29.5 PL.ERRWTHRESH 619
7.29.6 PL.FB 621
7.29.7 PL.FBSOURCE 623
7.29.8 PL.INTINMAX 624
7.29.9 PL.INTOUTMAX 626
7.29.10 PL.KI 628
7.29.11 PL.KP 629
7.29.12 PL.MODP1 630
7.29.13 PL.MODP2 632
7.29.14 PL.MODPDIR 634
7.29.15 PL.MODPEN 636

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 AKD BASIC Programming Manual | 7.29.1 PL.CMD

7.29.1 PL.CMD
General Information
Type R/O Parameter
Reads the position command directly from the entry to the position
Description
loop.
Depends on UNIT.PLINEAR (pg 716) or UNIT.PROTARY (pg 718)
Units Rotary: counts, rad, deg, (custom units), 16-bit counts
Linear: counts, mm, µm, (custom units), 16-bit counts
Range N/A
Default
N/A
Value
Data Type Float
See Also PL.FB (pg 621)
Start Version M_01-00-00-000

AKD BASIC Information

Data Type Integer

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
2285 No
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 570 Yes 64 bit No M_01-03-00-000

Description
PL.CMD reads the position command as it is received in the position loop entry.

Related Topics
PL.ERR (pg 613) | PL.ERRFTHRESH (pg 615) | PL.ERRMODE (pg 617) | PL.ERRWTHRESH (pg 619)

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AKD BASIC Programming Manual | 7.29.2 PL.ERR

7.29.2 PL.ERR
General Information
Type R/O Parameter
Reads the position error present when the drive is controlling the position
Description
loop.
Units counts, rad, deg, (custom units)
Range N/A
Default
N/A
Value
Data Type Float
See Also PL.FB (pg 621)
Start Version M_01-00-00-000

AKD BASIC Information

Data Type Integer

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
35C5h/0
CANopen M_01-00-00-000
60F4h/0
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2287 No
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 574 Yes 64 bit No M_01-03-00-000

Description
PL.ERR reads the position error present when the drive is controlling the position loop. PL.ERR is the dif-
ference between the actual position of the motor shaft (PL.FB (pg 621)) and the commanded position of
the drive (PL.CMD (pg 612)). If the drive is not in the position operating mode (DRV.OPMODE (pg 370) =
2), then the PL.ERR value is not generated by the drive and this parameter is read as 0.

Kollmorgen | May 2014 613

 AKD BASIC Programming Manual | 7.29.2 PL.ERR

AKD BASIC Notes

When you enable the position error interrupt (by setting INTR.PL.ERR=1), the Position
Error fault is disabled. In situations where it would have occurred, a position error inter-
rupt is generated instead.

Related Topics
PL.ERRFTHRESH (pg 615) | PL.ERRMODE (pg 617) | PL.ERRWTHRESH (pg 619)

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AKD BASIC Programming Manual | 7.29.3 PL.ERRFTHRESH

7.29.3 PL.ERRFTHRESH
General Information
Type NV Parameter
Description Sets the maximum position error.
Depends UNIT.ACCROTARY (pg 713) on or UNIT.ACCLINEAR (pg
712)
Units
Rotary: counts, rad, deg, (custom units), 16-bit counts
Linear: counts, mm, µm, (custom units), 16-bit counts
Rotary:
0.000 to 5,123,372,000,000,005.000 counts
0.000 to 7,495,067.136 rad
0.000 to 429,436,076.032 deg
0.000 to 5,964,389.888 (custom units)
0.000 to 78,176,452,636.718 16-bit counts
Range
Linear:
0.000 to 5,123,372,000,000,005.000 counts
0.000 to 1,192,877.952*MOTOR.PITCH (pg 570) mm
0.000 to 1,192,878,014.464*MOTOR.PITCH (pg 570) µm
0.000 to 5,964,389.888 (custom units)
0.000 to 78,176,452,636.718 16-bit counts
Rotary:
42,949,672,960.000 counts
62.832 rad
3,600.000 deg
50.000 (custom units)
Default 655,360.000 16-bit counts
Value Linear:
42,949,672,960.000 counts
10.000*MOTOR.PITCHMOTOR.PITCH (pg 570)mm
10,000.000*MOTOR.PITCH µm
50.000 (custom units)
655,360.000 16-bit counts
Data Type Float
See Also PL.ERR
Start Version M_01-00-00-000

AKD BASIC Information

Data Type Integer

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes

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 AKD BASIC Programming Manual | 7.29.3 PL.ERRFTHRESH

Variant Supported
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
35C7h/0
CANopen M_01-00-00-000
6065h/0
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2290 No
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 580 Yes 64 bit No M_01-03-00-000

Description
This parameter sets the maximum position error. If the position error PL.ERR (pg 613) is larger than
PL.ERRFTHRESH the drive generates a fault. If PL.ERRFTHRESH is set to 0, the maximum position
error is ignored.

Example
Set position rotary units to 2 (degrees). Setting PL.ERRFTHRESH to 1000 states that is the position error
is larger than 1000 degrees, the drive will generate a fault.
UNIT.PROTARY 2
PL.ERRFTHRESH 1000

Related Topics
PL.ERR (pg 613) | PL.ERRMODE (pg 617) | PL.ERRWTHRESH (pg 619)

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AKD BASIC Programming Manual | 7.29.4 PL.ERRMODE

7.29.4 PL.ERRMODE
General Information
Type NV Parameter
Description Sets the type of following error warning and fault usage.
0- Standard following error
Units
1-Enhanced following error
Range 0 to 1
Default
0
Value
Data Type Boolean
PL.ERR (pg 613), PL.ERRFTHRESH (pg 615), PL.ERRWTHRESH (pg
See Also
619)
Start Version M_01-02-09-000

AKD BASIC Information

Data Type Integer

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2289 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 578 No 8 bit No M_01-03-00-000

Description
PL.ERRMODE sets the type of following error warning and fault usage.
Mode 0 - following error magnitude fault
In Mode 0, the values of PL.ERRFTHRESH and PL.ERRWTHRESH are compared against the value of
PL.ERR. If the absolute value of PL.ERR is larger than PL.ERRWTHRESH, then a warning is generated.
If the absolute value of PL.ERR is larger than PL.ERRFTHRESH, then a fault is generated.
Mode 1 - deviation from predicted trajectory fault

Kollmorgen | May 2014 617

 AKD BASIC Programming Manual | 7.29.4 PL.ERRMODE

In Mode 1, the values of PL.ERRFTHRESH and PL.ERRWTHRESH are compared against the following
value:
<error> = abs(PL.ERR - [ ( VL.CMD – 1*VL.FF) / PL.KP ] )
If the absolute value of <error> is larger than PL.ERRWTHRESH for a consecutive period of 100 ms, then
a warning is generated. If the absolute value of <error> is larger than PL.ERRFTHRESH for a con-
secutive period of 100 ms, then a fault is generated.
In mode 1, if PL.KI is not 0 then the following error prediction mechanism is turned off. When the drive is
disabled, the following error limit tests are turned off and the warnings are cleared. A value of 0 in
PL.ERRFTHRESH or PL.ERRWTHRESH disables the respective functionality.

Example
Assuming
PL.ERRMODE = 0, PL.ERRFTHRESH=1.2, PL.ERRWTHRESH=1, then PL.ERR reads 1.1.
In this case the warning is generated, but the fault is not.
Assuming PL.ERRMODE = 0, PL.ERRFTHRESH=1.2, PL.ERRWTHRESH=1, then PL.ERR reads 1.3.
In this case the warning is generated, as well as the fault.

Related Topics
PL.ERR (pg 613) | PL.ERRFTHRESH (pg 615) | PL.ERRWTHRESH (pg 619)

618 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.29.5 PL.ERRWTHRESH

7.29.5 PL.ERRWTHRESH
General Information
Type NV Parameter
Description Sets the position error warning level.
Depends on UNIT.PLINEAR (pg 716) or UNIT.PROTARY (pg
718)
Units
Rotary: counts, rad, deg, (custom units), 16-bit counts
Linear: counts, mm, µm, (custom units), 16-bit counts
Rotary:
0.000 to 5,123,372,000,000,005.000 counts
0.000 to 7,495,067.136 rad
0.000 to 429,436,076.032 deg
0.000 to 5,964,389.888 (custom units)
0.000 to 78,176,452,636.718 16-bit counts
Range
Linear:
0.000 to 5,123,372,000,000,005.000 counts
0.000 to 1,192,877.952*MOTOR.PITCH (pg 570) mm
0.000 to 1,192,878,014.464*MOTOR.PITCH (pg 570) µm
0.000 to 5,964,389.888 (custom units)
0.000 to 78,176,452,636.718 16-bit counts
Default
0.000 deg
Value
Data Type Float
See Also PL.ERR (pg 613)
Start Version M_01-00-00-000

AKD BASIC Information

Data Type Integer

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information

Kollmorgen | May 2014 619

 AKD BASIC Programming Manual | 7.29.5 PL.ERRWTHRESH

Fieldbus Index/Subindex Object Start Version

EtherCAT COE and
CANopen 3483h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2292 No
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 584 Yes 64 bit No M_01-03-00-000

Description
If this value is not equal 0 and the position error PL.ERR (pg 613) is larger than this value, the drive will
generate a warning.
If PL.ERRWTHRESH is set to 0 the warning is not issued.

Example
Set position rotary units to 2 degrees. If you set PL.ERRWTHRESH to 100 and the position error is larger
than 100 degrees, then the drive will generate a warning.
UNIT.PROTARY 2
PL.ERRWTHRESH 100

Related Topics
PL.ERR (pg 613) | PL.ERRFTHRESH (pg 615) | PL.ERRMODE (pg 617)

620 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.29.6 PL.FB

7.29.6 PL.FB
General Information
Type R/O Parameter
Description Reads the position feedback value.
Depends on UNIT.PLINEAR (pg 716) or UNIT.PROTARY (pg 718)
Units Rotary: counts, rad, deg, (custom units), 16-bit counts
Linear: counts, mm, µm, (custom units), 16-bit counts
Range N/A
Default Value N/A
Data Type Float
See Also FB1.OFFSET
Start Version M_01-00-00-000

AKD BASIC Information

Data Type Integer

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 6064h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2294 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 588 Yes 64 bit Yes M_01-03-00-000

Description
PL.FB returns the position feedback value.

AKD BASIC Example

Kollmorgen | May 2014 621

 AKD BASIC Programming Manual | 7.29.6 PL.FB

Print PL.FB, MOVE.POSCOMMAND

MOVE.POSCOMMAND = 0
Print PL.FB, MOVE.POSCOMMAND

Related Topics
PL.ERR (pg 613) | PL.ERRFTHRESH (pg 615) | PL.ERRMODE (pg 617) | PL.ERRWTHRESH (pg 619)

622 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.29.7 PL.FBSOURCE

7.29.7 PL.FBSOURCE
General Information
Type NV Parameter
Sets the feedback source for the position
Description
loop.
Units N/A
Range will differ depending on drive model.
Range 0 to 1 (for AKD-x-xxxxx-NAxx-xxxx)
0 to 2 (for AKD-x-xxxxx-NBxx-xxxx)
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 592 No 8 bit No M_01-03-00-000

Description
This parameter determines the feedback source that the position loop uses. A value of 0 for this parameter
selects the primary feedback, a value of 1 selects the secondary feedback. If you use the secondary feed-
back as the source for the position loop, then FB2.MODE mode should be set as 0 (A/B signals). A/B sig-
nals are the only supported feedback type as secondary feedback into the position loop. Other settings for
FB2.MODE are intended as pulse inputs or a gearing command when PL.FBSOURCE remains 0.
0 Primary Feedback connected to X10.
1 Secondary Feedback (DRV.HANDWHEEL) connected to X7 or X9.
2 Tertiary Feedback connected to X9 (only supported with AKD-x-xxxxx-NBxx-xxxx).

Related Topics
PL.ERR (pg 613) | PL.ERRFTHRESH (pg 615) | PL.ERRMODE (pg 617) | PL.ERRWTHRESH (pg 619)

Kollmorgen | May 2014 623

 AKD BASIC Programming Manual | 7.29.8 PL.INTINMAX

7.29.8 PL.INTINMAX
General Information
Type NV Parameter
Limits the input of the position loop integrator by setting the input sat-
Description
uration.
Depends on UNIT.PLINEAR (pg 716) or UNIT.PROTARY (pg 718)
Units Rotary: counts, rad, deg, (custom units), 16-bit counts
Linear: counts, mm, µm, (custom units), 16-bit counts
Rotary:
0.000 to 18,446,744,073,709.000 counts
0.000 to 26,986.052 rad
0.000 to 1,546,188.288 deg
0.000 to 21,474.836 (custom units)
0.000 to 281,474,976.710 16-bit counts
Range
Linear:
0.000 to 18,446,744,073,709.000 counts
0.000 to 4,294.968*MOTOR.PITCH (pg 570) mm
0.000 to 4,294,967.296*MOTOR.PITCH (pg 570) µm
0.000 to 21,474.836 (custom units)
0.000 to 281,474,976.710 16-bit counts
Rotary:
3,999,989,760.000 counts
5.852 rad
335.275 deg
4.657 (custom units)
Default 61,035.000 16-bit counts
Value Linear:
3,999,989,760.000 counts
0MOTOR.PITCH (pg 570) mm
9MOTOR.PITCH (pg 570) µm
4.657 (custom units)
61,035.000 16-bit counts
Data Type Float
See Also PL.FB
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes

624 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.29.8 PL.INTINMAX

Variant Supported
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3481h/1 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2297 No
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 594 Yes 64 bit No M_01-03-00-000

Description
PL.INTINMAX limits the input of the position loop integrator by setting the input saturation. When used in
concert with PL.INSATOUT, this variable allows you to make the position loop integrator effective near
the target position. Far from the target position, however,the integrator is not dominant in the loop dynam-
ics.

Related Topics
PL.ERR (pg 613) | PL.ERRFTHRESH (pg 615) | PL.ERRMODE (pg 617) | PL.ERRWTHRESH (pg 619)

Kollmorgen | May 2014 625

 AKD BASIC Programming Manual | 7.29.9 PL.INTOUTMAX

7.29.9 PL.INTOUTMAX
General Information
Type NV Parameter
Limits the output of the position loop integrator by setting the output sat-
Description
uration.
Depends on UNIT.PLINEAR (pg 716) or UNIT.PROTARY (pg 718)
Units Rotary: counts, rad, deg, (custom units), 16-bit counts
Linear: counts, mm, µm, (custom units), 16-bit counts
Rotary:
0.000 to 18,446,744,073,709.000 counts
0.000 to 26,986.052 rad
0.000 to 1,546,188.288 deg
0.000 to 21,474.836 (custom units)
0.000 to 281,474,976.710 counts16 bit
Range
Linear:
0.000 to 18,446,744,073,709.000 counts
0.000 to 4,294.968*MOTOR.PITCH (pg 570) mm
0.000 to 4,294,967.296*MOTOR.PITCH µm
0.000 to 21,474.836 (custom units)
0.000 to 281,474,976.710 16-bit counts
Rotary:
3,999,989,760.000 counts
5.852 rad
335.275 deg
4.657 (custom units)
Default 61,035.000 16-bit counts
Value Linear:
3,999,989,760.000 counts
0MOTOR.PITCH (pg 570) mm
9MOTOR.PITCH (pg 570) µm
4.657 (custom units)
61,035.000 16-bit counts
Data Type Float
See Also PL.INTINMAX
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes

626 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.29.9 PL.INTOUTMAX

Variant Supported
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3481h/2 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2299 No
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 598 Yes 64 bit No M_01-03-00-000

Description
PL.INTOUTMAX limits the output of the position loop integrator by setting the output saturation.
When used in concert with PL.INTINMAX, this variable allows you to make the position loop integrator
effective near the target position. Far from the target position, however, the integrator is not dominant in
the loop dynamics.

Related Topics
PL.ERR (pg 613) | PL.ERRFTHRESH (pg 615) | PL.ERRMODE (pg 617) | PL.ERRWTHRESH (pg 619)

Kollmorgen | May 2014 627

 AKD BASIC Programming Manual | 7.29.10 PL.KI

7.29.10 PL.KI
General Information
Type NV Parameter
Sets the integral gain of the position
Description
loop.
Units Hz
Range 0 to 250 Hz
Default
0 Hz
Value
Data Type Float
See Also PL.KP, PL.KD
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3480h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2301 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 602 No 32 bit No M_01-03-00-000

Description
PL.KI sets the integral gain of the position regulator PID loop.

Related Topics
PL.ERR (pg 613) | PL.ERRFTHRESH (pg 615) | PL.ERRMODE (pg 617) | PL.ERRWTHRESH (pg 619)

628 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.29.11 PL.KP

7.29.11 PL.KP
General Information
Type NV Parameter
Sets the proportional gain of the position regulator PID
Description
loop.
Units (rev/s)/rev
Range 0 to 2,147,483.008 (rev/s)/rev
Default
100 rps/rev
Value
Data Type Float
See Also PL.KI (pg 628),
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3542h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2302 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 604 No 32 bit No M_01-03-00-000

Description
PL.KP sets the proportional gain of the position regulator PID loop.

Related Topics
PL.ERR (pg 613) | PL.ERRFTHRESH (pg 615) | PL.ERRMODE (pg 617) | PL.ERRWTHRESH (pg 619)

Kollmorgen | May 2014 629

 AKD BASIC Programming Manual | 7.29.12 PL.MODP1

7.29.12 PL.MODP1
General Information
Type R/W parameter
Description Sets modulo range parameter.
Depends on UNIT.PROTARY (pg 718) and UNIT.PLINEAR (pg
Units
716)
Range N/A
Default
N/A
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

AKD BASIC Information

Type R/O
Range 0

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3637h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2303 Yes
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 604 Yes 64 bit Yes M_01-03-00-000

Description
This parameter is either the beginning or the end of the modulo range, depending on whether this value is
smaller or larger than PL.MODP2. If you set PL.MODP1 equal to PL.MODP2, an error message occurs.

630 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.29.12 PL.MODP1

Condition Beginning of the modulo-range End of the modulo-range

PL.MODP1 < PL.MODP2 PL.MODP1 PL.MODP2
PL.MODP2 < PL.MODP1 PL.MODP2 PL.MODP1

Related Topics
PL.ERR (pg 613) | PL.ERRFTHRESH (pg 615) | PL.ERRMODE (pg 617) | PL.ERRWTHRESH (pg 619)

Kollmorgen | May 2014 631

 AKD BASIC Programming Manual | 7.29.13 PL.MODP2

7.29.13 PL.MODP2
General Information
Type R/W Parameter
Description Sets the beginning or end modulo range parameter.
Depends on UNIT.PROTARY (pg 718) and UNIT.PLINEAR (pg
Units
716)
Range N/A
Default
N/A
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

AKD BASIC Information

Data Type Integer

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3638h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2305 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 610 Yes 64 bit Yes M_01-03-00-000

Description
This parameter is either the beginning or the end of the modulo range, depending on whether this value is
smaller or larger than PL.MODP1 (pg 630).

632 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.29.13 PL.MODP2

Condition Beginning of the modulo range End of the modulo range

PL.MODP1 < PL.MODP2 PL.MODP1 PL.MODP2
PL.MODP2 < PL.MODP1 PL.MODP2 PL.MODP1

Related Topics
PL.ERR (pg 613) | PL.ERRFTHRESH (pg 615) | PL.ERRMODE (pg 617) | PL.ERRWTHRESH (pg 619)

Kollmorgen | May 2014 633

 AKD BASIC Programming Manual | 7.29.14 PL.MODPDIR

7.29.14 PL.MODPDIR
General Information
Type R/W Parameter
Sets the direction for absolute motion
Description
tasks.
Units N/A
Range 0 to 2
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3430h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Byte
2307 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 614 No 8 bit No M_01-03-00-000

Description
This parameter defines the direction of an absolute motion task when the modulo position has been activ-
ated. For more details about absolute motion tasks, see .. For absolute motion tasks, you can only select
a target position within the modulo range.
PL.MODPDIR Settings

634 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.29.14 PL.MODPDIR

Value Motion Description

The motor moves in a negative direction if the target position of the absolute motion
Inside
0 task is less than the current position. The motor moves in positive direction if the tar-
Range
get position of the absolute motion task is greater than the current position.
The motor always moves in a positive direction relative to the target position of the
1 Positive
absolute motion task.
The motor always moves in a negative direction relative to the target position of the
2 Negative
absolute motion task.
Shortest The motor always moves the shortest distance in order to reach the target position
3
Distance within the modulo-range.

Kollmorgen | May 2014 635

 AKD BASIC Programming Manual | 7.29.15 PL.MODPEN

7.29.15 PL.MODPEN
General Information
Type R/W Parameter
Enables the modulo pos-
Description
ition.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 35CFh/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Byte
2308 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 616 No 8 bit No M_01-03-00-000

Description
A value of 0 disables the modulo-position and a value of 1 enables the modulo-position feature. The mod-
ulo-position feature can be used for circular applications such as round tables.
The position loop of the drive uses always a linear position variable but the data-exchange between the
user and the drive uses the modulo-position calculation in order to convert values from linear format into
modulo format and vice versa.
The following figure shows the interface between the user and the drive for PL.MODPEN=1:

636 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.29.15 PL.MODPEN

Kollmorgen | May 2014 637

 AKD BASIC Programming Manual | 7.30 PLS Parameters

7.30 PLS Parameters

This section describes the PLS parameters.

7.30.1 PLS.EN 639

7.30.2 PLS.MODE 641
7.30.3 PLS.P1 TO PLS.P8 643
7.30.4 PLS.RESET 645
7.30.5 PLS.STATE 647
7.30.6 PLS.T1 TO PLS.T8 649
7.30.7 PLS.UNITS 651
7.30.8 PLS.WIDTH1 TO PLS.WIDTH8 654

638 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.30.1 PLS.EN

7.30.1 PLS.EN
General Information
Type R/W Parameter
Description Enables programmable limit switch (PLS).
Units N/A
Range 0 to 255
Default
0
Value
Data Type Integer
PLS.MODE (pg 641), PLS.RESET, PLS.STATE, PLS.UNITS, PLS.P1 to PLS.P8,
See Also
PLS.WIDTH1 to PLS.WIDTH8, PLS.T1 to PLS.T8
Start Ver-
M_01-02-03-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 34A3h/1 M_01-02-03-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
® 2309 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 618 No 16 bit No M_01-03-00-000

Description
PLS.EN is a bit variable which determines the mode of an individual PLS. Eight PLSs are available in the
drive.

Example

Kollmorgen | May 2014 639

 AKD BASIC Programming Manual | 7.30.1 PLS.EN

Bit Value Behavior

Bit 0 = Disables PLS
0 1
Bit 0 =
Enables PLS 1
1
Bit 7 = Disables PLS
0 8
Bit 7 =
Enables PLS 8
1

640 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.30.2 PLS.MODE

7.30.2 PLS.MODE
General Information
Type R/W Parameter
Description Selects programmable limit switch mode.
Units N/A
Range 0 to 255
Default
0
Value
Data Type Integer
PLS.EN, PLS.RESET, PLS.STATE, PLS.UNITS, PLS.P1 to PLS.P8, PLS.WIDTH1 to
See Also
PLS.WIDTH8, PLS.T1 to PLS.T8
Start Ver-
M_01-02-03-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 34A3h/3 M_01-02-03-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
® 2310 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 620 No 16 bit No M_01-03-00-000

Description
PLS.MODE is a bit variable which determines the mode of an individual PLS. Eight PLSs are available in
the drive.

Example

Kollmorgen | May 2014 641

 AKD BASIC Programming Manual | 7.30.2 PLS.MODE

Bit
Behavior
Value
Bit 0
PLS 1 is monitored continuously.
=0
Bit 0 PLS 1 is monitored until it is triggered once (single-shot method). The PLS observation can be
=1 re-armed using the PLS.RESET command.
Bit 7
PLS 8 is monitored continuously.
=0
Bit 7 PLS 8 is monitored until it is triggered once (single-shot method). The PLS observation can be
=1 re-armed using the PLS.RESET command.

642 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.30.3 PLS.P1 TO PLS.P8

7.30.3 PLS.P1 TO PLS.P8

General Information
Type R/W Parameter
Description Sets the trigger point for programmable limit switches.
Depends on UNIT.PROTARY (pg 718) or UNIT.PLINEAR (pg
Units
716)
Range N/A
Default
0
Value
Data Type Float
See Also UNIT.PROTARY (pg 718)
Start Version M_01-02-03-000

AKD BASIC Information

Data Type Integer

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
34A0h/1 PLS.P1
34A0h/2 PLS.P2
34A0h/3 PLS.P3
EtherCAT COE and CANopen 34A0h/4 PLS.P4
M_01-02-03-000
CANopen 34A0h/5 PLS.P5
34A0h/6 PLS.P6
34A0h/7 PLS.P7
34A0h/8 PLS.P8

Kollmorgen | May 2014 643

 AKD BASIC Programming Manual | 7.30.3 PLS.P1 TO PLS.P8

Paramter Fieldbus Address Attributes Signed?

Profinet DWord
PLS.P1 ® 2311
sercos III 8 Octets
Profinet DWord
PLS.P2 2313
sercos® III 8 Octets
Profinet DWord
PLS.P3 2315
sercos® III 8 Octets
Profinet DWord
PLS.P4 2317
sercos® III 8 Octets
Yes
Profinet DWord
PLS.P5 2319
sercos® III 8 Octets
Profinet DWord
PLS.P6 2321
sercos® III 8 Octets
Profinet DWord
PLS.P7 2323
sercos® III 8 Octets
Profinet DWord
PLS.P8 2325
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

622 PLS.P1
626 PLS.P2
630 PLS.P3
634 PLS.P4
Modbus Yes 64 bit Yes M_01-03-00-000
638 PLS.P5
642 PLS.P6
646 PLS.P7
650 PLS.P8

Description
PLS.P1 to PLS.P8 define the trigger point of the PLS. For further information about how these parameters
affect PLS behavior, see the PLS.UNITS parameter description.

644 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.30.4 PLS.RESET

7.30.4 PLS.RESET
General Information
Type R/O Parameter
Description Resets programmable limit switch.
Units N/A
Range 0 to 255
Default
N/A
Value
Data Type Integer
PLS.EN, PLS.MODE, PLS.STATE, PLS.UNITS, PLS.Px (x=1…8), PLS.WIDTHx
See Also
(x=1…8), PLS.Tx (x=1…8)
Start Ver-
M_01-02-03-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 34A3h/2 M_01-02-03-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
® 2327 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 654 No 16 bit No M_01-03-00-000

Description
This parameter is a bit variable and is used in order to re-arm the corresponding PLS.STATE observation
for another single-shot PLS use (see also PLS.MODE).

Example

Kollmorgen | May 2014 645

 AKD BASIC Programming Manual | 7.30.4 PLS.RESET

Bit Value Behavior

Bit 0 = The PLS 1 observation (PLS.STATE bit 0) is not re-
0 armed.
Bit 0 =
The PLS 1 observation (PLS.STATE bit 0) is re-armed.
1
Bit 7 = The PLS 8 observation (PLS.STATE bit 7) is not re-
0 armed.
Bit 7 =
The PLS 8 observation (PLS.STATE bit 7) is re-armed.
1

646 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.30.5 PLS.STATE

7.30.5 PLS.STATE
General Information
Type R/O Parameter
Description Reads the programmable limit switch state.
Units N/A
Range N/A
Default
N/A
Value
Data Type Integer
PLS.EN, PLS.RESET, PLS.UNITS, PLS.MODE, PLS.P1 TO PLS.P8, PLS.WIDTH1
See Also
TO PLS.WIDTH8, PLS.T1 TO PLS.T8
Start Ver-
M_01-02-03-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 34A3h/4 M_01-02-03-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
® 2328 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 656 No 16 bit No M_01-03-00-000

Description
This parameter is a bit variable and displays the current status of the individual programmable limit
switches.

Example
Bit 0 = 0: Programmable Limit Switch 1 (PLS 1) is not active.
Bit 0 = 1: Programmable Limit Switch 1 (PLS 1) is active.

Kollmorgen | May 2014 647

 AKD BASIC Programming Manual | 7.30.5 PLS.STATE

Bit 7 = 0: Programmable Limit Switch 8 (PLS 8) is not active.

Bit 7 = 1: Programmable Limit Switch 8 (PLS 8) is not active.

648 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.30.6 PLS.T1 TO PLS.T8

7.30.6 PLS.T1 TO PLS.T8

General Information
Type R/W parameter
Description Sets programmable limit switch time
Units ms
Range 0 to 65,536 ms
Default
500 ms
Value
Data Type Integer
PLS.EN, PLS.RESET, PLS.STATE, PLS.UNITS, PLS.MODE, PLS.WIDTH1 TO
See Also
PLS.WIDTH8, PLS.P1 TO PLS.P8
Start Ver-
M_01-02-03-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
34A2h/1 PLS.T1
34A2h/2 PLS.T2
34A2h/3 PLS.T3
EtherCAT COE and
34A2h/4 PLS.T4
CANopen M_01-02-03-000
34A2h/5 PLS.T5
CANopen
34A2h/6 PLS.T6
34A2h/7 PLS.T7
34A2h/8 PLS.T8

Kollmorgen | May 2014 649

 AKD BASIC Programming Manual | 7.30.6 PLS.T1 TO PLS.T8

Paramter Fieldbus Address Attributes Signed?

Profinet Word
PLS.T1 ® 2329
sercos III 2 Octets
Profinet Word
PLS.T2 2330
sercos® III 2 Octets
Profinet Word
PLS.T3 2331
sercos® III 2 Octets
Profinet Word
PLS.T4 2332
sercos® III 2 Octets
No
Profinet Word
PLS.T5 2333
sercos® III 2 Octets
Profinet Word
PLS.T6 2334
sercos® III 2 Octets
Profinet Word
PLS.T7 2335
sercos® III 2 Octets
Profinet Word
PLS.T8 2336
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

658 PLS.T1
660 PLS.T2
662 PLS.T3
664 PLS.T4
Modbus No 16 bit No M_01-03-00-000
666 PLS.T5
668 PLS.T6
670 PLS.T7
672 PLS.T8

Description
These parameters define the time of the PLS pulse for time-based PLS handling.
For further information about the PLS functionality, especially the meaning of the PLS.T1 to PLS.T8 para-
meter, refer to the PLS.UNITS parameter.

650 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.30.7 PLS.UNITS

7.30.7 PLS.UNITS
General Information
Type R/W parameter
Description Sets programmable limit switch (PLS) units.
Units N/A
Range 0 to 255
Default
0
Value
Data Type Integer
PLS.EN (pg 639), PLS.RESET (pg 645), PLS.STATE (pg 647), PLS.MODE (pg 641),
See Also PLS.P1 TO PLS.P8 (pg 643)PLS.WIDTH1 TO PLS.WIDTH8 (pg 654), PLS.T1 TO
PLS.T8 (pg 649)
Start Ver-
M_01-02-03-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 34A4h/0 M_01-02-03-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Byte
® 2337 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 674 No 8 bit No M_01-03-00-000

Description
PLS.UNITS is a bit variable which determines the behavior of the eight PLSs available in the drive. This
parameter is used to select the units for the PLS pulse.

Examples

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 AKD BASIC Programming Manual | 7.30.7 PLS.UNITS

Bit Value Behavior

The PLS.STATE parameter displays an active PLS 1 when the position is within
Bit 0 = 0 the range of PLS.P1 + PLS.WIDTH1
Position-based PLS (PLS.P1 <= PL.FB <= PLS.P1+PLS.WIDTH1).
handling. When the parameter PLS.WIDTH1 has been set to the value of 0, this bit will be
activated as soon as PLS.FB >= PL.P1.
Bit 0 = 1
After PLS.P1 is crossed, the PLS.STATE parameter displays an active PLS 1
Time-based PLS
for a PLS.T1 ms period of time.
handling.
The PLS.STATE parameter displays an active PLS
Bit 7 = 0 8 when the position is within the range of PLS.P8 + PLS.WIDTH8
Position-based PLS (PLS.P8 <= PL.FB <= PLS.P8+PLS.WIDTH8).
handling. When the parameter PLS.WIDTH8 has been set to the value of 0, this bit will be
activated as soon as PLS.FB >= PL.P8.
Bit 7 = 1
After PLS.P8 has been crossed. the PLS.STATE parameter displays an active
Time-based PLS
PLS 8 for a PLS.T8 ms period of time.
handling.

Continuous position-based PLS handling

PLS.P1 = 720
PLS.WIDTH1 = 360
PLS.UNITS bit 0 (for PLS 1) = low; PLS.T1 is not considered.
PLS.EN bit 0 (for PLS 1) = high
PLS.MODE bit 0 (for PLS 1) = low

Time-based PLS handling

PLS.P1 = 720
PLS.T1 = 10
PLS.UNITS bit 0 (for PLS 1) = low; PLS.WIDTH1 is not considered.
PLS.EN bit 0 (for PLS 1) = high
PLS.MODE bit 0 (for PLS 1) = low

652 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.30.7 PLS.UNITS

Kollmorgen | May 2014 653

 AKD BASIC Programming Manual | 7.30.8 PLS.WIDTH1 TO PLS.WIDTH8

7.30.8 PLS.WIDTH1 TO PLS.WIDTH8

General Information
Type R/W parameter
Description Programmable Limit Switch Width
Units Depends on UNIT.PROTARY (pg 718) or UNIT.PLINEAR (pg 716)
Range N/A
Default
0
Value
Data Type Float
PLS.EN, PLS.RESET, PLS.STATE, PLS.UNITS, PLS.MODE, PLS.P1 TO PLS.P8,
See Also
PLS.T1 TO PLS T8
Start Ver-
M_01-02-03-000
sion

AKD BASIC Information

Data Type Integer

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
34A1h/1 PLS.WIDTH1
34A1h/2 PLS.WIDTH2
34A1h/3 PLS.WIDTH3
EtherCAT COE and
34A1h/4 PLS.WIDTH4
CANopen M_01-02-03-000
34A1h/5 PLS.WIDTH5
CANopen
34A1h/6 PLS.WIDTH6
34A1h/7 PLS.WIDTH7
34A1h/8 PLS.WIDTH8

654 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.30.8 PLS.WIDTH1 TO PLS.WIDTH8

Paramter Fieldbus Address Attributes Signed?

Profinet DWord
PLS.WIDTH1 ® 2338
sercos III 8 Octets
Profinet DWord
PLS.WIDTH2 2340
sercos® III 8 Octets
Profinet DWord
PLS.WIDTH3 2342
sercos® III 8 Octets
Profinet DWord
PLS.WIDTH4 2344
sercos® III 8 Octets
Yes
Profinet DWord
PLS.WIDTH5 2346
sercos® III 8 Octets
Profinet DWord
PLS.WIDTH6 2348
sercos® III 8 Octets
Profinet DWord
PLS.WIDTH7 2350
sercos® III 8 Octets
Profinet DWord
PLS.WIDTH8 2352
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

676 PLS.WIDTH1
680 PLS.WIDTH2
684 PLS.WIDTH3
688 PLS.WIDTH4
Modbus Yes 64 bit Yes M_01-03-00-000
692 PLS.WIDTH5
696 PLS.WIDTH6
700 PLS.WIDTH7
704 PLS.WIDTH8

Description
These parameter define the width of the PLS pulse for position-based PLS handling. For further inform-
ation about the PLS functionality, especially the meaning of the PLS.WIDTH1 to PLS.WIDTH8 para-
meter, refer to the PLS.UNITS parameter.

Kollmorgen | May 2014 655

 AKD BASIC Programming Manual | 7.31 REC Parameters

7.31 REC Parameters

This section describes the REC parameters.

7.31.1 REC.ACTIVE 657

7.31.2 REC.CH1 to REC.CH6 658
7.31.3 REC.DONE 659
7.31.4 REC.GAP 660
7.31.5 REC.NUMPOINTS 661
7.31.6 REC.OFF 662
7.31.7 REC.RECPRMLIST 663
7.31.8 REC.RETRIEVE 664
7.31.9 REC.RETRIEVEDATA 665
7.31.10 REC.RETRIEVEFRMT 667
7.31.11 REC.RETRIEVEHDR 668
7.31.12 REC.RETRIEVESIZE 669
7.31.13 REC.STOPTYPE 670
7.31.14 REC.TRIG 671
7.31.15 REC.TRIGPARAM 672
7.31.16 REC.TRIGPOS 673
7.31.17 REC.TRIGPRMLIST 675
7.31.18 REC.TRIGSLOPE 676
7.31.19 REC.TRIGTYPE 677
7.31.20 REC.TRIGVAL 678

656 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.31.1 REC.ACTIVE

7.31.1 REC.ACTIVE
General Information
Type R/O Parameter
Indicates if data recording is in progress (act-
Description
ive).
Units N/A
Range 0 to 1
Default
N/A
Value
Data Type Integer
See Also REC.DONE (pg 659), REC.OFF (pg 662)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2354 No
sercos III 2 Octets

Description
REC.ACTIVE indicates whether or not data recording is in progress. Recording is in progress if the trigger
was met and the recorder is recording all data.

Kollmorgen | May 2014 657

 AKD BASIC Programming Manual | 7.31.2 REC.CH1 to REC.CH6

7.31.2 REC.CH1 to REC.CH6

General Information
Type R/W Parameter
Sets recording channels 1 to
Description
6.
Units N/A
Range N/A
CH1 = IL.FB
CH2 = IL.CMD
Default CH3 = VL.FB
Value CH4 = Empty
CH5 = Empty
CH6 = Empty
Data Type String
See Also REC.TRIG (pg 671)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
REC.CHx specifies the recording channels.
There are 3 options to set the recording channels values:
l Set 0, CLR, or CLEAR. This setting clears the recording channel.
l Set one of the recordable commands. The list of recordable commands can be obtain
by executing REC.RECPRMLIST (pg 663).
l Set an internal value or variable of the drive (same as for DRV.MEMADDR (pg 359)
input).

658 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.31.3 REC.DONE

7.31.3 REC.DONE
General Information
Type R/O Parameter
Checks whether or not the recorder has finished record-
Description
ing.
Units N/A
Range 0 to 1
Default
N/A
Value
Data Type Integer
See Also REC.ACTIVE, REC.OFF
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2355 No
sercos III 2 Octets

Description
REC.DONE indicates that the recorder has finished recording. This value is reset to 0 when the recorder
trigger is set. The drive also resets this value when the recording has finished or when REC.OFF is
executed.

Kollmorgen | May 2014 659

 AKD BASIC Programming Manual | 7.31.4 REC.GAP

7.31.4 REC.GAP
General Information
Type R/W Parameter
Specifies the gap between consecutive
Description
samples.
Units N/A
Range 1 to 65,535
Default
1
Value
Data Type Integer
See Also REC.TRIG (pg 671)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2356 No
sercos III 2 Octets

Description
REC.GAP specifies the gap between consecutive samples. The recording base rate is 16 kHz, thus a
gap of 1 means that a sample is recorded every 62.5 µs.

660 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.31.5 REC.NUMPOINTS

7.31.5 REC.NUMPOINTS
General Information
Type R/W Parameter
Sets the number of points to
Description
record.
Units N/A
Range 1 to 65,535
Default
1,000
Value
Data Type Integer
See Also REC.TRIG (pg 671)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2357 No
sercos III 2 Octets

Description
REC.NUMPOINTS specifies the number of points (samples) to record.

Kollmorgen | May 2014 661

 AKD BASIC Programming Manual | 7.31.6 REC.OFF

7.31.6 REC.OFF
General Information
Type R/W Parameter
Description Turns the recorder OFF.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
REC.ACTIVE,
See Also
REC.DONE
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet
2358 Command No
sercos® III

Description
REC.OFF turns the recorder off. In order to set the recorder again, the recorder must first be armed and
then a trigger set.

662 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.31.7 REC.RECPRMLIST

7.31.7 REC.RECPRMLIST
General Information
Type R/O Parameter
Reads the list of recordable para-
Description
meters.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
See Also REC.CH1 to REC.CH6 (pg 658)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
This command returns the list of recordable parameters. You can use a recordable parameter as an input
to any of the recording channels.
Note that an internal address or a registered variable can be used as input to any of the channels in addi-
tion to the list.

Kollmorgen | May 2014 663

 AKD BASIC Programming Manual | 7.31.8 REC.RETRIEVE

7.31.8 REC.RETRIEVE
General Information
Type R/O Parameter
Transfers all the recorded data to the communication chan-
Description
nel.
Units N/A
Range N/A
Default
N/A
Value
Data Type String
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
REC.RETRIEVE causes the drive to transfer all the recorded data to the communication channel.

Example
The following format is the retrieve reply format (for N samples, G sample gap, and M parameters, where
M<=6):
Recording
<N>,<G>
<parameter name 1> … <parameter name M>
Value11 … Value1M
Value N1 … ValueNM

664 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.31.9 REC.RETRIEVEDATA

7.31.9 REC.RETRIEVEDATA
General Information
Type R/W Parameter
Description Retrieves the recorded data without the header.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
REC.RETRIEVE, REC.RETRIEVEHDR,
See Also
REC.RETRIEVESIZE
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
REC.RETRIEVEDATA retrieves a section of recorded data according to REC.RETRIEVESIZE from the
received index; if no index is received, the drive retrieves the data from next section. An index is supplied
to enable multiple retrieves and to give better control on the buffer in case of overflow. If no index or a neg-
ative value is present, then the index is ignored.
WorkBench uses this parameter to retrieve the data continuously for real time recoding.
The size of the data returned by this command depends on the number set by REC.RETRIEVESIZE.
Use REC.RETRIEVE for complete recording information view.
Notes:
l If REC.RETRIEVESIZE is larger than the buffer size, then it simply returns the
whole buffer (no error).
l If the index is received, the data will be continuously returned starting from the given
index (default starting index is 0).
l If the index is out of the bounds of the buffer, then it will be ignored.
l If recorder is active and REC.STOPTYPE==0, then this parameter returns an error.
l If REC.STOPTYPE==1, then this parameter returns the next section of data in the
buffer (even if it reached the end of the buffer, it will return to the beginning of the buf-
fer and add the data from index 0.)

Kollmorgen | May 2014 665

 AKD BASIC Programming Manual | 7.31.9 REC.RETRIEVEDATA

l If REC.STOPTYPE==1 and the retrieve is too slow (gets overrun by the recorder),
an overflow error message is returned instead of the retrieved data.
l If REC.STOPTYPE==0 and no index is received, continuously send the sections of
data until the end of the buffer is reached. Then, return to the beginning of buffer and
continue.
l A new REC.TRIG (pg 671) command automatically sets the index to 0.

Example
The following example retrieves data from index 100 in the size of 10 (hence places 100 to 109 in the buf-
fer)
REC.NUMPOINTS 1000
REC.RETRIVESIZE 10
REC.TRIG
REC.RETRIEVEDATA 100

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AKD BASIC Programming Manual | 7.31.10 REC.RETRIEVEFRMT

7.31.10 REC.RETRIEVEFRMT
General Information
Type R/W Parameter
Description Sets the format for recorded data output.
Units N/A
Range 0 to 1; 0 = Standard format, 1 = Internal format (high speed)
Default
1
Value
Data Type Integer
REC.RETRIEVE (pg 664), REC.RETRIEVEDATA (pg
See Also
665)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
Recorded data is transferred to the communication channel in one of two formats: standard or internal high
speed. The standard (slower) format cannot be used for continuous recording, but is more easily read. The
high speed format allows continuous data recording (needed for autotuning). WorkBench supports both
formats.

Example
The following recorder data is in standard format:
10,1
IL.FB,VL.CMD,VL.FB
-0.086,0.000,2.661
0.000,0.000,3.605
0.029,0.000,-0.486

The following recorder data is in internal format:

10,1
IL.FB,VL.CMD,VL.FB
F3-0x56,F30x0,F30xA65
F30x0,F30x0,F30xE15
F30x1D,F30x0,F3-0x1E6

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 AKD BASIC Programming Manual | 7.31.11 REC.RETRIEVEHDR

7.31.11 REC.RETRIEVEHDR
General Information
Type R/O Parameter
Retrieves the recorded header without the
Description
data.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
See Also REC.RETRIEVE, REC.RETRIEVEDATA
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
This command retrieves the recorded header without the data of the recording.
WorkBench uses this parameter to retrieve the header once before continuously reading the data for RT
recoding.
Use REC.RETRIEVE for complete recording information view.

668 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.31.12 REC.RETRIEVESIZE

7.31.12 REC.RETRIEVESIZE
General Information
Type R/W Parameter
Sets the number of samples that REC.RETRIEVEDATA
Description
returns.
Units recorder samples
Range 0 to 65,535 recorder samples
Default
1,000 recorder samples
Value
Data Type Integer
REC.RETRIEVEDATA (pg 665), REC.RETRIEVEHDR (pg
See Also
668)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
This parameter sets the number of samples that REC.RETRIEVEDATA (pg 665) returns.
WorkBench also uses this parameter to set the number of samples returned when retrieving the data con-
tinuously for RT recoding.
Use REC.RETRIEVE (pg 664) for the complete recording information view.

Kollmorgen | May 2014 669

 AKD BASIC Programming Manual | 7.31.13 REC.STOPTYPE

7.31.13 REC.STOPTYPE
General Information
Type R/W Parameter
Sets the recorder stop
Description
type.
Units N/A
Range 0 or 1
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2359 No
sercos III 2 Octets

Description
This parameter sets the stop type for the recording.
0 = Recorder fills in the buffer once.
1 = Recorder runs, continuously filling the recording circular buffer.
To stop RT recording, execute REC.OFF.

670 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.31.14 REC.TRIG

7.31.14 REC.TRIG
General Information
Type Command
Triggers the
Description
recorder.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet
2360 Command No
sercos® III

Description
REC.TRIG starts the trigger according to the trigger type defined by REC.TRIGTYPE.
REC.TRIG sets the value of REC.DONE to 0.
After calling REC.TRIG, the data that was recorded by previous recording is deleted and cannot be
retrieved.
No REC parameters can be set after a call to REC.TRIG until the recorder has finished or until REC.OFF
is executed.

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 AKD BASIC Programming Manual | 7.31.15 REC.TRIGPARAM

7.31.15 REC.TRIGPARAM
General Information
Type R/W Parameter
Sets the parameter that triggers the
Description
recorder.
Units N/A
Range N/A
Default
IL.FB
Value
Data Type String
See Also REC.TRIG
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
REC.TRIGPARAM sets the parameter on which the recorder triggers.
This parameter is only used when REC.TRIGTYPE = 2.
Input values are:
1. One of the set drive parameters list that can be set as a trigger. The available para-
meters for trigger are: PL.ERR (pg 613), PL.CMD, PL.FB, VL.CMD, VL.FB,
IL.CMD, and IL.FB.
2. Internal value or variable of the drive (same as for DRV.MEMADDR input).

672 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.31.16 REC.TRIGPOS

7.31.16 REC.TRIGPOS
General Information
Type R/W Parameter
Description Sets the trigger position in the recording buffer.
Units %
Range 1 to 100%
Default
10%
Value
Data Type Integer
REC.TRIG (pg 671), REC.NUMPOINTS (pg
See Also
661)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2361 No
sercos III 2 Octets

Description
REC.TRIGPOS sets the trigger position in the recording buffer. The recording buffer size is defined by
REC.NUMPOINTS. The input value is a percentage of the buffer (that is, a value of 25 means saving
25% of the buffer data before the trigger occurs and 75% after it occurs). This parameter is only used
when REC.TRIGTYPE = 2 or 3.
Trigger Position
Trigger position (REC.TRIGPOS) allows you to collect data that occurs before the trigger occurs. In some
instances, you may want to see the conditions prior to the trigger. Trigger position lets you control how
much signal is collected before the trigger condition occurred .
Trigger position is specified in units of percent (%). If you specify a trigger position of x% , then x% of the
data is before 0 ms in the data time and 100-x% (the rest of the data) is at or greater than 0 ms. In the fig-
ure below, the trigger position is set to 25% (REC.TRIGPOS 25).
In the WorkBench scope, the 0 time point is clear. When collecting the data using REC.RETRIEVE or
similar commands, the time is not returned, so some caution should be used when the trigger point is
important to understand.

Kollmorgen | May 2014 673

 AKD BASIC Programming Manual | 7.31.16 REC.TRIGPOS

674 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.31.17 REC.TRIGPRMLIST

7.31.17 REC.TRIGPRMLIST
General Information
Type R/O Parameter
Reads the list of possible trigger para-
Description
meters.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
See Also REC.TRIGPARAM
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Description
This command returns the list of trigger parameters. Each one of those parameters can serve as the trig-
ger parameter (input to REC.TRIGPARAM).
Note that an internal address or a registered variable can be used as input to REC.TRIGPARAM in addi-
tion to the list that this parameter returns.

Kollmorgen | May 2014 675

 AKD BASIC Programming Manual | 7.31.18 REC.TRIGSLOPE

7.31.18 REC.TRIGSLOPE
General Information
Type R/W Parameter
Description Sets the trigger slope.
0 = Negative
Units
1 = Positive
Range 0 to 1
Default
0
Value
Data Type Integer
REC.TRIG,
See Also
REC.NUMPOINTS
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2363 No
sercos III 2 Octets

Description
REC.TRIGSLOPE sets the recorder trigger slope. This parameter is only used when REC.TRIGTYPE =
2 or 3.

676 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.31.19 REC.TRIGTYPE

7.31.19 REC.TRIGTYPE
General Information
Type R/W Parameter
Sets the trigger
Description
type.
0 = immediate
1 = command
Units
2 = parameter
3 = boolean
Range 0 to 2
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
2364 No
sercos® III 2 Octets

Description
REC.TRIGTYPE sets the type of trigger.
Input values are as follows:
Value Description
0 Recording starts immediately
Recording starts on the next command executed through the TCP/IP. The trigger location in the
1
buffer is set according to REC.TRIGPOS.
Recording starts per the values of REC.TRIGPARAM, REC.TRIGVAL, REC.TRIGSLOPE, and
2
REC.TRIGPOS.
Recording starts when the value of REC.TRIGPARAM is 0 for REC.TRIGSLOPE = 0 or 1 for
3
REC.TRIGSLOPE = 1

Kollmorgen | May 2014 677

 AKD BASIC Programming Manual | 7.31.20 REC.TRIGVAL

7.31.20 REC.TRIGVAL
General Information
Type R/W Parameter
Description Sets the trigger value.
The units of the parameter are chosen according to the unit
Units
type.
Range 0 to 2
Default
0
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2365 Yes
sercos III 8 Octets

Description
REC.TRIGVAL is the value that must be met by REC.TRIGPARAM for the trigger to occur. The units of
this parameter are set according to the units of REC.TRIGPARAM.

678 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.32 REGEN Parameters

7.32 REGEN Parameters

This section describes the REGEN parameters.

7.32.1 REGEN.POWER 680

7.32.2 REGEN.REXT 681
7.32.3 REGEN.TEXT 682
7.32.4 REGEN.TYPE 684
7.32.5 REGEN.WATTEXT 685

Kollmorgen | May 2014 679

 AKD BASIC Programming Manual | 7.32.1 REGEN.POWER

7.32.1 REGEN.POWER
General Information
Type R/O parameter
Reads regen resistor's calculated
Description
power.
Units Watt
Range N/A
Default
N/A
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3416h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2367 No
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 734 Yes 64 bit No M_01-03-00-000

Description
This parameter reads regen resistor's calculated power, which is determined as follows:
(V2 / R) * DutyCycle

680 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.32.2 REGEN.REXT

7.32.2 REGEN.REXT
General Information
Type NV Parameter
Sets the external, user-defined regen resistor res-
Description
istance.
Units Ω
Range 0 to 255 Ω
Default
0Ω
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 35C2h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
2369 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 738 No 16 bit No M_01-03-00-000

Description
REGEN.REXT sets the external user-defined regen resistor resistance. This variable is needed for the
regen resistor temperature estimation algorithm.

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 AKD BASIC Programming Manual | 7.32.3 REGEN.TEXT

7.32.3 REGEN.TEXT
General Information
Type R/W Parameter
Sets the external regen resistor thermal protection time con-
Description
stant.
Units Seconds
Range 0.1 to 1,200 Seconds
Default
100 Seconds
Value
Data Type Float
See Also REGEN.WATTEXT (pg 685), REGEN.REXT (pg 681)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3415h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2370 No
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 740 No 32 bit No M_01-03-00-000

Description
REGEN.TEXT is the time-to-fault when input power steps from 0 to 150% of REGEN.WATTEXT.
REGEN.TEXT sets the thermal time constant of the algorithm used to protect the regeneration resistor
from overheating and failing. The drive's regen resistor protection algorithm continuously calculates the
power dissipated in the resistor and processes that power value through a single pole low pass filter to
model the regen resistor's thermal inertia. When the filtered regen power on the output of the filter
(REGEN.POWERFILTERED) exceeds REGEN.WATTEXT, a fault occurs. REGEN.TEXT sets the time
constant of this thermal inertial filter = (REGEN.TEXT/1.1).

682 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.32.3 REGEN.TEXT

REGEN.TEXT can often be found directly on power resistor data sheets. On the data sheet find the peak
overload curve and then find the safe allowed time to be at 150% of the regen resistor's continuous power
rating. Set REGEN.TEXT to this value in seconds. Another way regen resistor peak overload capability is
often specified is by giving the energy rating in joules of the resistor. If you have the energy rating joule
limit E then:
REGEN.TEXT = (1.1)*((E in joules)/REGEN.WATTEXT)

Example
The external regen resistor is rated for 250 W continuous, is 33 ohm, and has a joule rating of 500 joules.
To use this resistor, the drive settings become:
REGEN.TYPE = -1 (External Regen)
REGEN.REXT = 33
REGEN.WATTEXT = 250
REGEN.TEXT = (1.1)*(500 j)/(250 W) = 2.2 sec

Kollmorgen | May 2014 683

 AKD BASIC Programming Manual | 7.32.4 REGEN.TYPE

7.32.4 REGEN.TYPE
General Information
Type NV Parameter
Function Sets the regen resistor type.
WorkBench Location (Screen/Dialog Power/Regen Resistor
Box) Type
Units N/A
Range –1 to 0
Default Value 0
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 742 No 8 bit Yes M_01-03-00-000

Description
You can specify a user-defined external regen resistor, select an internal regen resistor, or choose from a
list of predefined regen resistors. The values for REGEN.TYPE are shown below:
Type Description
External user-defined regen res-
–1
istor
0 Internal regen resistor

If you specify a user-defined regen resistor, then you must also define this resistor's resistance
(REGEN.REXT), heatup time (REGEN.REXT), and power (REGEN.WATTEXT).

684 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.32.5 REGEN.WATTEXT

7.32.5 REGEN.WATTEXT
General Information
Type R/W parameter
Sets the regen resistor's power fault level for an external regen res-
Description
istor.
Units W
Range 0 to 62,000 W
Default
1000 W
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3414h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
2372 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 744 No 16 bit No M_01-03-00-000

Description
Sets the regen resistor's power fault level for an external regen resistor (when REGEN.TYPE = -1).
Above this fault level, the regen resistor's PWM wil be 0 and a fault will be issued.

Kollmorgen | May 2014 685

 AKD BASIC Programming Manual | 7.33 SD Commands

7.33 SD Commands
This section describes commands for SD Card functions.

7.33.1 SD.LOAD 687

7.33.2 SD.SAVE 688
7.33.3 SD.STATUS 689

686 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.33.1 SD.LOAD

7.33.1 SD.LOAD
General Information
Type Command
Loads the drive state (BASIC program and NV parameters)from the SD card to the AKD
Description
(AKDs equipped with IO option card only).
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Ver-
M_01-06-03-000
sion

Variants Supported
Supported by any AKD with an SD Card slot.

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1684 No Command No M_01-06-03-000

Description
SD.LOAD will load the drive state from the SD card (if one exists) to the AKD. The files loaded to the drive
include the BASIC binary file (program.bin) and the NV parameter file (drive.akd). These files must have
these exact names or the drive will not recognize them.
Note that this command can only be executed when the drive is in the idle state (i.e. a program is not run-
ning) and the drive is disabled.
If a computer is not connected to the drive, the SD.LOAD command can also be issued using the rotary
switches S1 and S2.
To load the SD drive state onto the AKD:
1. Set S1 to position 1
2. Set S2 to position 0
3. Hold down the B1 button on the top of the drive for 5 seconds.

While the load operation is completing the LED display will flash Sd. If an error occurs,
the letter E followed by three numbers will flash on the display. See for a description of
SD Errors.

Kollmorgen | May 2014 687

 AKD BASIC Programming Manual | 7.33.2 SD.SAVE

7.33.2 SD.SAVE
General Information
Type Command
Saves the drive state (BASIC program and NV parameters) to the SD card (AKDs
Description
equipped with IO option card only).
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Ver-
M_01-06-03-000
sion

Variants Supported
Supported by any AKD with an SD Card slot.

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1686 No Command No M_01-06-03-000

Description
SD.SAVE will copy the state of a BASIC drive to the SD card (if one exists). The state of the drive con-
sists of the BASIC binary file and NV parameters. Before an SD.Save is performed, the drive will perform
a DRV.NVLOAD and return all of the drive parameters to their NV state. The DRV.NVLOAD is necessary
in order to capture the NV parameter states for the parameter file(drive.akd). The files saved to the SD
card include the BASIC binary file (program.bin) and the NV parameter file (drive.akd). In order for a drive
to recognize and load these files, they must be named program.bin and drive.akd.

This command can only be executed when the drive is in the idle state (i.e. a program is
not running) and the drive is disabled.
If a computer is not connected to the drive, the SD.SAVE command can also be issued using the rotary
switches S1 and S2.
To save the drive state onto the SD card using rotary switches:
1. Set S1 to position 1
2. Set S2 to position 1
3. Hold down the B1 button on the top of the drive for 5 seconds.

While the load operation is completing the LED display will flash Sd. If an error occurs,
the letter E followed by three numbers will flash on the display. See for a description of
SD Errors.

688 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.33.3 SD.STATUS

7.33.3 SD.STATUS
General Information
Type R/O
Reads the status of the SD
Description
card.
Units N/A
Range 0 to 2
Default
0
Value
Data Type Integer
Start Version M_01-06-03-000

Variants Supported
Supported by any AKD with an SD Card slot.

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1688 No 8-bit No M_01-06-03-000

Description
This parameter reads the status of the SD card.
Status Description
0 Ready – an SD card is inserted into the drive and you can read and write to it.
Read Only – an SD card is inserted into the drive and the write protection tab on the card pro-
1
hibits writes.
2 Not Inserted – an SD card is not inserted into the drive.

Kollmorgen | May 2014 689

 AKD BASIC Programming Manual | 7.34 SM Parameters

7.34 SM Parameters
This section describes the SM parameters.

7.34.1 SM.I1 691

7.34.2 SM.I2 692
7.34.3 SM.MODE 693
7.34.4 SM.MOVE 696
7.34.5 SM.T1 697
7.34.6 SM.T2 698
7.34.7 SM.V1 699
7.34.8 SM.V2 701

690 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.34.1 SM.I1

7.34.1 SM.I1
General Information
Type NV Parameter
Description Sets service motion current 1; active in opmode 0 (torque) only.
Units A
Range –Drive peak current to +Drive peak current
Default
0.025 ∙ Drive peak current
Value
Data Type Float
SM.ACCTYPE, SM.I2, SM.MODE, SM.MOVE, SM.T1, SM.T2, SM.V1, SM.V2,
See Also
SM.VPM1, SM.VPM2
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2373 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 746 No 32 bit Yes M_01-03-00-000

Description
SM.I1 defines the current that is used in service motion modes 0 and 1 (see SM.MODE (pg 693)).

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 AKD BASIC Programming Manual | 7.34.2 SM.I2

7.34.2 SM.I2
General Information
Type NV Parameter
Description Sets service motion current 2; active in opmode 0 (torque) only.
Units A
Range –Drive peak current to +Drive peak current
Default
0.025 ∙ Drive peak current
Value
Data Type Float
SM.ACCTYPE, SM.I1, SM.MODE, SM.MOVE, SM.T1, SM.T2, SM.V1, SM.V2,
See Also
SM.VPM1, SM.VPM2
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2374 Yes
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 748 No 32 bit Yes M_01-03-00-000

Description
SM.I2 defines the current that is used in service motion mode 1 (see SM.MODE (pg 693)).

692 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.34.3 SM.MODE

7.34.3 SM.MODE
General Information
Type NV Parameter
Description Sets the service motion mode.
Units N/A
Range 0 to 2
Default
0
Value
Data Type Integer
SM.I1 (pg 691), SM.I2 (pg 692), SM.MOVE (pg 696), SM.T1 (pg 697) SM.T2 (pg 698),
See Also
SM.V1 (pg 699), SM.V2 (pg 701), DRV.ACC (pg 303)DRV.DEC (pg 316)
Start Ver-
M_01-01-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2375 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 750 No 16 bit No M_01-03-00-000

Description
SM.MODE defines the mode of service motion for each loop. Two types of service motion are available :
l A constant motion in one direction (endless or for a certain amount of time).
l An alternating motion.

The possible modes for this parameter are described in the following table:

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 AKD BASIC Programming Manual | 7.34.3 SM.MODE

SM.MOD-
Description Requirements
E
Constant motion in closed current loop mode of operation.

l DRV.OPMODE 0:
The drive generates a constant current command value
(SM.I1) for a certain amount of time (if SM.T1>0) or end-
less (if SM.T1=0). The drive will not generate any
ramps in this mode of operation.
DRV.OPMODE =
l DRV.OPMODE 1 or 2: 0,1, or 2
0 The drive generates a constant velocity command DRV.CMDSOUR-
value (SM.V1) for a certain amount of time (if CE = 0
SM.T1>0) or endless (if SM.T1=0). The drive gen-
erates acceleration and deceleration ramps according
to the DRV.ACC and DRV.DEC setting in this mode of
operation.

The service motion can be stopped by using the DRV.STOP

command.
l DRV.OPMODE 0:
The drive generates a current command value (SM.I1)
for a certain amount of time (SM.T1). Afterwards the
drive generates a current command value (SM.I2) for
another certain amount of time (SM.T2). This sequence
is repeated as long as a DRV.STOP command occurs.
The drive will not generate any ramps in this mode of
operation. DRV.OPMODE =
0, 1, or 2
1 l DRV.OPMODE 1 or 2: DRV.CMDSOUR-
The drive generates a velocity command value CE = 0
(SM.V1) for a certain amount of time (SM.T1). After-
wards the drive generates a velocity command value
(SM.V2) for another certain amount of time (SM.T2).
This sequence is repeated as long as a DRV.STOP
command occurs. The drive will generate an accel-
eration and deceleration ramps according to the
DRV.ACC and DRV.DEC setting in this mode of oper-
ation.
This mode executes the same service motion as mode 0. DRV.OPMODE =
However, the motion is described by SM.I2, SM.T2 and 0, 1, or 2
2
SM.V2. This enables a change on the fly and is mostly used DRV.CMDSOUR-
under fieldbus control. CE = 0

Ramps
The drive uses DRV.ACC and DRV.DEC for the ramps in DRV.OPMODE 1 (closed velocity) and 2
(closed position). The drive does not generate any ramps in service motion mode 0 and 1.
Service Motion for DRV.OPMODE 0 and SM.MODE 1

694 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.34.3 SM.MODE

Service motion for DRV.OPMODE 1 or 2 and SM.MODE 1

The deceleration process from SM.V1 or SM.V2 to 0 is not included in SM.T1 and SM.T2, respectively.
SM.T1 and SM.T2 start as soon as the command value has reached the velocity 0.

Kollmorgen | May 2014 695

 AKD BASIC Programming Manual | 7.34.4 SM.MOVE

7.34.4 SM.MOVE
General Information
Type Command
Description Starts the service motion.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
See Also SM.MODE
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet
2376 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 752 No Command No M_01-03-00-000

Description
This command starts the service motion that has been selected by the SM.MODE parameter.

696 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.34.5 SM.T1

7.34.5 SM.T1
General Information
Type NV Parameter
Description Sets the service motion time 1.
Units ms
Range 0 to 65,535 ms
Default
500 ms
Value
Data Type Integer
See Also SM.I1, SM.I2, SM.MODE, SM.MOVE, SM.T2, SM.V1, SM.V2, SM.VPM1, SM.VPM2
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2377 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 754 No 16 bit No M_01-03-00-000

Description
SM.T1 defines the time of the service motion that is used in all service motion modes (see SM.MODE).
For an alternating service motion mode, SM.T1 may not be set to 0.

Kollmorgen | May 2014 697

 AKD BASIC Programming Manual | 7.34.6 SM.T2

7.34.6 SM.T2
General Information
Type NV Parameter
Description Sets the service motion time 2.
Units ms
Range 0 to 65,535 ms
Default
500 ms
Value
Data Type Integer
See Also SM.I1, SM.I2, SM.MODE, SM.MOVE, SM.T1, SM.V1, SM.V2, SM.VPM1, SM.VPM2
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2378 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 756 No 16 bit No M_01-03-00-000

Description
SM.T2 defines the time of the service motion that is used in service motion modes 1, 3, and 5 (see
SM.MODE).

698 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.34.7 SM.V1

7.34.7 SM.V1
General Information
Type NV Parameter
Description Sets service motion velocity 1; active in opmode 1 (velocity) and 2 (position).
Depends on UNIT.ACCROTARY (pg 713) or UNIT.ACCLINEAR (pg 712)
Units Rotary: rpm, rps, deg/s, custom units/s, rad/s
Linear: Counts/s, mm/s, µm/s, custom units/s
Rotary:
-15,000.000 to 15,000.000 rpm
-250.000 to 250.000 rps
-90,000.000 to 90,000.000 deg/s
-1,250.000 to 1,250.000 custom units/s
-1,570.796 to 1,570.796 rad/s
Range
Linear:
-1,073,741,824,000.000 to 1,073,741,824,000.000 counts/s
-250.000*MOTOR.PITCH (pg 570) to 250.000*MOTOR.PITCH (pg 570) mm/s
-250,000.000*MOTOR.PITCH (pg 570) to 250,000.000*MOTOR.PITCH (pg 570)
µm/s
-1,250.000 to 1,250.000 custom units/s
Rotary:
60.000 rpm
1.000 rps
359.999 deg/s
5.000 custom units/s
Default
6.283 rad/s
Value
Linear:
0.001 Counts/s
1.000*MOTOR.PITCH (pg 570) mm/s
999.998*MOTOR.PITCH (pg 570) µm/sec
5.000 custom units/s
Data Type Float
See Also SM.I1, SM.I2, SM.MODE, SM.MOVE, SM.T1, SM.T2, SM.V2
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes

Kollmorgen | May 2014 699

 AKD BASIC Programming Manual | 7.34.7 SM.V1

Variant Supported
®
AKD sercos III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Parameter Address Attributes Signed?
Profinet DWord
® SM.V1_32 2379 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 758 Yes Low 32 bit word Yes M_01-03-00-000

Description
SM.V1 defines the velocity that is used in service motion modes 0 and 1 (see SM.MODE (pg 693)) in the
closed velocity and position mode of operation.

700 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.34.8 SM.V2

7.34.8 SM.V2
General Information
Type NV Parameter
Description Sets service motion velocity 2; active in opmode 1 (velocity) and 2 (position).
Depends on UNIT.ACCROTARY (pg 713) or UNIT.ACCLINEAR (pg 712)
Units Rotary: rpm, rps, deg/s, custom units/s, rad/s
Linear: counts/s, mm/s, µm/s, custom units/s
Rotary:
-15,000.000 to 15,000.000 rpm
-250.000 to 250.000 rps
-90,000.000 to 90,000.000 deg/s
-1,250.000 to 1,250.000 custom units/s
-1,570.796 to 1,570.796 rad/s
Range
Linear:
-1,073,741,824,000.000 to 1,073,741,824,000.000 counts/s
-250.000*MOTOR.PITCH (pg 570) to 250.000*MOTOR.PITCH (pg 570) mm/s
-250,000.000*MOTOR.PITCH (pg 570) to 250,000.000*MOTOR.PITCH (pg 570)
µm/s
-1,250.000 to 1,250.000 custom units/s
Rotary:
-60.000 rpm
-1.000 rps
-359.999 deg/s
-5.000 custom units/s
Default
-6.283 rad/s
Value
Linear:
-0.001 counts/s
-1.000*MOTOR.PITCH (pg 570) mm/s
-999.998*MOTOR.PITCH (pg 570) µm/sec
-5.000 custom units/s
Data Type Float
See Also SM.I1, SM.I2, SM.MODE, SM.MOVE, SM.T1, SM.T2, SM.V1
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes

Kollmorgen | May 2014 701

 AKD BASIC Programming Manual | 7.34.8 SM.V2

Variant Supported
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Parameter Address Attributes Signed?
Profinet DWord
SM.V2_32 2380 Yes
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 760 Yes Low 32 bit word Yes M_01-03-00-000

Description
SM.V2 defines the velocity that is used in service motion mode 1 (see SM.MODE) in the closed velocity
and position mode of operation.

702 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.35 STO Parameters

7.35 STO Parameters

This section describes the STO parameters.

7.35.1 STO.STATE 704

Kollmorgen | May 2014 703

 AKD BASIC Programming Manual | 7.35.1 STO.STATE

7.35.1 STO.STATE
General Information
Type R/O Parameter
Returns the status of the safe torque
Description
off.
Units N/A
Range 0 to 1
Default
N/A
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2381 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 762 No 8 bit No M_01-03-00-000

Description
STO.STATE returns the status of the safe torque off.
1 - Safe torque on (no safe torque off fault).
0 - Safe torque off (safe torque off fault ).

704 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.36 SWLS Parameters

7.36 SWLS Parameters

This section describes the SWLS parameters.

7.36.1 SWLS.EN 706

7.36.2 SWLS.LIMIT0 708
7.36.3 SWLS.LIMIT1 709
7.36.4 SWLS.STATE 710

Kollmorgen | May 2014 705

 AKD BASIC Programming Manual | 7.36.1 SWLS.EN

7.36.1 SWLS.EN
General Information
Type NV Parameter
Enables and disables software travel limit
Description
switches.
Units N/A
Range 0 to 3
Default
0
Value
Data Type U8
See Also 7.13.47 DRV.MOTIONSTAT
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2382 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 764 No 16 bit No M_01-03-00-000

Description
This parameter enables the software travel limit switches. The software limit switches are only active if
the axis is homed.
Value Description
0 Disables both limit switches.
1 Enables limit switch 0.
2 Enables limit switch 1.
3 Enables limit switch 0 and limit switch 1.
If SWLS.EN = 3, then whichever limit switch is set to a greater value will be used as the upper limit
switch. For all other values of SWLS.EN, use SWLS.LIMIT0 for the lower limit switch, and SWLS.LIMIT1
for the upper limit switch.

706 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.36.1 SWLS.EN

Example
Bit 0 = 0: Disable SWLS.LIMIT0
Bit 0 = 1: Enable SWLS.LIMIT0
Bit 1 = 0: Disable SWLS.LIMIT1
Bit 1 = 1: Enable SWLS.LIMIT1

Kollmorgen | May 2014 707

 AKD BASIC Programming Manual | 7.36.2 SWLS.LIMIT0

7.36.2 SWLS.LIMIT0
General Information
Type NV Parameter
Sets the position of the software travel limit switch
Description
0.
Units Position units
Range -9,007,199,254,740,992 to 9,007,199,254,740,991
Default
0
Value
Data Type S64
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 766 Yes 64 bit Yes M_01-03-00-000

Description
This parameter sets the compare register for the software limit switch 0. This value can be either the lower
or the upper software limit switch register, depending on the configuration of the software limit switches:
l If only one limit switch is enabled (SWLS.EN = 1 or 2), then SWLS.LIMIT0 is the lower limit, and
SWLS.LIMIT1 is the upper limit.
l If both limit switches are enabled (SWLS.EN = 3), then whichever switch is set to a larger value is
the upper limit switch. The other switch becomes the lower limit switch.

These switches can be used in addition to hardware limit switches. The software limit switches are only
active if the axis is homed. For more information about homing, please refer to the HOME Parameters and
DRV.MOTIONSTAT.

708 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.36.3 SWLS.LIMIT1

7.36.3 SWLS.LIMIT1
General Information
Type NV Parameter
Description Sets the position of the software travel limit switch 0.
Units Position units
Range -9,007,199,254,740,992 to 9,007,199,254,740,991
1,048,576.000 counts, 16-bit (firmware versions M_01-02-00-000 and
Default
above)
Value
68,719,476,736 counts (for firmware version M_01-01-00-000)
Data Type S64
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 770 Yes 64 bit Yes M_01-03-00-000

Description
This parameter sets the compare register for the software limit switch 1. This value can be either the lower
or the upper software limit switch register, depending on the configuration of the software limit switches:
l If only one limit switch is enabled (SWLS.EN = 1 or 2), then SWLS.LIMIT0 is the lower limit, and
SWLS.LIMIT1 is the upper limit.
l If both limit switches are enabled (SWLS.EN = 3), then whichever switch is set to a larger value is
the upper limit switch. The other switch becomes the lower limit switch.

These switches can be used in addition to hardware limit switches. The software limit switches are only
active if the axis is homed. For more information about homing, please refer to the HOME Parameters and
DRV.MOTIONSTAT.

Kollmorgen | May 2014 709

 AKD BASIC Programming Manual | 7.36.4 SWLS.STATE

7.36.4 SWLS.STATE
General Information
Type R/O Parameter
Reads the actual status of software limit
Description
switches.
Units N/A
Range 0 to 3
Default
0
Value
Data Type U8
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2387 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 774 No 16 bit No M_01-03-00-000

Description
This parameter reads the status word of the software limit switches. The status word indicates the result
of the compare between the software limit switch compare register and the actual position of the position
loop.

Example
Bit 0 = 0: SWLS.LIMIT0 (pg 708) is not active.
Bit 0 = 1: SWLS.LIMIT0 is active.
Bit 1 = 0: SWLS.LIMIT1 (pg 709) is not active.
Bit 1 = 1: SWLS.LIMIT1 is active.
Bits 2 to 7 are currently not in use.

710 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.37 UNIT Parameters

7.37 UNIT Parameters

This section describes the UNIT parameters.

7.37.1 UNIT.ACCLINEAR 712

7.37.2 UNIT.ACCROTARY 713
7.37.3 UNIT.LABEL 714
7.37.4 UNIT.PIN 715
7.37.5 UNIT.PLINEAR 716
7.37.6 UNIT.POUT 717
7.37.7 UNIT.PROTARY 718
7.37.8 UNIT.VLINEAR 719
7.37.9 UNIT.VROTARY 720

Kollmorgen | May 2014 711

 AKD BASIC Programming Manual | 7.37.1 UNIT.ACCLINEAR

7.37.1 UNIT.ACCLINEAR
General Information
Type NV Parameter
Description Sets the linear acceleration/deceleration units.
Units N/A
Range 0 to 3
Default
0
Value
Data Type Integer
DRV.ACC (pg 303), DRV.DEC (pg 316), MOTOR.TYPE (pg
See Also
581)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2388 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 776 No 8 bit No M_01-03-00-000

Description
UNIT.ACCLINEAR sets the units type for the acceleration and deceleration parameters, when the motor
type (MOTOR.TYPE (pg 581)) is linear.
Type Description
0 [Custom Units]/s2
1 millimeters per second squared (mm/s2)
micrometers per second squared
2
(µm/s2)
3 Feedback counts/s2

712 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.37.2 UNIT.ACCROTARY

7.37.2 UNIT.ACCROTARY
General Information
Type NV Parameter
Sets the rotary acceleration/deceleration
Description
units.
Units rpm/s, rps/s, deg/s2 , [Custom Units]/s2
Range 0 to 3 rpm/s
Default
0 rpm/s
Value
Data Type Integer
See Also DRV.ACC (pg 303), MOTOR.TYPE (pg 581)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 778 No 8 bit No M_01-03-00-000

Description
UNIT.ACCROTARY sets the acceleration/deceleration units when the motor type (MOTOR.TYPE (pg
581)) is rotary.
Type Description
0 rpm/s
1 rps/s
2 deg/s2
(Custom Units)
3
/s2

Kollmorgen | May 2014 713

 AKD BASIC Programming Manual | 7.37.3 UNIT.LABEL

7.37.3 UNIT.LABEL
General Information
Type NV Parameter
Sets user-defined name for user-defined position
Description
units.
Units N/A
Range Maximum 16 characters, no spaces
Default
Custom Units
Value
Data Type String
See Also UNIT.PLINEAR (pg 716), UNIT.POUT (pg 717)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
If you define a special position unit with UNIT.PLINEAR (pg 716) and UNIT.POUT (pg 717), then you can
give this unit a descriptive name. You can name the unit anything you wish, as long as the name is limited
to 16 characters and includes no spaces. The label used for velocity and acceleration are in terms of this
descriptive name.
This parameter is descriptive only and does not influence drive internal functions in any way.

714 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.37.4 UNIT.PIN

7.37.4 UNIT.PIN
General Information
Type NV Parameter
Sets gear IN for the unit con-
Description
version.
Units User units
Range 0 to 4,294,967,295
Default
100
Value
Data Type Integer
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
35CAh/0
CANopen M_01-00-00-000
6092h/1
CANopen

Fieldbus Address Attributes Signed?

Profinet Dword
® 2390 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 780 No 32 bit No M_01-03-00-000

Description
UNIT.PIN is used in conjunction with UNIT.POUT (pg 717) to set application specific units. This para-
meter is used as follows in the drive unit conversion:
l For position, this parameter sets the units as [Custom Units]/rev.
l For velocity, this parameter sets the units as [Custom Units]/s.
l For acceleration/deceleration, this parameter sets the units as [Custom Units]/s2.

Kollmorgen | May 2014 715

 AKD BASIC Programming Manual | 7.37.5 UNIT.PLINEAR

7.37.5 UNIT.PLINEAR
General Information
Type NV Parameter
Description Sets the linear position units.
Units N/A
Range 0 to 4
Default
0
Value
Data Type Integer
PL.FB (pg 621), PL.CMD (pg 612), MOTOR.TYPE (pg
See Also
581)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 782 No 8 bit No M_01-03-00-000

Description
UNIT.PLINEAR sets the units type for the position parameters when the motor type (MOTOR.TYPE) is
linear.
Type Description
0 32-bit counts
1 Millimeters (mm)
2 Micrometers (µm)
(PIN/POUT) per revolu-
3
tion
4 16-bit counts

716 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.37.6 UNIT.POUT

7.37.6 UNIT.POUT
General Information
Type NV Parameter
Sets gear out for the unit con-
Description
version.
Units User units.
Range 0 to 4,294,967,295
Default
20
Value
Data Type Integer
See Also UNIT.PLINEAR (pg 716)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 784 No 32 bit No M_01-03-00-000

Description
UNIT.POUT is used with UNIT.PIN (pg 715) to set application specific units in UNIT.POUT. This para-
meter is used as follows in the drive unit conversion:
l For position, this parameter sets the units as [Custom Units]/rev.
l For velocity, this parameter sets the units as [Custom Units]/s.
l For acceleration/deceleration, this parameter sets the units as [Cus-
tom Units]/s2.

Kollmorgen | May 2014 717

 AKD BASIC Programming Manual | 7.37.7 UNIT.PROTARY

7.37.7 UNIT.PROTARY
General Information
Type NV Parameter
Sets the position units when the motor type (MOTOR.TYPE (pg 581)) is
Description
rotary.
Units counts, rad, deg, Custom Units, 16-bit counts
Range 0 to 4
Default 4 16-bit counts (for firmware versions M_01-02-00-000 and above)
Value 0 counts (for firmware version M_01-01-00-000)
Data Type Integer
See Also PL.FB (pg 621), PL.CMD (pg 612), MOTOR.TYPE (pg 581)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 786 No 8 bit No M_01-03-00-000

Description
UNIT.PROTARY sets the position units when the motor type (MOTOR.TYPE (pg 581)) is rotary.
Value Units
0 counts
1 radians
2 degrees
Custom
3
Units
4 16-bit counts

718 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.37.8 UNIT.VLINEAR

7.37.8 UNIT.VLINEAR
General Information
Type NV Parameter
Description Sets the linear velocity units.
Units N/A
Range 0 to 3
Default
0
Value
Data Type Integer
VL.FB (pg 747), VL.CMDU (pg 744), VL.CMD (pg 743), MOTOR.TYPE (pg
See Also
581)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2394 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 788 No 8 bit No M_01-03-00-000

Description
UNIT.VLINEAR sets the units type for the velocity parameters when the motor type (MOTOR.TYPE (pg
581)) is linear.
Type Description
(Custom Units) per
0
second
1 Micrometers per second
2 Millimeters per second
3 Counts per second

Kollmorgen | May 2014 719

 AKD BASIC Programming Manual | 7.37.9 UNIT.VROTARY

7.37.9 UNIT.VROTARY
General Information
Type NV Parameter
Description Sets the velocity units when the motor type (MOTOR.TYPE (pg 581)) is rotary.
Units rpm, rps, deg/s, (Custom Units)/s
Range 0 to 3
Default
0 rpm
Value
Data Type Integer
VL.FB (pg 747), VL.CMDU (pg 744), VL.CMD (pg 743), MOTOR.TYPE (pg
See Also
581)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 790 No 8 bit No M_01-03-00-000

Description
UNIT.VROTARY sets the velocity units when the motor type (MOTOR.TYPE) is rotary.
Value Units
0 rpm
1 rps
2 deg/s
(Custom Units)
3
/s

720 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.38 VBUS Parameters

7.38 VBUS Parameters

This section describes the VBUS parameters.

7.38.1 VBUS.HALFVOLT 722

7.38.2 VBUS.OVFTHRESH 724
7.38.3 VBUS.OVWTHRESH 725
7.38.4 VBUS.RMSLIMIT 726
7.38.5 VBUS.UVFTHRESH 727
7.38.6 VBUS.UVMODE 728
7.38.7 VBUS.UVWTHRESH 729
7.38.8 VBUS.VALUE 730

Kollmorgen | May 2014 721

 AKD BASIC Programming Manual | 7.38.1 VBUS.HALFVOLT

7.38.1 VBUS.HALFVOLT
General Information
Type NV Parameter
Description Changes voltage thresholds for HV and MV Drives
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-04-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2609 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1218 No 8 bit No

Description
This parameter is used in order to change some specific voltage thresholds in order to allow HV (high
voltage) drives working with MV (medium voltage) thresholds and to allow MV (medium voltage) drives
working with LV (low voltage) thresholds.
When the VBUS.HALFVOLT value is changed, the revised thresholds take effect immediately.
The VBUS.HALFVOLT only affects HV and MV drives.
Value Description
0 The original voltage thresholds are used for the functions mentioned below.
1 Setting the parameter to 1 on a HV Drive causes the AKD to use the voltage thresholds of an MV
drive for the functions mentioned below. Setting the parameter to 1 on a MV drive causes the AKD
to use the voltage thresholds of a LV drive for the functions mentioned below.
This parameter has an impact on the following voltage-thresholds:

722 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.38.1 VBUS.HALFVOLT

1. DC-bus over-voltage threshold (see VBUS.OVFTHRESH (pg 724)).

2. The regen-resistor enable/disable voltage thresholds.
3. The inrush-relay enable/disable voltage thresholds.

The DC-bus under voltage fault threshold (see VBUS.UVFTHRESH (pg 727)) is a user
selectable command. It means that the user is responsible for setting the under voltage
threshold to a proper value in case that the AKD is supplied with a lower DC-bus voltage
than the rated voltage.

Kollmorgen | May 2014 723

 AKD BASIC Programming Manual | 7.38.2 VBUS.OVFTHRESH

7.38.2 VBUS.OVFTHRESH
General Information
Type R/O Parameter
Reads the over voltage fault
Description
level.
Units VDC
Range 0 to 900 VDC
Default
N/A
Value
Data Type Integer
See Also VBUS.UVFTHRESH
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2397 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 794 No 16 bit No M_01-03-00-000

Description
VBUS.OVFTHRESH reads the over voltage fault level for the DC bus.
This value is read from the drive EEPROM and varies according to the drive type.

724 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.38.3 VBUS.OVWTHRESH

7.38.3 VBUS.OVWTHRESH
General Information
Type NV Parameter
Sets voltage level for over voltage warn-
Description
ing.
Units VDC
Range 0 to 900 VDC
Default
0 VDC (warning disabled)
Value
Data Type U16
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2398 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 796 No 16 bit No M_01-03-00-000

Description
If VBUS.VALUE value exceeds VBUS.OVWTHRESH, then a warning is generated.

Kollmorgen | May 2014 725

 AKD BASIC Programming Manual | 7.38.4 VBUS.RMSLIMIT

7.38.4 VBUS.RMSLIMIT
General Information
Type R/O Parameter
Reads the limit for the bus capacitors
Description
load.
Units Vrms
Range N/A
Default
N/A
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2399 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 798 No 8 bit No M_01-03-00-000

Description
This parameter reads the limit of the bus capacitor load. When the bus capacitor loads exceeds this limit,
the drive generates fault F503.
Excessive bus capacitor load may indicate a disconnected main supply phase.

726 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.38.5 VBUS.UVFTHRESH

7.38.5 VBUS.UVFTHRESH
General Information
Type R/W Parameter
Sets the under voltage fault
Description
level.
Units VDC
Range 90 to 420 VDC
Default
90 VDC
Value
Data Type Integer
See Also VBUS.OVFTHRESH
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2400 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 800 No 16 bit No M_01-03-00-000

Description
VBUS.UVFTHRESH sets the undervoltage fault level of the DC bus.
The default value is read from the EEPROM, but can by modified by the user and stored on the NV RAM.
This value varies according to drive type.

Kollmorgen | May 2014 727

 AKD BASIC Programming Manual | 7.38.6 VBUS.UVMODE

7.38.6 VBUS.UVMODE
General Information
Type N/V Parameter
Indicates undervoltage (UV)
Description
mode.
Units N/A
Range 0 to 1
Default
1
Value
Data Type Integer
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2401 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 802 No 8 bit No M_01-03-00-000

Description
This parameter indicates undervoltage (UV) mode.
When VBUS.UVMODE - 0, an undervoltage fault is issued whenever the DC bus goes below the under-
voltage threshold.
When VBUS.UVMODE = 1, an undervoltage fault is issued whenever the DC bus goes below the
under voltage threshold and the controller attempts to enable the drive (software or hardware enable).

728 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.38.7 VBUS.UVWTHRESH

7.38.7 VBUS.UVWTHRESH
General Information
Type NV Parameter
Description Sets voltage level for undervoltage warning.
Units VDC
Range 0 to 900 VDC
10 volts above the default value of the under voltage fault threshold
Default
(VBUS.UVFTHRESH). The default value of VBUS.UVFTHRESH is hardware depend-
Value
ent.
Data Type U16
See Also VBUS.UVFTHRESH (pg 727)
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2402 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 804 No 16 bit No M_01-03-00-000

Description
If VBUS.VALUE value drops below VBUS.UVWTHRESH, then a warning is generated.

Kollmorgen | May 2014 729

 AKD BASIC Programming Manual | 7.38.8 VBUS.VALUE

7.38.8 VBUS.VALUE
General Information
Type R/O Parameter
Reads DC bus
Description
voltage.
Units VDC
Range 0 to 900 VDC
Default
N/A
Value
Data Type Float
See Also N/A
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 361Ah/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2403 Yes
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 806 No 32 bit No M_01-03-00-000

Description
VBUS.VALUE reads the DC bus voltage.

730 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39 VL Parameters

7.39 VL Parameters
This section describes the VL parameters.

7.39.1 VL.ARPF1 TO VL.ARPF4 732

7.39.2 VL.ARPQ1 TO VL.ARPQ4 734
7.39.3 VL.ARTYPE1 TO VL.ARTYPE4 736
7.39.4 VL.ARZF1 TO VL.ARZF4 738
7.39.5 VL.ARZQ1 TO VL.ARZQ4 740
7.39.6 VL.BUSFF 742
7.39.7 VL.CMD 743
7.39.8 VL.CMDU 744
7.39.9 VL.ERR 746
7.39.10 VL.FB 747
7.39.11 VL.FBFILTER 748
7.39.12 VL.FBSOURCE 749
7.39.13 VL.FBUNFILTERED 750
7.39.14 VL.FF 751
7.39.15 VL.GENMODE 752
7.39.16 VL.KBUSFF 753
7.39.17 VL.KI 754
7.39.18 VL.KO 756
7.39.19 VL.KP 757
7.39.20 VL.KVFF 759
7.39.21 VL.LIMITN 760
7.39.22 VL.LIMITP 762
7.39.23 VL.LMJR 764
7.39.24 VL.MODEL 765
7.39.25 VL.OBSBW 766
7.39.26 VL.OBSMODE 767
7.39.27 VL.THRESH 768
7.39.28 VL.VFTHRESH 770

Kollmorgen | May 2014 731

 AKD BASIC Programming Manual | 7.39.1 VL.ARPF1 TO VL.ARPF4

7.39.1 VL.ARPF1 TO VL.ARPF4

General Information
Type R/W Parameter
Sets the natural frequency of the pole (denominator) of anti-resonance (AR) filters 1, 2, 3,
Description
and 4; active in opmodes 1 (velocity) and 2 (position) only.
Units Hz
Range 5 to 5,000 Hz
Default
500 Hz
Value
Data Type Float
VL.ARPQ1 TO VL.ARPQ4 (pg 734), VL.ARZF1 TO VL.ARZF4 (pg 738), Sets the Q of
See Also the zero (numerator) of anti-resonance filter #1; active in opmodes 1 (velocity) and 2 (pos-
ition) only. (pg 740)
Start Ver-
M_01-02-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
3406h/1 VL.ARPF1
EtherCAT COE and
3406h/2 VL.ARPF2
CANopen M_01-02-00-000
3406h/3 VL.ARPF3
CANopen
3406h/4 VL.ARPF4

Parameter Fieldbus Address Attributes Signed?

Profinet DWord
VL.ARPF1 ® 2404
sercos III 4 Octets
Profinet DWord
VL.ARPF2 2405
sercos® III 4 Octets
No
Profinet DWord
VL.ARPF3 2406
sercos® III 4 Octets
Profinet DWord
VL.ARPF4 2407
sercos® III 4 Octets

732 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.1 VL.ARPF1 TO VL.ARPF4

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

808 VL.ARPF1
810 VL.ARPF2
Modbus No 32 bit No M_01-03-00-000
812 VL.ARPF3
814 VL.ARPF4

Description
VL.ARPF1 sets the natural frequency of the pole (denominator) of AR filter 1. This value is FP in the
approximate transfer function of the filter:
ARx(s) = [s²/(2πFZ)² +s/(QZ2πFZ) + 1]/ [s²/(2πFP)² +s/(QP2πFP) + 1]

The following block diagram describes the AR filter function; note that AR1 and AR2 are in the forward
path, while AR3 and AR4 are applied to feedback:

AR1, AR2, AR3, and AR4 are used in velocity and position mode, but are disabled in torque mode.
Discrete time transfer function (applies to all AR filters)
The velocity loop compensation is actually implemented as a digital discrete time system function on the
DSP. The continuous time transfer function is converted to the discrete time domain by a backward Euler
mapping:
s ≈ (1-z-1)/t, where t = 62.5 µs
The poles are prewarped to FP and the zeros are prewarped to FZ .

Kollmorgen | May 2014 733

 AKD BASIC Programming Manual | 7.39.2 VL.ARPQ1 TO VL.ARPQ4

7.39.2 VL.ARPQ1 TO VL.ARPQ4

General Information
Type R/W Parameter
Sets the Q of the pole (denominator) of anti-resonance (AR) filter 1; active in opmodes 1
Description
(velocity) and 2 (position) only.
Units None
Range 0.2 to 20
Default
0.5
Value
Data Type Float
VL.ARPF1 TO VL.ARPF4 (pg 732), VL.ARZF1 TO VL.ARZF4 (pg 738), VL.ARZQ1 TO
See Also
VL.ARZQ4 (pg 740)
Start Ver-
M_01-02-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
3406h/5 VL.ARPQ1
EtherCAT COE and
3406h/6 VL.ARPQ2
CANopen M_01-02-00-000
3406h/7 VL.ARPQ3
CANopen
3406h/8 VL.ARPQ4

Parameter Fieldbus Address Attributes Signed?

Profinet DWord
VL.ARPQ1 2408
sercos® III 4 Octets
Profinet DWord
VL.ARPQ2 2409
sercos® III 4 Octets
No
Profinet DWord
VL.ARPQ3 2410
sercos® III 4 Octets
Profinet DWord
VL.ARPQ4 2411
sercos® III 4 Octets

734 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.2 VL.ARPQ1 TO VL.ARPQ4

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

816 VL.ARPQ1
818 VL.ARPQ2
Modbus No 32 bit No M_01-03-00-000
820 VL.ARPQ3
822 VL.ARPQ4

Description
VL.ARPQ1 sets the Q (quality factor) of the pole (denominator) of AR filter 1. This value is QP in the
approximate transfer function of the filter:

ARx(s) = [s²/(2πFZ)²+s/(QZ2πFZ) + 1]/ [s²/(2πFP)² +s/(QP2πFP) + 1]

The following block diagram describes the AR filter function; note that AR1 and AR2 are in the forward
path, while AR3 and AR4 are applied to feedback:

AR1, AR2, AR3, and AR4 are used in velocity and position mode, but are disabled in torque mode.
Discrete time transfer function (applies to all AR filters)
The velocity loop compensation is actually implemented as a digital discrete time system function on the
DSP. The continuous time transfer function is converted to the discrete time domain by a backward Euler
mapping:
s ≈ (1-z-1)/t, where t = 62.5 µs
The poles are prewarped to FP and the zeros are prewarped to FZ .

Kollmorgen | May 2014 735

 AKD BASIC Programming Manual | 7.39.3 VL.ARTYPE1 TO VL.ARTYPE4

7.39.3 VL.ARTYPE1 TO VL.ARTYPE4

General Information
Type NV Parameter
Indicates the method used to calculate BiQuad coefficients; active in opmodes 1 (velo-
Description
city) and 2 (position) only.
Units N/A
Range 0
Default
0
Value
Data Type U8
See Also N/A
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
3405h
VL.ARTYPE1
/1
3405h
EtherCAT COE and VL.ARTYPE2
/2
CANopen M_01-02-00-000
3405h
CANopen VL.ARTYPE3
/3
3405h
/4 VL.ARTYPE4

736 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.3 VL.ARTYPE1 TO VL.ARTYPE4

Parameter Fieldbus Address Attributes Signed?

Profinet Byte
VL.ARTYPE1 ® 2412
sercos III 2 Octets
Profinet Byte
VL.ARTYPE2 2413
sercos® III 2 Octets
No
Profinet Byte
VL.ARTYPE3 2414
sercos® III 2 Octets
Profinet Byte
VL.ARTYPE4 2415
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

824 VL.ARTYPE1
826 VL.ARTYPE2
Modbus No 8 bit No M_01-03-00-000
828 VL.ARTYPE3
830 VL.ARTYPE4

Description
These parameters indicate the method used to calculate the biquad coefficients VL.ARPFx, VL.ARPQx,
VL.ARZFx, and VL.ARZQx. A value of 0 indicates that the coefficients are set directly. This parameter
has no effect on the filter itself, but is only used to determine the original design parameters. Currently,
only the value of 0 is supported.

Kollmorgen | May 2014 737

 AKD BASIC Programming Manual | 7.39.4 VL.ARZF1 TO VL.ARZF4

7.39.4 VL.ARZF1 TO VL.ARZF4

General Information
Type R/W Parameter
Sets the natural frequency of the zero (numerator) of anti-resonance (AR)filter 1; active in
Description
opmodes 1 (velocity) and 2 (position) only.
Units Hz
Range 5 to 5,000 Hz
Default
500 Hz
Value
Data Type Float
VL.ARPF1 TO VL.ARPF4 (pg 732),VL.ARPQ1 TO VL.ARPQ4 (pg 734), VL.ARZQ1 TO
See Also
VL.ARZQ4 (pg 740)
Start Ver-
M_01-02-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
3406h/9 VL.ARZF1
EtherCAT COE and
3406h/A VL.ARZF2
CANopen M_01-02-00-000
3406h/B VL.ARZF3
CANopen
3406h/C VL.ARZF4

Parameter Fieldbus Address Attributes Signed?

Profinet DWord
VL.ARZF1 2416
sercos® III 4 Octets
Profinet DWord
VL.ARZF2 2417
sercos® III 4 Octets
No
Profinet DWord
VL.ARZF3 2418
sercos® III 4 Octets
Profinet DWord
VL.ARZF4 2419
sercos® III 4 Octets

738 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.4 VL.ARZF1 TO VL.ARZF4

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

832 VL.ARZF1
834 VL.ARZF2
Modbus No 32 bit No M_01-03-00-000
836 VL.ARZF3
838 VL.ARZF4

Description
VL.ARZF1 sets the natural frequency of the zero (numerator) of AR filter 1. This value is FZ in the approx-
imate transfer function of the filter:
ARx(s) = [s²/(2πFZ)² +s/(QZ2πFZ) + 1]/ [s²/(2πFP)² +s/(QP2πFP) + 1]
The following block diagram describes the AR filter function; note that AR1 and AR2 are in the forward
path, while AR3 and AR4 are applied to feedback:

AR1, AR2, AR3, and AR4 are used in velocity and position mode, but are disabled in torque mode.
Discrete time transfer function (applies to all AR filters)
The velocity loop compensation is actually implemented as a digital discrete time system function on the
DSP. The continuous time transfer function is converted to the discrete time domain by a backward Euler
mapping:
s ≈ (1-z-1)/t, where t = 62.5 µs
The poles are prewarped to FP and the zeros are prewarped to FZ .

Kollmorgen | May 2014 739

 AKD BASIC Programming Manual | 7.39.5 VL.ARZQ1 TO VL.ARZQ4

7.39.5 VL.ARZQ1 TO VL.ARZQ4

General Information
Type R/W Parameter
Sets the Q of the zero (numerator) of anti-resonance filter #1; active in opmodes 1 (velo-
Description
city) and 2 (position) only.
Units N/A
Range 0.1 to 5
Default
0.5
Value
Data Type Float
VL.ARPF1 TO VL.ARPF4 (pg 732), VL.ARPQ1 TO VL.ARPQ4 (pg 734), VL.ARZF1 TO
See Also
VL.ARZF4 (pg 738)
Start Ver-
M_01-02-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
3406h/D VL.ARZQ1
EtherCAT COE and
3406h/E VL.ARZQ2
CANopen M_01-02-00-000
3406h/F VL.ARZQ3
CANopen
3406h/10 VL.ARZQ4

Parameter Fieldbus Address Attributes Signed?

Profinet DWord
VL.ARZQ1 2420
sercos® III 4 Octets
Profinet DWord
VL.ARZQ2 2421
sercos® III 4 Octets
No
Profinet DWord
VL.ARZQ3 2422
sercos® III 4 Octets
Profinet DWord
VL.ARZQ4 2423
sercos® III 4 Octets

740 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.5 VL.ARZQ1 TO VL.ARZQ4

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

840 VL.ARZQ1
842 VL.ARZQ2
Modbus No 32 bit No M_01-03-00-000
844 VL.ARZQ3
846 VL.ARZQ4

Description
VL.ARZQ1 sets the Q (quality factor) of the zero (numerator) of AR filter 1. This value is QZ in the approx-
imate transfer function of the filter:
AR1(s) = [s²/(2πFZ)²+s/(QZ2πFZ) + 1]/ [s²/(2πFP)² +s/(QP2πFP) + 1]

The following block diagram describes the AR filter function; note that AR1 and AR2 are in the forward
path, while AR3 and AR4 are applied to feedback:

AR1, AR2, AR3 and AR4 are used in velocity and position mode, but are disabled in torque mode.
Discrete time transfer function (applies to all AR filters)
The velocity loop compensation is actually implemented as a digital discrete time system function on the
DSP. The continuous time transfer function is converted to the discrete time domain by a backward Euler
mapping:
s ≈ (1-z-1)/t, where t = 62.5 µs.
The poles are prewarped to FP and the zeros are prewarped to FZ .

Kollmorgen | May 2014 741

 AKD BASIC Programming Manual | 7.39.6 VL.BUSFF

7.39.6 VL.BUSFF
General Information
Type R/O Parameter
Displays the velocity loop feedforward value injected by the field-bus; active in opmodes
Description
1 (velocity) and 2 (position) only.
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg 719)
Units Rotary: rpm, rps, deg/s, (custom units)/s, rad/s
Linear: counts/s, mm/s, µm/s, (custom units)/s
Range 0.0 to VL.LIMITP (pg 762)
Default
0.0
Value
Data Type Float
See Also VL.FF (pg 751), VL.KBUSFF (pg 753)
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 60B1h/0 M_01-00-00-000
CANopen

Fieldbus Parameter Address Attributes Signed?

Profinet DWord
® VL.BUSFF_32 2424 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 848 Yes low 32 bit word Yes M_01-03-00-000

Description
This parameter displays the velocity loop feedforward value injected by the fieldbus.

742 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.7 VL.CMD

7.39.7 VL.CMD
General Information
Type R/O Parameter
Reads the actual velocity command; active in opmodes 1 (velocity) and 2 (position)
Description
only.
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg 719)
Units Rotary: rpm, rps, deg/s, (custom units)/s, rad/s
Linear: counts/s, mm/s, µm/s, (custom units)/s
Range N/A
Default
N/A
Value
Data Type Float
See Also VL.FB (pg 747), VL.CMDU (pg 744), VL.LIMITP (pg 762), VL.LIMITN (pg 760)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 606Bh/0 M_01-00-00-000
CANopen

Fieldbus Parameter Address Attributes Signed?

Profinet DWord
® VL.CMD_32 2425 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 850 Yes low 32 bit word Yes M_01-03-00-000

Description
VL.CMD returns the actual velocity command as it is received in the velocity loop entry after all velocity
limits (such as VL.LIMITN (pg 760) and VL.LIMITP (pg 762)). See velocity loop design diagram for more
details.

Kollmorgen | May 2014 743

 AKD BASIC Programming Manual | 7.39.8 VL.CMDU

7.39.8 VL.CMDU
General Information
Type R/W Parameter
Description Sets the user velocity command; active in opmodes 1 (velocity) and 2 (position) only.
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg 719)
Units Rotary: rpm, rps, deg/s, custom units/s, rad/s
Linear: counts/s, mm/s, µm/s, custom units/s
Rotary
-15,000.000 to 15,000.000 rpm
-250.000 to 250.000 rps
-90000.000 to 90000.000 deg/s
-1250.000 to 1250.000 custom units/s
Range -1570.796 to 1570.796 rad/s
Linear
-1,073,741,824,000.000 to 1,073,741,824,000.000 counts/s
-8,000.000 to 8,000.000 mm/s
-8,000,000.000 to 8,000,000.000 µm/s
-1,250.000 to 1,250.000 custom units/s
Default
0
Value
Data Type Float
VL.FB (pg 747), VL.CMD (pg 743), DRV.OPMODE (pg 370), DRV.CMDSOURCE (pg
See Also
312), VL.LIMITN (pg 760), VL.LIMITP (pg 762)
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 60FFh/0 M_01-00-00-000
CANopen

744 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.8 VL.CMDU

Fieldbus Parameter Address Attributes Signed?

Profinet DWord
® VL.CMDU_32 2426 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 852 Yes low 32 bit word Yes M_01-03-00-000

Description
VL.CMDU sets the user velocity command. When DRV.OPMODE (pg 370) is set to 1 (velocity loop) and
DRV.CMDSOURCE (pg 312) is set to 0 (TCP/IP channel), then setting this value when the drive is
enabled will cause the drive to rotate at the required velocity.

Kollmorgen | May 2014 745

 AKD BASIC Programming Manual | 7.39.9 VL.ERR

7.39.9 VL.ERR
General Information
Type R/O Parameter
Sets the velocity error; active in opmodes 1 (velocity) and 2 (position)
Description
only.
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg 719)
Units Rotary: rpm, rps, deg/s, (custom units)/s, rad/s
Linear: counts/s, mm/s, µm/s, (custom units)/s
Range N/A
Default
N/A
Value
Data Type Float
See Also VL.CMD (pg 743), VL.FB (pg 747)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3407h/4 M_01-00-00-000
CANopen

Fieldbus Parameter Address Attributes Signed?

Profinet DWord
® VL.ERR_32 2427 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 854 Yes low 32 bit word Yes M_01-03-00-000

Description
VL.ERR sets the velocity error. It is calculated in the velocity loop as the difference between VL.CMD (pg
743) and VL.FB (pg 747).

746 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.10 VL.FB

7.39.10 VL.FB
General Information
Type R/O Parameter
Reads the velocity feedback; active in opmodes 1 (velocity) and 2 (position)
Description
only.
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg 719)
Units Rotary: rpm, rps, deg/s, (custom units)/s, rad/s
Linear: counts/s, mm/s, µm/s, (custom units)/s
Range N/A
Default
N/A
Value
Data Type Float
See Also VL.CMDU (pg 744)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
3618h/0
CANopen M_01-00-00-000
606Ch/0
CANopen

Fieldbus Parameter Address Attributes Signed?

Profinet DWord
® VL.FB_32 2428 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 856 Yes low 32 bit word Yes M_01-03-00-000

Description
VL.FB returns the velocity feedback as it is received in the velocity loop, after passing through Filter 3 and
Filter 4.

Kollmorgen | May 2014 747

 AKD BASIC Programming Manual | 7.39.11 VL.FBFILTER

7.39.11 VL.FBFILTER
General Information
Type R/O Parameter
Filters VL.FB (pg 747) value; active in opmodes 1 (velocity) and 2 (position)
Description
only.
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg 719)
Units Rotary: rpm, rps, deg/s, (custom units)/s, rad/s
Linear: counts/s, mm/s, µm/s, (custom units)/s
Range N/A
Default
N/A
Value
Data Type Float
See Also VL.FB (pg 747)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3407h/1 M_01-00-00-000
CANopen

Fieldbus Parameter Address Attributes Signed?

Profinet DWord
® VL.FBFILTER_32 2429 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 858 Yes low 32 bit word Yes M_01-03-00-000

Description
This parameter returns the same value as VL.FB (pg 747), filtered through a 10 Hz filter.

748 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.12 VL.FBSOURCE

7.39.12 VL.FBSOURCE
General Information
Type NV Parameter
Sets feedback source for the velocity loop; active in opmodes 1 (velocity) and 2 (pos-
Description
ition) only.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
See Also PL.FBSOURCE (pg 623)
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N No
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2430 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 860 No 8 bit No M_01-03-00-000

Description
This parameter determines the feedback source to be used by the velocity loop. A value of 0 selects the
primary feedback, and 1 selects the secondary feedback.

Kollmorgen | May 2014 749

 AKD BASIC Programming Manual | 7.39.13 VL.FBUNFILTERED

7.39.13 VL.FBUNFILTERED
General Information
Type R/O Parameter
Description Reads the velocity feedback.
Depends on UNIT.VROTARY or UNIT.VLINEAR, UNIT.ACCLINEAR
Units Rotary: rpm, rps, deg/s, (custom units)/s, rad/s
Linear: counts/s, mm/s, μm/s, (custom units)/s
Range N/A
Default
N/A
Value
Data Type Float
See Also VL.FB (pg 747), VL.FBFILTER (pg 748)
Start Version M_01-03-06-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
2845 Yes
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1690 Yes 64-bit Yes M_01-06-03-000

Description
VL.FBUNFILTERED reads the raw velocity feedback before any filters affect the value of this feedback.

750 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.14 VL.FF

7.39.14 VL.FF
General Information
Type R/O Parameter
Displays the velocity loop overall feedforward value; active in opmodes 1 (velocity) and 2
Description
(position) only.
Depends on or
Units Rotary: rpm, rps, deg/s, (custom units)/s, rad/s
Linear: counts/s, mm/s, µm/s, (custom units)/s
Range 0 to VL.LIMITP (pg 762)
Default
0
Value
Data Type Float
See Also VL.KBUSFF (pg 753)
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
2431 Yes
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 862 Yes low 32 bit word Yes M_01-03-00-000

Description
This parameter displays the velocity loop overall feedforward value.

Kollmorgen | May 2014 751

 AKD BASIC Programming Manual | 7.39.15 VL.GENMODE

7.39.15 VL.GENMODE
General Information
Type NV Parameter
Selects mode of velocity generation (Observer, d/dt); active in opmodes 1 (velocity) and
Description
2 (position) only.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2432` No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 864 No 16 bit No M_01-03-00-000

Description
This parameter is used to select the velocity generator mode.
Mode Description
d/dt mode: The derivative of the mechanical angle of the drive is fed to a first order low
0
pass.
1 Luenberger Observer mode

752 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.16 VL.KBUSFF

7.39.16 VL.KBUSFF
General Information
Type R/W Parameter
Sets the velocity loop acceleration feedforward gain value; active in opmodes 1 (velocity)
Description
and 2 (position) only.
Units NA
Range 0.0 to 2.0
Default
0.0
Value
Data Type Float
See Also VL.BUSFF (pg 742)
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3407h/3 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2433 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 866 No 32 bit No M_01-03-00-000

Description
This parameter sets the gain for the acceleration feedforward (a scaled second derivative of the position
command is added to the velocity command value).
The nominal feedforward value can be multiplied by this gain value.
This will have affect only when using position mode (DRV.OPMODE (pg 370) = 2).

Kollmorgen | May 2014 753

 AKD BASIC Programming Manual | 7.39.17 VL.KI

7.39.17 VL.KI
General Information
Type NV Parameter
Sets the velocity loop integral gain for the PI controller; active in opmodes 1 (velocity) and
Description
2 (position) only.
Units Hz
Range 0 to 1,000 Hz
Default
160 Hz
Value
Data Type Float
See Also VL.KP (pg 757)
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 354Dh/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2434 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 868 No 32 bit No M_01-03-00-000

Description
VL.KI sets the integral gain of the velocity loop.
A factor of 2π is included in the time calculation, therefore a PI velocity loop with a constant error of 1 rps
in which VL.KI is set to 160 and VL.KP (pg 757) is set to 1, will take (1000/160)*2π ms to increase the
integral gain to 1. Therefore, the total gain is 2 at this time (see velocity loop structure below).

Velocity Loop Structure

754 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.17 VL.KI

Kollmorgen | May 2014 755

 AKD BASIC Programming Manual | 7.39.18 VL.KO

7.39.18 VL.KO
General Information
Type R/W Parameter
Scales the observer velocity signal; active in opmodes 1 (velocity) and 2 (position)
Description
only.
Units Internal
Range 0 to 65,535
Default
0
Value
Data Type Float
See Also VL.MODEL (pg 765)
Start Version M_01-00-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2435 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 870 No 32 bit No M_01-03-00-000

Description
VL.KO is used to scale the observer model to match the load. When VL.KO is tuned properly, Reads the
observer velocity signal; active in opmodes 1 (velocity) and 2 (position) only. (pg 765) will match VL.FB
(pg 747), except when there is an unspecified offset between the two.

756 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.19 VL.KP

7.39.19 VL.KP
General Information
Type NV Parameter
Sets velocity loop proportional gain for the PI controller; active in opmodes 1 (velocity)
Description
and 2 (position) only.
Units A/(rad/sec)
Range 0.001 to 2,147,483.008
Default
1
Value
Data Type Float
See Also VL.KI (pg 754)
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3548h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2436 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 872 No 32 bit No M_01-03-00-000

Description
VL.KP sets the proportional gain of the velocity loop.
The idealized velocity loop bandwidth in Hz is:
Rotary motor:
Bandwidth (Hz) = VL.KP *Kt/ (2π *Jm)
Where:

Kollmorgen | May 2014 757

 AKD BASIC Programming Manual | 7.39.19 VL.KP

Kt= motor torque constant, in units of Nm/Arms

Jm = motor inertia, in units of kg*m²
Linear motor:
Bandwidth (Hz) = VL.KP * Kt / (Motor Pitch (mm) * Jm)
Where:
Kt= motor torque constant, in units of Nm/Arms
Jm = motor inertia, in units of kg

The drive uses the same control loop for both linear and rotary motors. VL.KP units are in Arms /(rad/s). If
you want to tune in units of Arms/(mm/s), then you must manually convert the units.
The diagram below shows how linear motors are implemented at the control loop level.

The red blocks are automatically handled at the drive level.

2π radians is the linear equivalent of one full mechanical revolution of a rotary motor - and is equal to the
MOTOR.PITCH of a linear motor.

Example
To convert VL.KP = 0.320 Arms/(rad/s) to Arms/(mm/s), where MOTOR.PITCH is 32 mm:
VL.KP = 0.320 Arm /rad/s * (2π rad / 32mm MOTOR.PITCH)
VL.KP = 0.32 * 2π / 32 = 0.063 Arms / (mm/s)

758 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.20 VL.KVFF

7.39.20 VL.KVFF
General Information
Type R/W Parameter
Sets the velocity loop velocity feedforward gain value; active in opmodes 1 (velocity) and
Description
2 (position) only.
Units NA
Range 0.0 to 2.0
Default
0.0
Value
Data Type Float
See Also VL.FF (pg 751)
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
3407h/2
CANopen M_01-00-00-000
354Bh/0
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
® 2437 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 874 No 32 bit No M_01-03-00-000

Description
This parameter sets the gain for the velocity feedforward (a scaled derivative of the position command is
added to the velocity command value). The nominal feedforward value can be multiplied by this gain
value.
This parameter is only used in the position mode (DRV.OPMODE (pg 370) = 2).

Kollmorgen | May 2014 759

 AKD BASIC Programming Manual | 7.39.21 VL.LIMITN

7.39.21 VL.LIMITN
General Information
Type NV Parameter
Sets the velocity lower limit; active in opmodes 1 (velocity) and 2 (position)
Description
only.
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg 719)
Units Rotary: rpm, rps, deg/s, custom units/s, rad/s
Linear: counts/s, mm/s, µm/s, custom units/s
Rotary:
-15,000.000 to 0.000 rpm
-250.000 to 0.000 rps
-90,000.000 to 0.000 deg/s
-1,250.000 to 0.000 custom units/s
Range -1570.796 to 0.000 rad/s
Linear:
-1,073,741,824,000.000 to 0.000 counts/s
-250.000*MOTOR.PITCH (pg 570) to 0.000 mm/s
-250,000.000*MOTOR.PITCH (pg 570) to 0.000 µm/sec
-1,250.000 to 0.000 custom units/s
Rotary:
-3,000.000 rpm
-50.000 rps
-18,000.002 deg/s
-250.000 (custom units)/s
Default
-314.159 rad/s
Value
Linear:
-0.050 counts/s
-50*MOTOR.PITCH (pg 570) mm/s
-50,000.004*MOTOR.PITCH µm/sec
-250.000 custom units/s
Data Type Float
See Also VL.LIMITP (pg 762), VL.CMD (pg 743)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes

760 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.21 VL.LIMITN

Variant Supported
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3623h/0 M_01-00-00-000
CANopen

Fieldbus Parameter Address Attributes Signed?

Profinet DWord
® VL.LIMITN_32 2438 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 876 Yes low 32 bit word Yes M_01-03-00-000

Description
VL.LIMITN sets the velocity command negative limit.
If the input to the velocity loop is lower than VL.LIMITN, then the actual velocity command VL.CMD (pg
743) is limited by the value of VL.LIMITN.

Kollmorgen | May 2014 761

 AKD BASIC Programming Manual | 7.39.22 VL.LIMITP

7.39.22 VL.LIMITP
General Information
Type NV Parameter
Sets the velocity high limit; active in opmodes 1 (velocity) and 2 (position)
Description
only.
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg 719)
Units Rotary: rpm, rps, deg/s, custom units/s, rad/s
Linear: counts/s, mm/s, µm/s, custom units/s
Rotary:
0.000 to 15,000.000 rpm
0.000 to 250.000 rps
0.000 to 90,000.000 deg/s
0.000 to 1,250.000 custom units/s
Range 0.000 to 1570.796 rad/s
Linear:
0.000 to 1,073,741,824,000.000 counts/s
0.000 to 250.000*MOTOR.PITCH (pg 570) mm/sec
0.000 to 250,000.000*MOTOR.PITCH (pg 570) µm/s
0.000 to 1,250.000 custom units/s
Rotary:
3,000.000 rpm
50.000 rps
18,000.002 deg/s
250.000 (custom units)/s
Default
314.159 rad/s
Value
Linear:
0.050 counts/s
50.000*MOTOR.PITCH (pg 570) mm/sec
50,000.004*MOTOR.PITCH µm/sec
250.000 custom units/s
Data Type Float
See Also VL.LIMITN (pg 760), VL.CMD (pg 743)
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes

762 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.22 VL.LIMITP

Variant Supported
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3622h/0 M_01-00-00-000
CANopen

Fieldbus Parameter Address Attributes Signed?

Profinet DWord
® VL.LIMITP_32 2439 No
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 878 Yes low 32 bit word No M_01-03-00-000

Description
VL.LIMITP sets the velocity command positive limit.
If the input to the velocity loop is higher than VL.LIMITP, then the actual velocity command VL.CMD (pg
743) is limited by the value of VL.LIMITP.

Kollmorgen | May 2014 763

 AKD BASIC Programming Manual | 7.39.23 VL.LMJR

7.39.23 VL.LMJR
General Information
Type NV Parameter
Sets the ratio of the estimated load moment of inertia relative to the motor moment of iner-
Description
tia; active in opmodes 1 (velocity) and 2 (position) only.
Units NA
Range 0 to 100.0
Default
0
Value
Data Type Float
See Also IL.FF (pg 491)
Start Ver-
M_01-00-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2440 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 880 No 32 bit No M_01-03-00-000

Description
This parameter is used in the internal calculation of the current loop acceleration feed forward gain value.

764 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.24 VL.MODEL

7.39.24 VL.MODEL
General Information
Type R/O Parameter
Reads the observer velocity signal; active in opmodes 1 (velocity) and 2 (position)
Description
only.
Depends on UNIT.VROTARY or UNIT.VLINEAR, UNIT.ACCLINEAR
Units Rotary: rpm, rps, deg/s, (custom units)/s, rad/s
Linear: counts/s, mm/s, μm/s, (custom units)/s
Range N/A
Default
N/A
Value
Data Type Float
See Also VL.FB (pg 747), VL.KO (pg 756)
Start Version M_01-00-01-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Parameter Address Attributes Signed?
Profinet DWord
VL.MODEL_32 2441 Yes
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 882 Yes low 32 bit word Yes M_01-03-00-000

Description
VL.MODEL is the observer velocity output. When VL.KO (pg 756) is tuned properly, VL.MODEL will
match VL.FB (pg 747), except when there is an unspecified offset between the two.

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 AKD BASIC Programming Manual | 7.39.25 VL.OBSBW

7.39.25 VL.OBSBW
General Information
Type NV Parameter
Sets the bandwidth of the observer in
Description
Hz.
Units Hz
Range 10 to 4,000 Hz
Default
30 Hz
Value
Data Type Float
See Also N/A
Start Version M_01-03-00-004

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2442 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 884 No 32 bit No M_01-03-00-000

Description
This parameter sets the bandwidth of the observer in Hz. The observer passes the velocity feedback
through a PID control loop that behaves like a low-pass filter with a bandwidth of VL.OBSBW.

766 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.26 VL.OBSMODE

7.39.26 VL.OBSMODE
General Information
Type NV Parameter
Sets the observer operating
Description
mode.
Units N/A
Range 0 to 1
Default
0
Value
Data Type Integer
See Also N/A
Start Version M_01-03-00-004

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2443 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 886 No 32 bit No M_01-03-00-000

Description
This parameter sets the observer operating mode. When VL.OBSMODE = 0, the observer is not part of
the control loop; that is, VL.FB is used as the velocity feedback signal to the velocity loop. When
VL.OBSMODE = 1, the observer is part of the control loop; VL.MODEL is used as the velocity feedback
signal.

Kollmorgen | May 2014 767

 AKD BASIC Programming Manual | 7.39.27 VL.THRESH

7.39.27 VL.THRESH
General Information
Type NV Parameter
Description Sets the user over speed fault level.
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg 719)
Units Rotary: rpm, rps, deg/s, custom units/s, rad/s
Linear: counts/s, mm/s, µm/s, custom units/s
Rotary:
0.000 to 15,000.000 rpm
0.000 to 250.000 rps
0.000 to 90,000.000 deg/s
0.000 to 1,250.000 custom units/s
0.000 to 1,570.796 rad/s
Range
Linear:
0.000 to 1,073,741,824,000.000 counts/s
0.000 to 250.000*MOTOR.PITCH (pg 570) mm/s
0.000 to 250,000.000*MOTOR.PITCHMOTOR.PITCH (pg 570)
µm/s
0.000 to 1,250.000 custom units/s
Rotary:
3,600 rpm
60 rps
21,600.000 deg/s
300.000 custom units/s
Default
376.991 rad/s
Value
Linear:
0.060 counts/s
60.000*MOTOR.PITCH (pg 570) mm/s
60,000.04*MOTOR.PITCHMOTOR.PITCH (pg 570)µm/s
300.000 custom units/s
Data Type Float
Start Version M_01-00-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

768 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.39.27 VL.THRESH

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3627h/0 M_01-00-00-000
CANopen

Fieldbus Parameter Address Attributes Signed?

Profinet DWord
VL.THRESH_32 2444 Yes
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 888 Yes low 32 bit word Yes M_01-03-00-000

Description
VL.THRESH sets the user overspeed fault threshold. This threshold becomes the overall overspeed fault
threshold (VL.VFTHRESH) if it is less than the motor speed threshold (1.2 x MOTOR.VMAX), and for
MOTOR.TYPE = 6 if it is less than the motor back EMF overspeed threshold ((1.02 x 1000 x
VBUS.OVFTHRESH) / (MOTOR.KE x sqrt(2))).
The value is considered an absolute value, hence it applies for both negative and positive velocities.

Example
VL.THRESH is set to 600 rpm. A velocity (VL.FB (pg 747)) of 700 rpm will generate an over speed fault.

Kollmorgen | May 2014 769

 AKD BASIC Programming Manual | 7.39.28 VL.VFTHRESH

7.39.28 VL.VFTHRESH
General Information
Type R/O Parameter
Reads the overall overspeed fault
Description
threshold.
Units N/A
Range N/A
Default
N/A
Value
Data Type Float
Start Version M_01-10-03-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Description
This parameter reports the overall overspeed fault threshold. Whichever of the following thresholds has
the smallest value is used as the overall overspeed fault threshold:
l User overspeed threshold (VL.THRESH).
l Motor mechanical overspeed threshold (1.2 x MOTOR.VMAX)
l If MOTOR.TYPE = 6, the motor back EMF overspeed threshold ((1.02 x 1000 x
VBUS.OVFTHRESH) / (MOTOR.KE x sqrt(2))).

770 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.40 VM Parameters

7.40 VM Parameters
This section describes the VM parameters.

7.40.1 VM.AUTOSTART 772

7.40.2 VM.ERR 773
7.40.3 VM.INTRTIMER 775
7.40.4 VM.PGMCOMPILERVERSION 776
7.40.5 VM.PGMERRORLIST 777
7.40.6 VM.RESTART 778
7.40.7 VM.START 779
7.40.8 VM.STATE 780
7.40.9 VM.STOP 781

Kollmorgen | May 2014 771

 AKD BASIC Programming Manual | 7.40.1 VM.AUTOSTART

7.40.1 VM.AUTOSTART
General Information
Type R/W
VM.AUTOSTART specifies whether or not the program in
Description the AKD BASIC starts executing automatically when AC
power is applied.
Units none
Range 0 to 1
Default
0
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1152 No 32 bit No M_01-05-11-000

Description
VM.AUTOSTART specifies whether or not the program in the AKD BASIC starts executing automatically
when AC power is applied.
l 0 = Program does not start automatically
l 1 = Program starts automatically

Set VM.AUTOSTART to 0 or 1 in the terminal in WorkBench and execute an NVSave.

772 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.40.2 VM.ERR

7.40.2 VM.ERR
General Information
Type R/W
Description Indicates what caused the most recent Runtime Error.
Units None
Range 0 to 1000
Default
0
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1162 No 32 bit No M_01-05-11-000

Description
Runtime errors are caused by the program running on the AKD BASIC trying to do something that is not
allowed. For example, runtime errors occur when you attempt to write a value that is too high or too low to
a particular variable. We try to catch as many errors as possible when the program is compiled, but some
errors are only detected when the program is running.
Determine the particular problem causing Runtime Error (F4 Fault) by looking at the value of the VM.ERR
variable. Use the Variables Window to find the value of VM.ERR.
The table below shows what each value of VM.ERR means.
Value of VM.ERR Error Caused by:
801 Divide by zero.
802 Stack overflow.
803 Insufficient memory.
804 No interrupt handler defined.
805 Interrupt error.
806 Max string length exceeded.
807 String overflow.
808 Array out of bounds
809 Feature not supported.
810 Internal firmware/hardware error.
812 Parameter not supported.
813 Parameter access error.
814 Data not found.
815 Data invalid.
816 Data too high.
817 Data too low.
818 Param type out of range.
819 Data not divisible by 2.
820 Invalid position modulo setting.
821 Cannot read from command.
823 Enable Drive first.
824 DRV.OPMODE must be 2 (position).

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 AKD BASIC Programming Manual | 7.40.2 VM.ERR

Value of VM.ERR Error Caused by:

825 DRV.CMDSOURCE must be 5 (program).
826 Cannot execute during a move.
827 Writing to read-only parameter.
828 Disable Drive first.

774 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.40.3 VM.INTRTIMER

7.40.3 VM.INTRTIMER
General Information
Type R/W
Sets a number of milliseconds before
Description
INTR.TIMER executes after it is called.
Units Milliseconds
Range 100 to 1,000,000,000
Default
100
Value
Data Type Integer

Description
Sets a number of milliseconds before INTR.TIMER executes after it is called. VM.INTRTIMER always
must be set before setting INTR.TIMER = 1. The real-time timer is reset each time INTR.TIMER = 1.
VM.INTRTIMER can be changed in the Timer Interrupt Service Routine. To avoid run-time problems, the
user needs to keep the Timer ISR short (must be less than VM.INTRTIMER).
After setting INTR.TIMER = 1, the timer set by VM.INTRTIMER will start to decrement. Once
VM.INTRTIMER reaches zero, the virtual machine will finish executing the current instruction, and then
jump to the Timer Interrupt function and execute it. When the Timer Interrupt is done executing the Virtual
Machine will resume execution from where it left off. Each time INTR.TIMER=1 is set, the timer is restar-
ted and the timer interrupt re-armed for execution.

Example
'This program turns Output 1 on for 5 seconds after
'Input 5 goes high
'---------------- Main Program ----------------
Main
'Enable interrupt to trigger when input 5 goes high
INTR.DIN5Hi = 1
'set interrupt timer for 5 seconds (5000 msec)
VM.INTRTIMER = 5000
While 1: Wend 'Wait for something to happen
End Main
'---------------- Interrupt Routines ----------------
Interrupt DIN5Hi
DOUT1.STATEU = 1 'Turn output 1 on
'Turn on TIMER Interrupt (it will trigger after 5000 msec)
INTR.TIMER = 1
INTR.DIN5Hi = 1 'Re-enable Interrupt For Input 5
End Interrupt
Interrupt TIMER
DOUT1.STATEU = 0 'Turn output 1 off
End Interrupt

Related Topics
Interrupt {Source} (pg 533)

Kollmorgen | May 2014 775

 AKD BASIC Programming Manual | 7.40.4 VM.PGMCOMPILERVERSION

7.40.4 VM.PGMCOMPILERVERSION
General Information
Type R/O
Returns the compiler version of the most recent BASIC program downloaded to the
Description
drive.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Ver-
M_01-09-00-000
sion

Description
Returns the compiler version of the most recent BASIC program downloaded to the drive.

776 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.40.5 VM.PGMERRORLIST

7.40.5 VM.PGMERRORLIST
General Information
Type R/O
Returns a list of unsupported items from the most recent BASIC program downloaded to
Description
the drive.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
Start Ver-
M_01-09-00-000
sion

Description
VM.PGMERRORLIST returns a list of items (such as recently added parameters) being used in the down-
loaded BASIC program which the installed firmware does not support. When the drive returns Fault 831
(BASIC program is invalid), you can either:
1. Use VM.PGMERRORLIST to identify and remove unsupported calls to items.
or
2. Upgrade your firmware, and then re-compile, and re-download the BASIC program.

Kollmorgen | May 2014 777

 AKD BASIC Programming Manual | 7.40.6 VM.RESTART

7.40.6 VM.RESTART
General Information
Type Command
Description Causes program execution to start again from the beginning of the program.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1154 No Command No M_01-05-11-000

Description
Causes program execution to start again from the beginning of the program. Restart is the only way to exit
from an Error Handler routine. Any interrupts, WHEN statements or loops in progress will be aborted.

VM.RESTART does not clear the user program variables or change any program vari-
ables, any predefined variables or have any effect on motor motion by itself .

Related Topics
VM.START | VM.STOP

778 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.40.7 VM.START

7.40.7 VM.START
General Information
Type Command
Starts program execution if program has
Description
been stopped.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1156 No Command No M_01-05-11-000

Description
VM.START starts program execution. Or if program execution was stopped with VM.STOP,
VM.STARTstarts the program at the point it was stopped.

This keyword is executed when the continue icon is pressed in the Program view.

Related Topics
VM.STOP (pg 781) | VM.RESTART (pg 778)

Kollmorgen | May 2014 779

 AKD BASIC Programming Manual | 7.40.8 VM.STATE

7.40.8 VM.STATE
General Information
Type R/O
Description Returns the state of the AKD Virtual Machine.
Units N/A
Range 0 to 5
Default
None
Value
Data Type Integer
Start Version M_01-00-00-000

Description
VM.STATE contains the state of the Virtual Machine. The following numeric values correspond to the fol-
lowing states.
0. Valid program is currently being executed.
1. There is no valid program in the drive.
2. Valid program exists, not running now, but ready to go.
3. Valid program has terminated.
4. Program encountered run-time error.
5. Program is invalid (e.g. bad CRC).

780 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.40.9 VM.STOP

7.40.9 VM.STOP
General Information
Type Command
Description Stops Execution of the program
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1160 No Command No M_01-05-11-000

Description
VM.STOP stops execution of the program. Use VM.START to start program execution at the point in the
program VM.STOP was commanded.

Related Topics
VM.START (pg 779)

Kollmorgen | May 2014 781

 AKD BASIC Programming Manual | 7.41 WHEN Parameters

7.41 WHEN Parameters

This section describes the WHEN parameters.

7.41.1 When 783

7.41.2 WHEN.DRVHANDWHEEL 786
7.41.3 WHEN.DRVTIME 787
7.41.4 WHEN.FB1MECHPOS 788
7.41.5 WHEN.FB3P 789
7.41.6 WHEN.PLCMD 790
7.41.7 WHEN.PLFB 791

782 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.41.1 When

7.41.1 When
General Information
Type Statement
Description The When statement is used for very fast response to certain input conditions.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A

Description
The When statement is used for very fast response to certain input conditions. Upon encountering and
executing the When statement, program execution waits until the specified condition is satisfied. When
the condition is satisfied, the when-action is executed immediately and the program continues at the next
line after the When statement. The syntax is as follows:

When when-condition, when-action

The following tables lists the possible when-conditions and when actions
When-conditions
DIN1.STATE = 0 or 1
DIN2.STATE = 0 or 1
DIN3.STATE = 0 or 1
DIN4.STATE = 0 or 1
DIN5.STATE = 0 or 1
DIN6.STATE = 0 or 1
DIN7.STATE = 0 or 1
DIN21.STATE = 0 or 1
DIN22.STATE = 0 or 1
DIN23.STATE = 0 or 1
DIN24.STATE = 0 or 1
DIN25.STATE = 0 or 1
DIN26.STATE = 0 or 1
DIN27.STATE = 0 or 1
DIN28.STATE = 0 or 1
DIN29.STATE = 0 or 1
DIN30.STATE = 0 or 1
DIN31.STATE = 0 or 1
DIN32.STATE = 0 or 1
DRV.HANDWHEEL < value
DRV.HANDWHEEL > value
DRV.TIME > value
EXTENCODER.POSITION < value
EXTENCODER.POSITION > value
FB3.P > value

Kollmorgen | May 2014 783

 AKD BASIC Programming Manual | 7.41.1 When

When-conditions
FB3.P < value
MOVE.MOVING = 0 or 1
MOVE.INPOSITION = 0 or 1
PL.CMD < value
PL.CMD > value
PL.FB < value
PL.FB > value

When-actions
CAM.ACTIVATE = 0 to 8
CAMVM.GOREL
CAMVM.GOUPDATE
CAMVM.GOVEL
CAMVM.STOP
Continue
DOUT1.STATEU = 0 or 1
DOUT2.STATEU = 0 or 1
EGEAR.RATIO = value
EGEAR.ON = 0 or 1
MOVE.ABORT
MOVE.GOABS
MOVE.GOREL
MOVE.GOVEL
MOVE.GOABSREG
MOVE.GORELREG
MOVE.GOUPDATE
MOVE.GOHOME

Interrupts are active and will be serviced during the execution of a When statement. The execution of an
interrupt service routine will not affect how quickly the when-action is executed after the when-condition is
satisfied.
The When condition is checked every 250 microseconds. At the instant (within 250 microseconds) that
the when-condition is satisfied, the values of the following variables are strobed into special When vari-
ables:
Variable When variable
DRV.HANDWHEEL WHEN.DRVHANDWHEEL
DRV.TIME WHEN.DRVTIME
FB1.MECHPOS WHEN.FB1MECHPOS
PL.CMD WHEN.PLCMD
PL.FB WHEN.PLFB
EXTENCODER.POSITION WHEN.EXTENCODERPOSITION

Example
MOVE.GOVEL
When DIN3.STATE = 1, MOVE.ABORT

784 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.41.1 When

Print "Motor position when Input 3 went hi, WHEN.PLFB=", WHEN.PLFB

Print "Current Position, PLFB =", PLFB

Related Topics
WHEN.DRVHANDWHEEL (pg 786) | WHEN.FB1MECHPOS (pg 788) | WHEN.DRVTIME (pg 787)
WHEN.PLCMD (pg 790) | WHEN.PLFB (pg 791)

Kollmorgen | May 2014 785

 AKD BASIC Programming Manual | 7.41.2 WHEN.DRVHANDWHEEL

7.41.2 WHEN.DRVHANDWHEEL
General Information
Type R/O
Description Records the value of DRV.HANDWHEEL when the when-condition is satisfied.
Units 1/4,294,967,296 rev
Range 0 to 4,294,967,295 rev
Default
0 rev
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1170 No 32 bit No M_01-05-11-000

Description
Records the value of DRV.HANDWHEEL when the when-condition is satisfied. The when-condition is
checked once per 250 microseconds.

Related Topics
DRV.HANDWHEEL (pg 343) | When (pg 783)

786 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.41.3 WHEN.DRVTIME

7.41.3 WHEN.DRVTIME
General Information
Type R/O
Description Records the value of Time when the when-condition is satisfied.
Units Seconds
Range 0 - 2,147,483 (~24.8 days)
Default
N/A
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
Modbus 1172 M_01-05-11-000

Description
Records the value of DRV.RUNTIME when the when-condition is satisfied. The when-condition is
checked once per 250 microseconds.

Related Topics
DRV.RUNTIME (pg 374) | When (pg 783)

Kollmorgen | May 2014 787

 AKD BASIC Programming Manual | 7.41.4 WHEN.FB1MECHPOS

7.41.4 WHEN.FB1MECHPOS
General Information
Type R/O
Description Records the value of FB1.MECHPOS when the when-condition is satisfied.
Units Position units
Range N/A
Default
N/A
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1164 No 32 bit No M_01-05-11-000

Description
Records the value of FB1.MECHPOS when the when-condition is satisfied. The when-condition is
checked once per 250 microseconds.

Related Topics
FB1.MECHPOS (pg 422) | When (pg 783)

788 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.41.5 WHEN.FB3P

7.41.5 WHEN.FB3P
General Information
Type R/O
Records the value of FB3.P when the when-
Description
condition is satisfied.
Depends on FB3.PUNIT counts or custom
Units
units.
Range N/A
Default
N/A
Value
Data Type S64

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1166 Yes 64 bit No M_01-05-11-000

Description
Records the value of FB3.P when the when-condition is satisfied. The when-condition is checked every
250usec.

Related Topics
When (pg 783) | FB3.P (pg 465)

Kollmorgen | May 2014 789

 AKD BASIC Programming Manual | 7.41.6 WHEN.PLCMD

7.41.6 WHEN.PLCMD
General Information
Type R/O
Description Records the value of PL.CMD when the when-condition is satisfied.
Units Position units
Range N/A
Default
N/A
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1174 Yes 64 bit No M_01-05-11-000

Description
Records the value of PL.CMD when the when-condition is satisfied. The when-condition is checked once
per 250 microseconds.

Related Topics
PL.CMD (pg 612) | When (pg 783)

790 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.41.7 WHEN.PLFB

7.41.7 WHEN.PLFB
General Information
Type R/O
Description Records the value of Position when the when-condition is satisfied.
Depends on UNIT.PROTARY (pg 718) or UNIT.PLINEAR (pg 716)UNIT.ACCLINEAR
(pg 712)
Units
Rotary: counts, rad, deg, (Custom Units), 16-bit counts
Linear: counts, mm, µm, (Custom Units), 16-bit counts
Range N/A
Default
N/A
Value
Data Type Integer

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 1178 Yes 64 bit Yes M_01-05-11-000

Description
Records the value of Position when the when-condition is satisfied. The when-condition is checked once
per 250 microseconds.

Related Topics
PL.FB (pg 621) | When (pg 783)

Kollmorgen | May 2014 791

 AKD BASIC Programming Manual | 7.42 WS Parameters

7.42 WS Parameters
This section describes the WS parameters.

7.42.1 WS.ARM 793

7.42.2 WS.CHECKMODE 794
7.42.3 WS.CHECKT 796
7.42.4 WS.CHECKV 797
7.42.5 WS.DISARM 798
7.42.6 WS.DISTMAX 799
7.42.7 WS.DISTMIN 800
7.42.8 WS.FREQ 801
7.42.9 WS.IMAX 802
7.42.10 WS.MODE 803
7.42.11 WS.NUMLOOPS 804
7.42.12 WS.STATE 805
7.42.13 WS.T 806
7.42.14 WS.TDELAY1 807
7.42.15 WS.TDELAY2 808
7.42.16 WS.TDELAY3 809
7.42.17 WS.TIRAMP 810
7.42.18 WS.TSTANDSTILL 811
7.42.19 WS.VTHRESH 812

792 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.42.1 WS.ARM

7.42.1 WS.ARM
General Information
Type Command
Sets wake and shake to start at the next drive
Description
enable.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
See Also N/A
Start Version M_01-01-00-101, M_01-02-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3494h/6 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet
2445 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 890 No Command No M_01-03-00-000

Description
This command sets wake and shake to start at the next drive enable. Feedback type is not relevant for
this command. If WS.STATE is 0 and the drive is disabled, then WS.STATE will change to 1 after issuing
WS.ARM. With this command, wake and shake can be repeated if desired.

Kollmorgen | May 2014 793

 AKD BASIC Programming Manual | 7.42.2 WS.CHECKMODE

7.42.2 WS.CHECKMODE
General Information
Type R/W Parameter
Select the type of commutation check to execute after Wake and Shake finds a new com-
Description
mutation angle.
Units N/A
Range 0 to 2
Default
1
Value
Data Type Integer
Start Ver-
M_01-07-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2867 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1734 No 8-bit No

Description
AKD supports several options to confirm a valid commutation after Wake and Shake has determined a
new commutation angle. In some mechanical situations, such as if motion is inhibited, it is possible for
Wake and Shake to select an incorrect angle. Commutation checks are designed to prevent unexpected
motion if this occurs.
0 = No Commutation Check
If No Commutation Check is selected, neither passive nor active commutations checks will be executed.
1 = Active Commutation Check (default)
In the default Active Commutation Check mode, AKD will make a short torque move after an angle has
been selected. If the motor fails to move in the expected direction, a fault will be generated.
2 = Passive Commutation Check

794 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.42.2 WS.CHECKMODE

In the Passive Commutation Check mode, AKD will monitor torque commands and acceleration values
for 10 revolutions after Wake and Shake has completed. During this time, a fault will be generated if unex-
pected motion is detected, such as if commanded torque and acceleration are in opposition directions.
Note that this fault may also be reported if the motor experiences a large torque disturbance lasting longer
than WS.CHECKT.

Kollmorgen | May 2014 795

 AKD BASIC Programming Manual | 7.42.3 WS.CHECKT

7.42.3 WS.CHECKT
General Information
Type R/W Parameter
Sets the amount of time a communication error must be present before an error is
Description
thrown.
Units ms
Range 0 to 10,000
Default
N/A
Value
Data Type U16
Start Ver-
M_01-06-03-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Word
® 2850 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1700 No 16-bit No

Description
This parameter sets the amount of time a communication error must be present before an error is thrown.
Commutation monitoring is disabled when this parameter is set to 0.

796 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.42.4 WS.CHECKV

7.42.4 WS.CHECKV
General Information
Type R/W Parameter
This parameter sets the velocity threshold which has to be exceeded to activate com-
Description
mutation monitoring.
Units Depends on UNIT.VROTARY or UNIT.VLINEAR.
Unit Rotary Linear
0 0 to 15,000 rpm 0 to 6,7108,864 counts/s
Range 1 0 to 250 rps 0 to 8,000 mm/s
2 0 to 90,000 deg/s 0 to 589934 um/s
3 0 to 1250 PIN/POUT 0 to 1250 PIN/POUT
Default
N/A
Value
Data Type S32
Start Ver-
M_01-06-03-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2851 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1702 Yes 64-bit Yes

Description
This parameter sets the velocity threshold which has to be exceeded to activate commutation monitoring.

Kollmorgen | May 2014 797

 AKD BASIC Programming Manual | 7.42.5 WS.DISARM

7.42.5 WS.DISARM
General Information
Type Command
Cancels ARM requests and resets wake and shake to the IDLE
Description
state.
Units N/A
Range N/A
Default
N/A
Value
Data Type N/A
See Also N/A
Start Version M_01-04-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet
2847 Command No
sercos® III

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 1694 No Command No M_01-06-03-000

Description
This command disables wake and shake immediately. Feedback type is not relevant for this command. If
WS.ARM (pg 793) has been issued, the request to execute the wake and shake algorithm at the next
enable is cancelled. WS.STATE (pg 805) is set to IDLE.

798 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.42.6 WS.DISTMAX

7.42.6 WS.DISTMAX
General Information
Type R/W Parameter
Sets maximum movement allowed for wake and
Description
shake.
Units deg (position units)
Range 0 to 90 deg
Default
15 deg
Value
Data Type S64
See Also N/A
Start Version M_01-01-00-101, M_01-02-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3494h/2 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2446 Yes
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 892 Yes 64 bit Yes M_01-03-00-000

Description
This parameter sets the maximum movement that is allowed for finding commutation. If this value is too
small, F475, "Wake and Shake. Too much movement", may occur before wake and shake is finished.
The bigger this value, the more movement is allowed for wake and shake. This value is application
dependent.

Kollmorgen | May 2014 799

 AKD BASIC Programming Manual | 7.42.7 WS.DISTMIN

7.42.7 WS.DISTMIN
General Information
Type R/W Parameter
Sets the minimum movement required for wake and
Description
shake.
Units Actual position units
Range 0 to 90 deg
Default
1 deg
Value
Data Type S64
See Also N/A
Start Version M_01-01-00-101, M_01-02-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 36D1h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2448 Yes
sercos® III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 896 Yes 64 bit Yes M_01-03-00-000

Description
This parameter sets the minimum movement that is required for commutation finding. If this value is too
small, the the commutation finding might fail if too little current is used. The larger this value, the more
movement is needed in order to avoid F473: "Wake and Shake: Too little movement".

800 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.42.8 WS.FREQ

7.42.8 WS.FREQ
General Information
Type R/W
Description Sets the sine frequency of excitation for WS.MODE 2.
Units Hz
Range 0.01 - 8000
Default
10
Value
Data Type Float
Start Ver-
M_01-05-10-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet DWord
® 2848 No
sercos III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1696 No 32-bit No

Description
This keyword sets the excitation frequency for Wake and Shake mode 2.
The default setting of 10Hz will work for almost all systems.
In cases where the load attached to the motor is much higher than the motor inertia (200:1) it may be
necessary to lower the value of WS.FREQ.
Effects of lowering WS.FREQ:
l Wake and Shake Mode 2 will take longer to complete.
l A higher magnitude of motion will be seen on the motor because the motor has cur-
rent applied in the same direction for a longer period of time.

Kollmorgen | May 2014 801

 AKD BASIC Programming Manual | 7.42.9 WS.IMAX

7.42.9 WS.IMAX
General Information
Type R/W Parameter
Description Sets maximum current used for wake and shake.
Units Arms
0 to (lower value of MOTOR.IPEAK and DRV.IPEAK)
Range
Arms
Default
(half of maximum) Arms
Value
Data Type U16
See Also MOTOR.IPEAK (pg 560), DRV.IPEAK (pg 355)
Start Version M_01-01-00-101, M_01-02-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3494h/1 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet DWord
2450 Yes
sercos® III 4 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 900 No 32 bit Yes M_01-03-00-000

Description
This parameter defines the maximum current used for wake and shake. If the selected current is too low,
the minimum required movement may not occur. If the selected current is too high, the movement may be
too fast (overspeed) or too large (over maximum movement).
The maximum of this parameter is the lower value of MOTOR.IPEAK and DRV.IPEAK. The default value
of this parameter is the half of its maximum. This value depends on the specific application.

802 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.42.10 WS.MODE

7.42.10 WS.MODE
General Information
Type R/W Parameter
Sets the method used for wake and
Description
shake.
Units N/A
Range 0 to 1
Default
0
Value
Data Type U8
Start Version M_01-01-00-101, M_01-02-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Address Attributes Signed?
Profinet Byte
® 2451 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 902 No 8 bit No M_01-03-00-000

Description
This parameter sets the method used for finding commutation.
0 = Standard wake and shake
Two iterations are used to find the correct angle in this mode. Coarse (current mode) and fine (velocity
mode) iterations are done in a loop (WS.NUMLOOPS times). The average angle of all loops is calculated
and used.
1 = Commutation alignment by fixed commutation vector (Zero Method)
The motor poles are set to 0, current mode is activated, and WS.IMAX is applied. The angle in which the
motor settles is used for commutation. Other settings are restored (such as motor poles and operation
mode).

Kollmorgen | May 2014 803

 AKD BASIC Programming Manual | 7.42.11 WS.NUMLOOPS

7.42.11 WS.NUMLOOPS
General Information
Type R/W Parameter
Sets the number of repetitions for wake and
Description
shake.
Units counts
Range 0 to 20 counts
Default
5 counts
Value
Data Type U8
See Also N/A
Start Version M_01-01-00-101, M_01-02-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 36E2h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Byte
2452 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 904 No 8 bit No M_01-03-00-000

Description
This parameter sets the maximum number of wake and shake repetitions. MOTOR.PHASE is calculated
as mean value of all wake and shake repetitions.

804 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.42.12 WS.STATE

7.42.12 WS.STATE
General Information
Type R/O Parameter
Description Reads wake and shake status.
Units N/A
Range N/A
Only valid before the first enable occurs.
Default 11 - for feedback types that do not require wake and
Value shake
1 - for feedback types that require wake and shake
Data Type U8
See Also N/A
Start Version M_01-01-00-101, M_01-02-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version
Modbus 906 No 8 bit No M_01-03-00-000

Description
WS switches different current vectors and records position feedback in order to establish commutation
alignment.
WS.STATE 0 = wake and shake successful (DONE).
WS.STATE 1 = wake and shake configured and will be done at next enable (ARMED).
WS.STATE 2 = wake and shake running. (ACTIVE)
WS.STATE 10 = error occurred during wake and shake (ERROR).
WS.STATE 11 = wake and shake not required (IDLE).

Kollmorgen | May 2014 805

 AKD BASIC Programming Manual | 7.42.13 WS.T

7.42.13 WS.T
General Information
Type R/W Parameter
Sets wake and shake current-vector appliance
Description
time.
Units ms
Range 1 to 200 ms
Default
2 ms
Value
Data Type U8
See Also WS.IMAX (pg 802), WS.DISTMAX
Start Version M_01-01-00-101, M_01-02-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 36D0h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
2454 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 908 No 16 bit No M_01-03-00-000

Description
This parameter defines the duration for each different current-vector while the coarse angle calculation.
The move distance is proportional to the WS.T and WS.IMAX value.

806 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.42.14 WS.TDELAY1

7.42.14 WS.TDELAY1
General Information
Type NV Parameter
Description Delay for wake and shake timing.
Units ms
Range 0 to 200 ms
Default
5 ms
Value
Data Type U8
See Also N/A
M_01-01-00-101, M_01-02-00-
Start Version
000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3683h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
2455 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 910 No 16 bit No M_01-03-00-000

Description
WS.TDELAY1 defines the delay time of the wake and shake function. This time is a delay time between
the switching of different current vectors during the wake and shake procedure. This time should be
increased in the case of movement interferences between single current vectors.

Kollmorgen | May 2014 807

 AKD BASIC Programming Manual | 7.42.15 WS.TDELAY2

7.42.15 WS.TDELAY2
General Information
Type NV Parameter
Sets the delay for wake and shake tim-
Description
ing.
Units ms
Range 0 to 200 ms
Default
50 ms
Value
Data Type U8
See Also N/A
Start Version M_01-01-00-101, M_01-02-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3685h/0 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
2456 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 912 No 16 bit No M_01-03-00-000

Description
WS.TDELAY2 defines the delay between switching from coarse angle calculation to fine angle cal-
culation during the wake and shake procedure. This time should be increased in the case of interferences
between the coarse calculation done in current mode and the fine calculation done in velocity mode.
Choosing too large a value increases the wake and shake duration.

808 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.42.16 WS.TDELAY3

7.42.16 WS.TDELAY3
General Information
Type NV Parameter
Sets the delay for wake and shake between loops in mode
Description
0.
Units ms
Range 0 to 2,000 ms
Default
100 ms
Value
Data Type U16
See Also N/A
Start Version M_01-01-00-102, M_01-02-00-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3494h/3 M_01-00-00-000
CANopen

Fieldbus Address Attributes Signed?

Profinet Word
2457 No
sercos® III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 914 No 16 bit No M_01-03-00-000

Description
WS.TDELAY3 defines the delay between complete loops in mode 0 only. Decreasing this value makes
the wake and shake procedure faster, but may lead to problems if the motor moves too long. Increasing
this value will make wake and shake significantly longer.

Kollmorgen | May 2014 809

 AKD BASIC Programming Manual | 7.42.17 WS.TIRAMP

7.42.17 WS.TIRAMP
General Information
Type R/W Parameter
Sets the ramp time for the ramp up current in Wake & Shake mode
Description
1.
Units ms
Range 512 to 10,000
Default
512
Value
Data Type U16
Start Version M_01-06-07-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
CANopen 0x535D/0 M_01-06-07-000

Fieldbus Address Attributes Signed?

Profinet Word
® 2861 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1722 No 16-bit No

Description
In Wake & Shake mode 1, a maximum current of WS.IMAX is applied to the motor. WS.TIRAMP defines
a time to reach this maximum current. Longer times are useful for big inertia motors or heavy loads.

810 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.42.18 WS.TSTANDSTILL

7.42.18 WS.TSTANDSTILL
General Information
Type R/W Parameter
Sets the calming time of the motor for Wake & Shake mode
Description
1.
Units ms
Range 100 to 20,000
Default
1000
Value
Data Type U16
Start Version M_01-06-07-000

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
CANopen 0x535C/0 M_01-06-07-000

Fieldbus Address Attributes Signed?

Profinet Word
® 2860 No
sercos III 2 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed?

Modbus 1720 No 16-bit No

Description
In Wake & Shake mode 1, a maximum current of WS.IMAX is applied to the motor. WS.TSTANDSTILL
defines a wait time, during which this maximum current is held, before detecting the commutation angle of
the motor. Longer times are useful for big inertia motors or heavy loads.

Kollmorgen | May 2014 811

 AKD BASIC Programming Manual | 7.42.19 WS.VTHRESH

7.42.19 WS.VTHRESH
General Information
Type NV Parameter
Description Defines the maximum allowed velocity for Wake & Shake.
Depends on UNIT.VROTARY (pg 720) or UNIT.VLINEAR (pg 719)UNIT.ACCLINEAR
(pg 712)
Units
Rotary: rpm, rps, deg/s, Custom Units/s, rad/s
Linear: counts/s, mm/s, µm/s, Custom Units/s
Rotary:
0.000 to 15,000.000 rpm
0.000 to 250.000 rps
0.000 to 90,000.000 degree/s
0.000 to 1,250.000 Custom Units/s
Range 0.000 to 1,570.796 rad/s
Linear:
0.000 to 1,073,741,824,000.000 counts/s
0.000 to 8,000.000 mm/s
0.000 to 8,000,000.000 µm/s
0.000 to 1,250.000 Custom Units/s
Default
100 rpm
Value
Data Type U16
See Also N/A
Start Ver-
M_01-01-00-101, M_01-02-00-000
sion

Variants Supported
Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C No

Fieldbus Information
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and
CANopen 3494h/4 M_01-00-00-000
CANopen

812 Kollmorgen | May 2014

AKD BASIC Programming Manual | 7.42.19 WS.VTHRESH

Fieldbus Parameter Address Attributes Signed?

Profinet DWord
® WS.VTHRESH_32 2458 Yes
sercos III 8 Octets

Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version

Modbus 916 Yes low 32 bit word Yes M_01-03-00-000

Description
This parameter defines the maximum allowed velocity that occurs while commutation finding is active.
This supervision runs in real time, but only while wake and shake is active (WS.STATE 2 or greater, for
Mode 0). If at any time while wake and shake is running a velocity higher than this value is detected, fault
F478 is generated. Setting WS.VTHRESH to zero disables this feature. For Mode 1, WS.VTHRESH is
only used after the initial phase-finding.

Kollmorgen | May 2014 813

 AKD BASIC Programming Manual | 8 Appendix A: BASIC Sample Programs

8 Appendix A: BASIC Sample Programs

The following program files are packaged for download on kollmorgen.com as Sample Programs.zip.
l Cam_ExpDampedSin.bas
l Cam_TableRealMaster.bas
l Demo_GoRel.bas
l Demo_Govel.bas
l DimVarsMath.bas
l Fault_Interrupt.bas
l Gearing_CorrectionMove.bas
l Home_HardStop1.bas
l Home_Input.bas
l Home_InputwCAP.bas
l Home_MechanicalZero.bas
l ModbusIntr_Scurve.bas
l PLS_DigTorqueCommand.bas
l PLSInterrupts.bas

814 Kollmorgen | May 2014

About Kollmorgen
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machine builders. Through world-class knowledge in motion, industry-lead-
ing quality and deep expertise in linking and integrating standard and custom
products, Kollmorgen delivers breakthrough solutions that are unmatched in
performance, reliability and ease-of-use, giving machine builders an irre-
futable marketplace advantage.
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