Page 1 AKD BASIC™ User Guide Edition March 30, 2012, Revision A Valid for Hardware Revision C Patents Pending Part Number 903-2000014-00 Keep all manuals as a product component during the life span of the product. Pass all manuals to future users/owners of the product.
Page 2 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™.
Page 3 This page intentionally left blank. Kollmorgen™ | March 30, 2012...
Page 4: Table Of Contents
AKD BASIC User Guide | Table of Contents 1 About this User Guide 2 Program View 2.1 Toolbar Options 2.1.1 New ... 2.1.2 Save / Save As 2.1.3 Open 2.1.4 Edit Parameters Section 2.1.5 Compile / Download / Run 2.1.6 Continue / Pause / Stop 2.1.7 Debug...
Page 5 AKD BASIC User Guide | 3.5.3 Cls 3.5.4 Const 3.5.5 Dim 3.5.6 Exit 3.5.7 For…Next 3.5.8 Function 3.5.9 GoTo 3.5.10 If…Then…Else 3.5.11 $Include 3.5.12 Input 3.5.13 Interrupt … End Interrupt 3.5.14 MOVE.ABORT 3.5.15 MOVE.GOABS 3.5.16 MOVE.GOHOME 3.5.17 MOVE.GOREL 3.5.18 MOVE.GOUPDATE 3.5.19 MOVE.GOVEL...
Page 6 AKD BASIC User Guide | 3.10.4 Drive Fault Table 3.10.5 Drive Parameter Scaling Over Modbus 3.10.6 Special Modbus AKD Parameters 3.10.7 ModBus Dynamic Mapping 3.11 Cam Profiling 3.11.1 Procedure 3.11.2 Related Variables 3.11.3 Cam Wizard 3.11.4 Example 3.11.5 Program 3.11.6 Virtual encoder (virtual master) 3.11.7 Move Parameters...
Page 7 AKD BASIC User Guide | 5.28 STRING$() 5.29 TAN() 5.30 TRIM$() 5.31 UCASE$() 5.32 VAL() 6 AKD BASIC Parameters, Operators, Statements 6.1 Additional Statements 6.1.1 $Include 6.1.2 Alias 6.1.3 Call 6.1.4 Cls 6.1.5 Const 6.1.6 Dim 6.1.7 Exit 6.1.8 For...Next 6.1.9 Function...
Page 8 AKD BASIC User Guide | 6.4.3 AOUT.DEBUGDATATYPE 6.4.4 AOUT.DEBUGSCALE 6.4.5 AOUT.ISCALE 6.4.6 AOUT.MODE 6.4.7 AOUT.OFFSET 6.4.8 AOUT.PSCALE 6.4.9 AOUT.VALUE 6.4.10 AOUT.VALUEU 6.4.11 AOUT.VSCALE 6.5 CAM Parameters 6.5.1 CAM.ACTIVATE 6.5.2 CAM.ADDPOINT 6.5.3 CAM.CORRECTDIR 6.5.4 CAM.CREATE 6.5.5 CAM.MASTER 6.5.6 CAM.MASTERPOS 6.5.7 CAM.SLAVEOFFSET 6.5.8 CAMVM.DIR...
Page 9 AKD BASIC User Guide | 6.8.1 DIN.ROTARY 6.8.2 DIN.STATES 6.8.3 DIN1.FILTER TO DIN7.FILTER 6.8.4 DIN1.INV to DIN7.INV 6.8.5 DIN1.MODE to DIN19.MODE 6.8.6 DIN1.STATE TO DIN7.STATE 6.8.7 DIN9.STATE to DIN11.STATE 6.9 DIO Parameters 6.9.1 DIO9.INV to DIO11.INV 6.9.2 DIO9.DIR to DIO11.DIR 6.10 DOUT Parameters...
Page 10 AKD BASIC User Guide | 6.11.26 DRV.NVLOAD 6.11.27 DRV.NVSAVE 6.11.28 DRV.OPMODE 6.11.29 DRV.RSTVAR 6.11.30 DRV.SETUPREQBITS 6.11.31 DRV.STOP 6.11.32 DRV.SWENABLE 6.11.33 DRV.TIME 6.11.34 DRV.WARNING1 to DRV.WARNING10 6.12 EGEAR Parameters 6.12.1 EGEAR.ACCLIMIT 6.12.2 EGEAR.DECLIMIT 6.12.3 EGEAR.ERROR 6.12.4 EGEAR.LOCK 6.12.5 EGEAR.ON 6.12.6 EGEAR.PULSESIN 6.12.7 EGEAR.PULSEOUT...
Page 11 AKD BASIC User Guide | 6.16 FB2 Parameters 6.16.1 FB2.ENCRES 6.16.2 FB2.MODE 6.16.3 FB2.P 6.16.4 FB2P.DIR 6.16.5 FB2.POFFSET 6.16.6 FB2.PUNIT 6.16.7 FB2.SOURCE 6.17 FB3 Parameters 6.17.1 FB3.MODE 6.17.2 FB3.POFFSET 6.17.3 FB3.PUNIT 6.18 HWLS Parameters 6.18.1 HWLS.NEGSTATE 6.18.2 HWLS.POSSTATE 6.19 IL Parameters 6.19.1 IL.BUSFF...
Page 12 AKD BASIC User Guide | 6.22.1 MODBUS.READFLOAT 6.22.2 MODBUS.WRITEFLOAT 6.23 MOTOR Parameters 6.23.1 MOTOR.BRAKE 6.23.2 MOTOR.BRAKEIMM 6.23.3 MOTOR.BRAKERLS 6.23.4 MOTOR.ICONT 6.23.5 MOTOR.INERTIA 6.23.6 MOTOR.IPEAK 6.23.7 MOTOR.KE 6.23.8 MOTOR.KT 6.23.9 MOTOR.LQLL 6.23.10 MOTOR.NAME 6.23.11 MOTOR.PHASE 6.23.12 MOTOR.PITCH 6.23.13 MOTOR.POLES 6.23.14 MOTOR.R 6.23.15 MOTOR.TBRAKEAPP...
Page 13 AKD BASIC User Guide | 6.25.2 PL.ERR 6.25.3 PL.ERRFTHRESH 6.25.4 PL.ERRMODE 6.25.5 PL.ERRWTHRESH 6.25.6 PL.FB 6.25.7 PL.FBSOURCE 6.25.8 PL.INTINMAX 6.25.9 PL.INTOUTMAX 6.25.10 PL.KI 6.25.11 PL.KP 6.25.12 PL.MODP1 6.25.13 PL.MODP2 6.25.14 PL.MODPDIR 6.25.15 PL.MODPEN 6.26 PLS Parameters 6.26.1 PLS.EN 6.26.2 PLS.MODE 6.26.3 PLS.P1 TO PLS.P8...
Page 14 AKD BASIC User Guide | 6.31.4 UNIT.PIN 6.31.5 UNIT.PLINEAR 6.31.6 UNIT.POUT 6.31.7 UNIT.PROTARY 6.31.8 UNIT.VLINEAR 6.31.9 UNIT.VROTARY 6.32 VBUS Parameters 6.32.1 VBUS.OVFTHRESH 6.32.2 VBUS.OVWTHRESH 6.32.3 VBUS.RMSLIMIT 6.32.4 VBUS.UVFTHRESH 6.32.5 VBUS.UVMODE 6.32.6 VBUS.UVWTHRESH 6.32.7 VBUS.VALUE 6.33 VL Parameters 6.33.1 VL.ARPF1 TO VL.ARPF4 6.33.2 VL.ARPQ1 TO VL.ARPQ4...
Page 15 AKD BASIC User Guide | 6.35.2 WHEN.DRVHANDWHEEL 6.35.3 WHEN.DRVTIME 6.35.4 WHEN.FB1MECHPOS 6.35.5 WHEN.PLCMD 6.35.6 WHEN.PLFB 6.36 WS Parameters 6.36.1 WS.ARM 6.36.2 WS.DISARM 6.36.3 WS.DISTMAX 6.36.4 WS.DISTMIN 6.36.5 WS.IMAX 6.36.6 WS.MODE 6.36.7 WS.NUMLOOPS 6.36.8 WS.STATE 6.36.9 WS.T 6.36.10 WS.TDELAY1 6.36.11 WS.TDELAY2 6.36.12 WS.TDELAY3...
Page 16: About This User Guide
AKD BASIC User Guide | 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.
Page 17: 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.
Page 18: Open
AKD BASIC User Guide | 2 Program View 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.
Page 19: View
AKD BASIC User Guide | 2 Program 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.
Page 20: Akd Basic Language
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 —...
Page 21: Program Sections
‘cube’, or inside the subroutine ‘increment’. These same scope rules apply to constant definitions and aliases, as well. 3.2 Program Sections The major sections of an AKD BASIC program are: setup parameter definitions global variables, constants, and aliases ‘main’...
Page 22: Global Variables, Constants, And Aliases
AKD BASIC User Guide | 3 AKD BASIC Language (this is similar to the format used to define a subroutine or function). The only statements per- mitted 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.
Page 23: Alias Definitions
AKD BASIC User Guide | 3 AKD BASIC Language 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.
Page 24: Subroutine Definition
AKD BASIC User Guide | 3 AKD BASIC Language The variable ‘i’ defined above in the ‘dim’ statement is a local variable — it is not accessible to other functions, and inside ‘main’, its definition overrides any other variable named ‘i’ that might exist at global scope.
Page 25: Function Definition
AKD BASIC User Guide | 3 AKD BASIC Language 3.3.3 Function Definition For a function such as sum_squares, a typical definition is: function sum_squares(i,j 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.
Page 26: Language Definition
3.4 Language Definition 3.4.1 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.
Page 27: Literal Constants
AKD BASIC User Guide | 3 AKD BASIC Language 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.
Page 28: Statements
AKD BASIC User Guide | 3 AKD BASIC Language -0.1 3.14159E-6 -1.0E6 are all valid floating point constants. By design, “.” is not a legal floating-point constant. 3.5 Statements Statements are separated by a new line (CR-LF) or a colon (‘:’). The statements of the language are: 3.5.1 Alias...
Page 29: Dim
AKD BASIC User Guide | 3 AKD BASIC Language 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).
Page 30: Function
AKD BASIC User Guide | 3 AKD BASIC Language 3.5.8 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 ele- ments of local arrays). If the function takes no arguments, omit the argument-list. An empty argument-list is illegal.
Page 31: Include
AKD BASIC User Guide | 3 AKD BASIC Language IF...THEN...ELSE statements control program execution based on the evaluation of numeric expressions. The IF...THEN...ELSE decision structure permits the execution of program state- ments or allows branching to other parts of the program based on the evaluation of the expres- sion.
Page 32: Move.gorel
AKD BASIC User Guide | 3 AKD BASIC Language The motor speed follows a trapezoidal velocity profile as specified by MOVE.ACC, MOVE.RU- NSPEED, and MOVE.DEC. After the program initiates MOVE.GOHOME, it immediately goes to the next instruction. MOVE.GOHOME performs the same action as setting MOVE.TARGETPOS to zero and executing a MOVE.GOABS function.
Page 33: Pause( )
AKD BASIC User Guide | 3 AKD BASIC Language 3.5.21 Pause( ) Pause(Pause_Time) causes the program to pause the amount of time specified by the Pause_ Time argument. The motion of the motor is not affected. 3.5.22 Print print expression1 [ [,;] expression2 ] [;] Print a list of expressions, separated by delimiters to the console.
Page 34: Static
AKD BASIC User Guide | 3 AKD BASIC Language is relop expr (<, =, =, =, > ) is expr (equiv “is = expr”) Select-case statements where the case-defn expressions are composed solely of integer con- stants are evaluated much quicker at run-time. (Cases involving variables must be transformed to logically equivalent if-then-else statements.)
Page 35: Swap
AKD BASIC User Guide | 3 AKD BASIC Language 3.5.29 Swap Swap x, y Swaps the values of the variables. The variable types must be the same. Does not work on arrays or strings. 3.5.30 When When when-condition , when-action When is used for very fast output response to certain input conditions. You specify the con- dition and action.
Page 36: Parameters And Commands
Returns numeric value of str. 3.6.1 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 control the motor.
Page 37: Expressions
AKD BASIC User Guide | 3 AKD BASIC Language 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 com-...
Page 38: String Operators
AKD BASIC User Guide | 3 AKD BASIC Language Similarly, 3 or 4 has the value –1(TRUE since at least one operand is not FALSE), while 3 bitor 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.
Page 39: Arrays And Function Parameter Lists
A single function can be written to take a one-dimensional array of any size and cor- rectly 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.)
Page 40 AKD BASIC User Guide | 3 AKD BASIC Language 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-com- puted by the compiler as a single literal constant to be printed.
Page 41: Modbus Tcp/Ip
AKD BASIC User Guide | 3 AKD BASIC Language This dead-code elimination also applies to functions whose only point of reference lies in elim- inated 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:...
Page 42: Drive Fault Table
AKD BASIC User Guide | 3 AKD BASIC Language MBInfo $MBMap32(5001, int2) $MBMap64(5003, long1) $MBMapfloat(5007, flt1) '-------------- 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 program above, 5001 was assigned for a 32 bit integer and then next number available would be 5003.
Page 43: Modbus Dynamic Mapping
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.
Page 44: Cam Wizard
‘accelerate’ and ‘decelerate’, or simply think of them as signed quan- tities. 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.
Page 45: 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.AD- DPOINT statements at appropriate master position intervals, such as the one shown in the next figure.
Page 46: Virtual Encoder (Virtual Master)
AKD BASIC User Guide | 3 AKD BASIC Language call ActivateCam_2 CAMVM.GOVEL 'virtual master to run at CAMVM.FREQ While Wend End Main '-------------- Subroutines and Functions ----- ------- CamCreate_2'This code creates a cam whose profile is an exponentially damped sine wave. m, s...
Page 47: Move Parameters
AKD BASIC User Guide | 3 AKD BASIC Language CAMVM.RELATIVEDIST CAMVM.STOP 3.11.7 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 3.11.8 Move Statements CAMVM.GOREL executes incremental move CAMVM.GOVEL executes velocity move CAMVM.GOUPDATE updates move parameters on move in progress...
Page 48: Quick Reference: Parameters, Functions, Operators
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.
Page 49 AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators Parameter or Command Type Description CAP0.PREFILTER, Sets the filter for the precondition input source. CAP1.PREFILTER CAP0.PRESELECT, Sets the precondition trigger. CAP1.PRESELECT CAP0.STATE, Indicates whether or not trigger source was captured.
Page 50 AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators Parameter or Command Type Description DRV.ACTIVE Reads the enable status of an axis. DRV.BLINKDISPLAY Command Causes the display to blink for 10 seconds. DRV.CLRFAULTHIST Command Clears the fault history log in the NV.
Page 51 AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators Parameter or Command Type Description FB1.ENCRES Sets the resolution of the motor encoder. FB1.HALLSTATE Reads the Hall switch values (encoder feedback FB1.HALLSTATEU Reads the state of Hall switch U.
Page 52 AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators Parameter or Command Type Description IL.FOLDWTHRESH Sets the foldback warning level. IL.IFOLD Reads the overall foldback current limit. IL.IUFB Reads the sigma-delta measured current in the u-winding of the motor.
Page 53 AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators PL.ERR Reads the position error present when the drive is controlling the posi- tion loop. PL.ERRFTHRESH Sets the maximum position error. PL.ERRMODE Sets the type of following error warning and fault usage.
Page 54 AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators SWLS.STATE Reads the actual status of software limit switches. Units (UNIT) UNIT.ACCLINEAR Sets the linear acceleration/deceleration units. UNIT.ACCROTARY Sets the rotary acceleration/deceleration units. UNIT.LABEL Sets user-defined name for user-defined position units.
Page 55: Akd Basic Parameters And Commands
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.
Page 56 AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators Parameter Type Description Call Statement Transfer program control to a subroutine. When the sub- routine is finished then control is transferred to the line fol- lowing the CALL. Statement This statement transmits 40 line feed characters (ASCII code = 10) to the serial port.
Page 57 AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators Parameter Type Description ASC() Function ASC(string expression)returns a decimal numeric value that is the ASCII code for the first character of the string expression(x$). ATAN() Function ATAN() (arc tangent) returns the arctangent of its argument in radians.
Page 58 AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators Parameter Type Description TAN() Function TAN(x) returns the tangent of x, where x is in radians. TRIM$() Function Returns a copy of the original string with leading and trailing blanks removed.
Page 59 AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators Parameter Type Description 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.
Page 60 AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators Parameter Type Description INTR.PLS.P1 to INTR.PLS.P8 Enables interrupt for when PLS1 to PLS8 is enabled and goes high, respectively. INTR.SWLS.LIMIT0 Enables interrupt for when PL.FB > SWLS.LIMIT0 (if SWLS.LIMIT0 is the upper limit) INTR.SWLS.LIMIT1...
Page 61 AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators Parameter Type Description MOVE.TARGETPOS MOVE.TARGETPOS specifies the target position for an absolute (MOVE.GOABS) move. Virtual Machine (VM) VM.AUTOSTART VM.AUTOSTART specifies whether or not the program in the AKD BASIC starts executing automatically when AC power is applied.
Page 62 AKD BASIC User Guide | 4 Quick Reference: Parameters, Functions, Operators Parameter Type Description WHEN.FB1MECHPOS Records the value of FB1.MECHPOS when the when-con- dition is satisfied. WHEN.PLCMD Records the value of PL.CMD when the when-condition is satisfied. WHEN.PLFB Records the value of Position when the when-condition is satisfied.
Page 63: Akd Basic Functions
AKD BASIC User Guide | 5 AKD BASIC Functions 5 AKD BASIC Functions This section describes the functions available in AKD BASIC. Kollmorgen™ | March 30, 2012...
Page 64: Abs()
AKD BASIC User Guide | 5 AKD BASIC Functions 5.1 ABS() General Information Type Function ABS(x) converts the associated value (x) to an absolute value. If the value is neg- Description ative, it is converted to a positive value. If the value is positive, it is not changed.
Page 65: Asc()
AKD BASIC User Guide | 5 AKD BASIC Functions 5.2 ASC() General Information Type Function ASC(string expression)returns a decimal numeric value that is the ASCII code Description for the first character of the string expression(x$). Syntax x = ASC(s$) Instructions If the string begins with an uppercase letter, the value of ASC() will be between 65 and 90.
Page 66: Atan()
AKD BASIC User Guide | 5 AKD BASIC Functions 5.3 ATAN() General Information Type Function Description ATAN() (arc tangent) returns the arctangent of its argument in radians. Instructions The result is always between -pi/2 and pi/2. The value of x may be any numeric type.
Page 67: Chr$()
AKD BASIC User Guide | 5 AKD BASIC Functions 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.
Page 68: Cint()
AKD BASIC User Guide | 5 AKD BASIC Functions 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() | FIX() Kollmorgen™ | March 30, 2012...
Page 69: Cos()
AKD BASIC User Guide | 5 AKD BASIC Functions 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.
Page 70: Exp()
AKD BASIC User Guide | 5 AKD BASIC Functions 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.
Page 71: Fix()
AKD BASIC User Guide | 5 AKD BASIC Functions 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 pint and all digits to the right of the decimal point.
Page 72: Hex$()
AKD BASIC User Guide | 5 AKD BASIC Functions 5.9 HEX$() General Information Type Function Description HEX$() converts an integer number to its equivalent hexadecimal ASCII string. Syntax result$ = HEX$(x) Instructions Hexadecimal numbers are numbers to the base 16 (rather than base 10).
Page 73: Inkey$()
AKD BASIC User Guide | 5 AKD BASIC Functions 5.10 INKEY$() General Information Type Function Returns a 1 character string corresponding to the character in the serial port Description receive buffer. If there is no character waiting the INKEY$ will be the Null string ("").
Page 74: Instr()
AKD BASIC User Guide | 5 AKD BASIC Functions 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...
Page 75: Int()
AKD BASIC User Guide | 5 AKD BASIC Functions 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.
Page 76: Lcase$()
AKD BASIC User Guide | 5 AKD BASIC Functions 5.13 LCASE$() 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.
Page 77: Left$()
AKD BASIC User Guide | 5 AKD BASIC Functions 5.14 LEFT$() 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.
Page 78: Len()
AKD BASIC User Guide | 5 AKD BASIC Functions 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"...
Page 79: Log()
AKD BASIC User Guide | 5 AKD BASIC Functions 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 (45.0 / 7.0) 'prints 1.860752 Print LOG(1)
Page 80: Log10()
AKD BASIC User Guide | 5 AKD BASIC Functions 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...
Page 81: Ltrim$()
AKD BASIC User Guide | 5 AKD BASIC Functions 5.18 LTRIM$() 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$ = "...
Page 82: Mid
AKD BASIC User Guide | 5 AKD BASIC Functions 5.19 MID$ General Information Type Function Returns a substring of the original string that begins at the specified offset loca- Description tion and is of the specified (optional) length. Syntax result = MID$(x$, start, [length]) Instructions Start and Length must both be numeric expressions.
Page 83: Oct$()
AKD BASIC User Guide | 5 AKD BASIC Functions 5.20 OCT$() General Information Type Function Description OCT$() converts an integer number to its equivalent octal ASCII string. Syntax result$ = OCT$(x) Instructions Octal numbers are numbers to the base 8 (rather than base 10).
Page 84: Right$()
AKD BASIC User Guide | 5 AKD BASIC Functions 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.
Page 85: Rtrim$()
AKD BASIC User Guide | 5 AKD BASIC Functions 5.22 RTRIM$() 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$ = "...
Page 86: Sgn()
AKD BASIC User Guide | 5 AKD BASIC Functions 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 Kollmorgen™...
Page 87: Sin()
AKD BASIC User Guide | 5 AKD BASIC Functions 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.
Page 88: Space$()
AKD BASIC User Guide | 5 AKD BASIC Functions 5.25 SPACE$() 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.
Page 89: Sqr()
AKD BASIC User Guide | 5 AKD BASIC Functions 5.26 SQR() 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 SQR(x) 'prints 3.162278...
Page 90: Str$()
AKD BASIC User Guide | 5 AKD BASIC Functions 5.27 STR$() 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.
Page 91 AKD BASIC User Guide | 5 AKD BASIC Functions 5.28 STRING$() General Information Type Function Returns a string containing the specified number of occurrences of the specified Description character. Syntax 1) x$ = STRING$(n, a$) 2) x$ = STRING$(n, m) Instructions n is the number of occurrences of the desired character (the length of the returned string).
Page 92 AKD BASIC User Guide | 5 AKD BASIC Functions 5.29 TAN() General Information Type Function Description TAN(x) returns the tangent of x, where x is in radians. Instructions X must be in radians. To convert from degrees to radians, multiply by 0.017453.
Page 93 AKD BASIC User Guide | 5 AKD BASIC Functions 5.30 TRIM$() 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$ = "...
Page 94 AKD BASIC User Guide | 5 AKD BASIC Functions 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.
Page 95 AKD BASIC User Guide | 5 AKD BASIC Functions 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.
Page 96 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6 AKD BASIC Parameters, Operators, Statements This section is an alphabetical reference to AKD BASIC parameters. General information for each parameter is listed at the top of each page. The parameter is then described, and in some cases examples are given along with references to related parameters.
Page 97 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1 Additional Statements This section describes statements not directly related to a parameter set. Kollmorgen™ | March 30, 2012...
Page 98 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.1 $Include General Information Type Statement The $Include statement allows you to textually include multiple separate files in Description a single source file. Units Range Default Value Data Type N/A...
Page 99 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.2 Alias General Information Type Statement Allows you to define your own names for sys- Description tem resources, such as Input or Output pins. Units Range Default Value Data Type N/A...
Page 100 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.3 Call General Information Type Statement Transfer program control to a subroutine. When the subroutine is finished then Description control is transferred to the line following the CALL. Units...
Page 101 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.4 Cls General Information Type Statement This statement transmits 40 line feed characters (ASCII code = 10) to the serial Description port. Cls clears the display of a terminal.
Page 102 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.5 Const General Information Type Statement Declares symbolic constants to be used instead of Description numeric values. Units Range Default Value Data Type N/A Start Ver- sion Description Declares symbolic constants to be used instead of numeric values. Using the CONST State- ment can make your program much more readable and self-documenting.
Page 103 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.6 Dim General Information Type Statement Used for declaring variables before use. All variables (except predefined var- Description iables) must be declared before they can be used. Units Range...
Page 104: Exit
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.7 Exit General Information Type Statement The Exit statement is used to exit from a subroutine, a function, an interrupt, a Description For...Next or a While...Wend. Units Range Default...
Page 105: For...next
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.8 For...Next General Information Type Statement Description Allows a series of lines to be executed in a loop a specified number of times. Units Range Default Value Data Type...
Page 106: Function
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.9 Function General Information Type Statement The Function statement is used to declare and define the name, arguments and Description type of a user defined function. Units Range Default...
Page 107: Goto
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.10 GoTo General Information Type Statement GOTO causes the software to jump to the specified label and continue execut- Description ing from there. Units Range Default Value Data Type N/A...
Page 108: If...then...else
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.11 If...Then...Else General Information Type Statement If...Then...Else statements controls program execution based on the evaluation Description of numeric or string expressions. Units Range Default Value Data Type N/A Start Ver-...
Page 109: Input
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.12 Input General Information Type Statement The Input statement reads a character string received from the console tab Description screen below the program editor window, terminated by a carriage-return.
Page 110: On Error Goto
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.13 On Error GoTo General Information Type Statement On Error Goto allows you to define a run-time error handler to prevent run-time Description errors from halting program execution. Units...
Page 111 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Restart Kollmorgen™ | March 30, 2012...
Page 112: Pause()
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.14 Pause() General Information Type Statement Causes the program execution to pause for a specified amount of time. The Description motion of the motor is not affected. Units seconds...
Page 113: Print
Start Version TBD 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.
Page 114: Restart
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.16 Restart General Information Type Statement Description Causes program execution to begin again from the beginning of the program. Units Range Default Value Data Type Start Version TBD Description Causes program execution to begin again from the beginning of the program.
Page 115: Select Case
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.17 Select Case General Information Type Statement Select Case executes one of several statement blocks depending upon the Description value of an expression. Units Range Default Value Data Type N/A...
Page 116: Static
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.18 Static General Information Type Statement The Static statement is used in a Function, Sub or Interrupt to specify that the Description specified variable's value be remembered even when the Function or Sub is fin- ished.
Page 117: Stop
Value Data Type Start Version TBD 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 Kollmorgen™ | March 30, 2012...
Page 118: Sub...end Sub
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.20 Sub...End Sub General Information Type Statement The Sub statement declares a sub procedure and defines the sub procedures Description format. Units Range Default Value Data Type Start Ver-...
Page 119: Swap
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.21 Swap General Information Type Statement Description Exchanges the value of two variables. Units Range Default Value Data Type Start Ver- sion Description Exchanges the value of two variables. The two variables must be both numeric (floating point of integer) or both strings.
Page 120: While...wend
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.1.22 While...Wend General Information Type Statement Executes a series of lines for as long as the condition after the WHILE is True. Description Units Range Default Value Data Type...
Page 121: Operators
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.2 Operators This section describes the details of some operators available in AKD BASIC. Kollmorgen™ | March 30, 2012...
Page 122: Mod
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.2.1 MOD General Information Type Operator This is the modulus or "remainder" operator. It divides one number by another Description and returns the remainder. Syntax x = y MOD z Instructions This MOD operator is only used in numeric expressions.
Page 123: Ain Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.3 AIN Parameters This section describes the analog input (AIN) parameters. AIN parameters function as shown in the block diagram below: ASCII Command Firmware Hardware AIN.VALUE AIN.CUTOFF Current AIN.ISCALE Analog In Ɖ...
Page 124: Ain.cutoff
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.3.1 AIN.CUTOFF General Information Type NV Parameter Sets the analog input low-pass filter cutoff Description frequency. Units Range 0 to 10,000 Hz Default 5,000 Hz Value Data Type Float...
Page 125: Ain.deadband
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.3.2 AIN.DEADBAND General Information Type NV Parameter Sets the analog input signal dead- Description band. Units Range 0 to 12.5 V Default Value Data Type Float Start Version M_01-00-00-000...
Page 126 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Ain.Deadbandmode = 1 | Ain.Deadband = 1V Input Kollmorgen™ | March 30, 2012...
Page 127: Ain.deadbandmode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.3.3 AIN.DEADBANDMODE General Information Type NV Parameter Sets the analog input deadband Description mode. Units Range 0 to 1 Default Value Data Type Integer See Also AIN.DEADBAND Start Version M_01-03-06-000...
Page 128 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Ain.Deadbandmode = 1 | Ain.Deadband = 1V Input Kollmorgen™ | March 30, 2012...
Page 129: Ain.iscale
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.3.4 AIN.ISCALE General Information Type NV Parameter Sets the analog current scale fac- Description tor. Units Range 0.001 to 22.4 A/V Default 0.001 A/V Value Data Type Float Start Version M_01-01-01-000...
Page 130: Ain.mode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.3.5 AIN.MODE General Information Type NV Parameter Analog input Description mode Units Range 0 to 2 Default Value Data Type Integer See Also AIN Parameters Start Version M_01-04-09-000 Fieldbus Index/Subindex Is 64 bit? Attributes Signed?
Page 131: Ain.offset
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.3.6 AIN.OFFSET General Information Type NV Parameter Sets the analog input off- Description set. Units Range –10 to +10 V Default Value Data Type Float Start Version M_01-00-00-000 Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 132: Ain.pscale
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.3.7 AIN.PSCALE General Information Type NV Parameter Description Sets the analog position scale factor. Depends on UNIT.PROTARY or UNIT.PLINEAR Rotary: counts/V,rad/V, deg/V, (custom units)/V, 16-bit Units counts/V Linear: counts/V, mm/V, µm/V, (custom units)/V, 16-bit...
Page 133 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Kollmorgen™ | March 30, 2012...
Page 134: Ain.value
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.3.8 AIN.VALUE General Information Type R/O Parameter Reads the value of the analog input sig- Description nal. Units Range -12.5 to +12.5 V Default Value Data Type Float Start Version M_01-00-00-000...
Page 135: Ain.vscale
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.3.9 AIN.VSCALE General Information Type NV Parameter Description Sets analog velocity scale factor. 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...
Page 136 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Kollmorgen™ | March 30, 2012...
Page 137: Ain.zero
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.3.10 AIN.ZERO General Information Type Command Zeroes the analog input sig- Description nal. Units Range Default Value Data Type See Also AIN.VALUE , AIN.OFFSET Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version...
Page 138 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Kollmorgen™ | March 30, 2012...
Page 139: Aout Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.4 AOUT Parameters This section describes the AOUT parameters. Kollmorgen™ | March 30, 2012...
Page 140: Aout.cutoff
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.4.1 AOUT.CUTOFF General Information Type NV Parameter Sets the analog output low-pass filter cutoff Description frequency. Units Range 0 to 10,000 Hz Default 0 Hz Value Data Type Float...
Page 141: Aout.debugaddr
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.4.2 AOUT.DEBUGADDR General Information Type NV Parameter Sets the memory address to Description debug. Units Range 4 to 4,292,870,142 Default Value Data Type Integer Start Version M_01-01-01-000 Description AOUT.DEBUGADDR sets the memory address to debug when AOUT.MODE = 9 (debug mode).
Page 142: Aout.debugdatatype
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.4.3 AOUT.DEBUGDATATYPE General Information Type NV Parameter Sets the data type of the value to be Description debugged. Units Range 0 to 10 Default Value Data Type Integer See Also...
Page 143: Aout.debugscale
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.4.4 AOUT.DEBUGSCALE General Information Type NV Parameter Sets the scale to be used for Description debug. Units 0.001 to Range 9,223,372,036,854,775.000 Default Value Data Type Float See Also AOUT.MODE...
Page 144: Aout.iscale
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.4.5 AOUT.ISCALE General Information Type NV Parameter Sets the analog current scale fac- Description tor. Units Range 0.001 to 22.4 A/V Default 0.001 to 22.4 A/V Value Data Type...
Page 145: Aout.mode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.4.6 AOUT.MODE General Information Type NV Parameter Sets the analog output Description mode. Units Range 0 to 11 Default Value Data Type Integer See Also Start Version M_01-00-00-000 Fieldbus...
Page 146: Aout.offset
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.4.7 AOUT.OFFSET General Information Type NV Parameter Sets the analog input off- Description set. Units Range -10 to +10 V Default Value Data Type Float See Also Start Version M_01-00-00-000...
Page 147: Aout.pscale
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.4.8 AOUT.PSCALE General Information Type NV Parameter Description Sets the analog position scale factor. Depends on UNIT.PROTARY or UNIT.PLINEAR Rotary: counts/V,rad/V, deg/V, (custom units)/V, 16-bit Units counts/V Linear: counts/V, mm/V, µm/V, (custom units)/V, 16-bit...
Page 148 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements AOUT.PSCALE is an analog position scale factor that scales the analog output (AOUT.VALUE ) for AOUT.MODE = 6, or 7 (actual position or position error) per 10 V of analog input or output.
Page 149: Aout.value
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.4.9 AOUT.VALUE General Information Type R/O Parameter Reads the analog output Description value. Units Range –10 to +10 V Default Value Data Type Float See Also Start Version M_01-00-00-000...
Page 150: Aout.valueu
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.4.10 AOUT.VALUEU General Information Type R/W Parameter Sets the analog output Description value. Units Range –10 to +10 V Default Value Data Type Float See Also Start Version M_01-00-00-000...
Page 151: Aout.vscale
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.4.11 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...
Page 152: Cam Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5 CAM Parameters This section describes the CAM parameters. Kollmorgen™ | March 30, 2012...
Page 153: Cam.activate
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.1 CAM.ACTIVATE General Information Type Parameter Description Activates the specified cam table. Units None Range 0 to 8 Default Value Data Type Integer Start Version M_01-06-00-000 Description CAM.ACTIVE activates the specified cam table. The Position Command is calculated accord- ing to the Master Position and the points in the specified cam table.
Page 154 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements EXTENCODER.POSMODULO = 800 'set master counts per cycle PL.MODPEN 'enable slave modulo PL.MODP2 = 65536 'set slave (AKD BASIC) counts per cycle EXTENCODER.POSITION 'set Master position to 0 MOVE.POSCOMMAND = 0 'set slave (AKD BASIC)
Page 155: Cam.addpoint
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.2 CAM.ADDPOINT General Information Type Statement CAM.ADDPOINT(Master Position, Slave Position) Adds the specified "point" to Description the cam table being created. Units Master Encoder Counts, Position User Units Range...
Page 156 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements CAM.ACTIVATE 'activate cam#1 While 1=1:wend End Main Kollmorgen™ | March 30, 2012...
Page 157: Cam.correctdir
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.3 CAM.CORRECTDIR General Information Type Specifies the direction of the correction move when a new cam table is activated Description (set CAM.ACTIVATE = n) or when speed synchronization is achieved.
Page 158: Cam.create
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.4 CAM.CREATE General Information Type Statement Description CAM.CREATE (x, y) Initiates the creation of a cam table. Units Range x = 1-8, y = 3-1000 Default Value Data Type...
Page 159 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements While 1=1:wend End Main Related Topics CAM.ADDPOINT | CAM.ACTIVATE Kollmorgen™ | March 30, 2012...
Page 160: Cam.master
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.5 CAM.MASTER General Information Type Description Specifies the source of the input to the cam table for cam profiling. Units None Range 0 to 2 Default Value Data Type...
Page 161: Cam.masterpos
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.6 CAM.MASTERPOS General Information Type Gives the value of the master position presently being used as the input to the Description cam table. Units Encoder counts Range 0 to EXTENCODER.POSMODULO...
Page 162: Cam.slaveoffset
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.7 CAM.SLAVEOFFSET General Information Type CAM.SLAVEOFFSET indicates the offset (or difference) between MOVE.POSCOMMAND and the position com- Description mand that is calculated from the active cam table based upon the present value of EXTENCODER.POSITION and/or CAMVM.POSITION.
Page 163: Camvm.dir
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.8 CAMVM.DIR General Information Type Specifies the direction the virtual encoder goes when CAMVM.GOVEL is Description executed. Units None Range 0, 1 Default Value Data Type Integer Start Ver-...
Page 164: Camvm.freq
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.9 CAMVM.FREQ General Information Type 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...
Page 165: Camvm.gorel
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.10 CAMVM.GOREL General Information Type Statement Makes the virtual master move the distance specified by CAMVM.RE- Description LATIVEDIST. Units None Range Default Value Data Type Start Ver- M_01-06-00-000 sion Description CAMVM.GOREL (Go Relative) causes the virtual master to move a distance specified by...
Page 166: Camvm.goupdate
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.11 CAMVM.GOUPDATE General Information Type Statement Description Updates a move in progress with new move parameters. Units Range Default Value Data Type 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.
Page 167: Camvm.govel
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.12 CAMVM.GOVEL General Information Type Statement CAMVM.GOVEL (Go at Velocity) causes the virtual master to move con- tinuously at the frequency specified by CAMVM.FREQ in the direction (positive Description or negative) specified by CAMVM.DIR.
Page 168: Camvm.moving
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.13 CAMVM.MOVING General Information Type Description Indicates if the virtual encoder is moving. Units None Range 0, 1 Default Value Data Type Integer Start Version M_01-06-00-000 Description CAMVM.MOVING indicates if the virtual encoder is moving.
Page 169: Camvm.position
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.14 CAMVM.POSITION General Information Type Description Contains the current value of the virtual encoder counter. Units counts Range 0 to (EXTENCODER.POSMODULO - 1) Default Value Data Type Integer Start Version M_01-06-00-000 Description Control the virtual encoder using CAMVM.GOVEL and CAMVM.GOREL.
Page 170: Camvm.relativedist
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.15 CAMVM.RELATIVEDIST General Information Type Specifies the number or counts that the virtual encoder (virtual master) will put Description out during an incremental move (CAMVM.GOREL). Units Encoder counts Range...
Page 171: Camvm.stop
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.5.16 CAMVM.STOP General Information Type Statement Description CAMVM.STOP stops the virtual encoder Units Range Default Value Data Type Start Version M_01-06-00-000 Description CAMVM.STOP stops the virtual encoder. CAMVM.POSITION stays at its present value.
Page 172: Cap Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.6 CAP Parameters This section describes the CAP parameters. Kollmorgen™ | March 30, 2012...
Page 173: Cap0.Edge, Cap1.Edge
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.6.1 CAP0.EDGE, CAP1.EDGE General Information Type NV Parameter Description Selects the capture edge. Units Range 1 to 3 Default Value Data Type See Also CAP0.PREEDGE, CAP1.PREEDGE Start Version M_01-00-00-000...
Page 174: Cap0.En, Cap1.En
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.6.2 CAP0.EN, CAP1.EN General Information Type NV Parameter Enables or disables the related capture Description engine. Units Range 0 to 1 Default Value Data Type Boolean See Also Start Version M_01-00-00-000...
Page 175: Cap0.Event, Cap1.Event
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.6.3 CAP0.EVENT, CAP1.EVENT General Information Type NV Parameter Controls the precondition Description logic. Units Range 0 to 3 Default Value Data Type See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex...
Page 176 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 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 pre- condition source input.
Page 177 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 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 subsequent 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).
Page 178: Cap0.Filter, Cap1.Filter
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.6.4 CAP0.FILTER, CAP1.FILTER General Information Type R/W Parameter Sets the filter for the capture source Description input. Units Range 0 to 2 Default Value Data Type See Also CAP0.PREFILTER, CAP1.PREFILTER...
Page 179: Cap0.Mode, Cap1.Mode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.6.5 CAP0.MODE, CAP1.MODE General Information Type NV Parameter Selects the captured Description value. Units Range 0 to 3 Default Value Data Type See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex...
Page 180: Cap0.Plfb, Cap1.Plfb
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.6.6 CAP0.PLFB, CAP1.PLFB General Information Type R/O Parameter Description Reads captured position value. Depends on UNIT.PROTARY or UNIT.PLINEAR Rotary: counts, rad, deg, custom units, 16-bit Units counts Linear: counts, mm, µm, custom units, 16-bit counts...
Page 181: Cap0.Preedge, Cap1.Preedge
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.6.7 CAP0.PREEDGE, CAP1.PREEDGE General Information Type NV Parameter Selects the capture precondition Description edge. Units Range 1 to 3 Default Value Data Type See Also CAP0.EDGE, CAP1.EDGE Start Version M_01-00-00-000...
Page 182: Cap0.Prefilter, Cap1.Prefilter
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.6.8 CAP0.PREFILTER, CAP1.PREFILTER General Information Type NV Parameter Sets the filter for the precondition input Description source. Units Range 0 to 2 Default Value Data Type See Also CAP0.FILTER, CAP1.FILTER...
Page 183: Cap0.Preselect, Cap1.Preselect
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.6.9 CAP0.PRESELECT, CAP1.PRESELECT General Information Type NVParameter Description Sets the precondition trigger. Units Range 0 to 11 Default Value Data Type See Also CAP0.TRIGGER, CAP1.TRIGGER Start Version M_01-00-00-000 Object Start Ver-...
Page 184: Cap0.State, Cap1.State
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.6.10 CAP0.STATE, CAP1.STATE General Information Type R/O Parameter Indicates whether or not trigger source was cap- Description tured. Units Range 0 to 1 Default Value Data Type Integer See Also...
Page 185: Cap0.T, Cap1.T
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.6.11 CAP0.T, CAP1.T General Information Type R/O Parameter Reads time capture (if time capture was con- Description figured). Units Range Default Value Data Type See Also CAP0.MODE, CAP1.MODE Start Version M_01-00-00-000...
Page 186: Cap0.Trigger, Cap1.Trigger
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.6.12 CAP0.TRIGGER, CAP1.TRIGGER General Information Type NV Parameter Specifies the trigger source for the position cap- Description ture. Units Range 0 to 11 Default Value Data Type See Also CAP0.PRESELECT, CAP1.PRESELECT...
Page 187 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Trigger Source Input Name Primary Index Tertiary Index Kollmorgen™ | March 30, 2012...
Page 188: Cs Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.7 CS Parameters Controlled stop (CS) parameters set the values for the controlled stop process. Kollmorgen™ | March 30, 2012...
Page 189: Cs.dec
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.7.1 CS.DEC General Information Type NV Parameter Description Sets the deceleration value for the controlled stop process. Depends on UNIT.ACCROTARY or UNIT.ACCLINEAR Units Rotary: rps/s, rpm/s, deg/s , (custom units)/s...
Page 190: Cs.state
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.7.2 CS.STATE General Information Type R/O Parameter Description Returns the internal status of the controlled stop process. Units Range Default Value Data Type CS.DEC , CS.VTHRESH , CS.TO DRV.DISMODE, DRV.DI-...
Page 191: Cs.to
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.7.3 CS.TO General Information Type NV Parameter Description Sets the time value for the drive velocity to be within CS.VTHRESH . Units Range 1 to 30,000 ms Default 6 ms...
Page 192: Cs.vthresh
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.7.4 CS.VTHRESH General Information Type NV Parameter Description Sets the velocity threshold for the controlled 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...
Page 193: Din Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.8 DIN Parameters This section describes the DIN parameters. Kollmorgen™ | March 30, 2012...
Page 194: Din.rotary
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.8.1 DIN.ROTARY General Information Type R/O Parameter Reads the rotary knob Description value. Units Range 0 to 99 Default Value Data Type Integer See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 195: Din.states
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.8.2 DIN.STATES General Information Type R/O Parameter Reads the digital input Description states. Units Range 0000000 to 1111111 Default Value Data Type String See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 196: Din1.Filter To Din7.Filter
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.8.3 DIN1.FILTER TO DIN7.FILTER General Information Type R/W Parameter Filter mode for digital inputs 1 to Description Units Range 0 to 3 1 for DIN1 and DIN2 Default Value...
Page 197: Din1.Inv To Din7.Inv
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.8.4 DIN1.INV to DIN7.INV General Information Type RW Parameter Description Sets the indicated polarity of a digital input mode. Units Range 0 to 1 Default Value Data Type Boolean...
Page 198: Din1.Mode To Din19.Mode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.8.5 DIN1.MODE to DIN19.MODE General Information Type R/W Parameter Sets the digital input Description modes. Units Range 0 to 23 Default Value Data Type Integer See Also Start Version M_01-00-00-000...
Page 199 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements This parameter sets the functionality of the digital inputs 1 through 7. Digital inputs and cor- responding X7 and X8 pin connectors are described in the AKD Installation Manual, section 8.16.4, Digital Inputs.
Page 200: Din1.State To Din7.State
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.8.6 DIN1.STATE TO DIN7.STATE General Information Type R/O Parameter Reads a specific digital input Description state. Units Range 0 to 1 Default Value Data Type Integer See Also Start Version M_01-00-00-000...
Page 201: Din9.State To Din11.State
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.8.7 DIN9.STATE to DIN11.STATE General Information Type NV Parameter Description Shows on selected pin if signal is high or low. Units Range 0 to 1 Default Value Data Type...
Page 202: Dio Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.9 DIO Parameters This section describes the DIO parameters. Kollmorgen™ | March 30, 2012...
Page 203: Dio9.Inv To Dio11.Inv
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.9.1 DIO9.INV to DIO11.INV General Information Type NV Parameter Inverting the output voltage of the IO, when in the output direc- Description tion. Units Range 0 to 1 Default...
Page 204: Dio9.Dir To Dio11.Dir
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.9.2 DIO9.DIR to DIO11.DIR General Information Type NV Parameter Changing direction of the IOs from the X9 con- Description nector. Units Range 0 to 1 Default Value Data Type...
Page 205: Dout Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.10 DOUT Parameters This section describes the DOUT parameters. Kollmorgen™ | March 30, 2012...
Page 206: Dout.relaymode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.10.1 DOUT.RELAYMODE General Information Type R/W Parameter Indicates faults relay Description mode. Units Range 0 to 1 Default Value Data Type Integer See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 207: Dout.states
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.10.2 DOUT.STATES General Information Type R/O Parameter Reads the state of the two digital out- Description puts. Units Range 0 to 11 Default Value Data Type String See Also...
Page 208: Dout8.Mode To Dout11.Mode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.10.3 DOUT8.MODE to DOUT11.MODE General Information Type NV Parameter Description Sets the digital output mode. Units Range 0 to 17 Default Value Data Type Integer See Also DOUT1.PARAM AND DOUT2.PARAM...
Page 209: Dout1.Param And Dout2.Param
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.10.4 DOUT1.PARAM AND DOUT2.PARAM General Information Type NV Parameter Description Sets extra parameters for the digital outputs. Units DOUT1.PARAM: –357,913.941 to 357,913.941 Range DOUT2.PARAM: –79,164,837,199.872 to 79,164,837,199.856 Default Value...
Page 210: Dout1.State And Dout2.State
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.10.5 DOUT1.STATE AND DOUT2.STATE General Information Type R/O Parameter Reads the digital output Description state. Units Range 0 to 1 Default Value Data Type Integer See Also Start Version M_01-00-00-000...
Page 211: Dout1.Stateu And Dout2.Stateu
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.10.6 DOUT1.STATEU AND DOUT2.STATEU General Information Type R/W Parameter Sets the state of the digital output Description node. Units Range 0 to 1 Default Value Data Type Integer See Also...
Page 212: Dout9.State To Dout11.State
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.10.7 DOUT9.STATE to DOUT11.STATE General Information Type NV parameter Description Shows on selected pin if signal is high or low. Units Range 0 to 1 Default Value Data Type...
Page 213: Dout9.Stateu To Dout11.Stateu
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.10.8 DOUT9.STATEU to DOUT11.STATEU General Information Type NV Parameter Allows user to set level of selected pin to high or Description low. Units Range 0 to 1 Default Value...
Page 214: Drv Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11 DRV Parameters This section describes the DRV parameters. Kollmorgen™ | March 30, 2012...
Page 215: Drv.acc
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.1 DRV.ACC General Information Type NV Parameter Description Describes the acceleration ramp for the velocity loop. Depends on UNIT.ACCROTARY or UNIT.ACCLINEAR Units Rotary: rps/s, rpm/s, deg/s², (custom units)/s² , rad/s² ...
Page 216 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Description Describes the acceleration ramp for the velocity central loop. Kollmorgen™ | March 30, 2012...
Page 217: Drv.active
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.2 DRV.ACTIVE General Information Type R/O Parameter Reads the enable status of an Description axis. Units Range 0, 1, 3 Default Value Data Type Integer See Also DRV.EN ,DRV.DISSOURCES...
Page 218: Drv.blinkdisplay
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.3 DRV.BLINKDISPLAY General Information Type Command Causes the display to blink for 10 sec- Description onds. Units Range Default Value Data Type See Also Start Version M_01-00-00-000 Description DRV.BLINKDISPLAY causes the drive display located on the front of the drive to blink for 10 seconds.
Page 219: Drv.clrfaulthist
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.4 DRV.CLRFAULTHIST General Information Type Command Clears the fault history log in the Description Units Range Default Value Data Type See Also DRV.FAULTHIST Start Version M_01-00-00-000 Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 220: Drv.clrfaults
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.5 DRV.CLRFAULTS General Information Type Command Tries to clear all active faults in the Description drive. Units Range Default Value Data Type See Also DRV.FAULTS, DRV.EN , DRV.DIS Start Version M_01-00-00-000...
Page 221: Drv.cmdsource
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.6 DRV.CMDSOURCE General Information Type NV Parameter Sets the command source (service, fieldbus, analog input, gearing, digital, or Description Bode). Units Range 0 to 5 Default Value Data Type...
Page 222: Drv.dbilimit
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.7 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).
Page 223: Drv.dec
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.8 DRV.DEC General Information Type NV Parameter Description Sets the deceleration value for the velocity loop. Depends on UNIT.ACCROTARY or UNIT.ACCLINEAR Units Rotary: rps/s, rpm/s, deg/s², (custom units)/s², rad/s²...
Page 224: Drv.dir
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.9 DRV.DIR General Information Type R/W Parameter Description Changes drive direction. Units Range 0 to 1 Default Value Data Type Integer See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version...
Page 225 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements DRV.OPMODE > 0 DRV.OPMODE > 1 VL.CMD IL.CMD PL.CMD Cmd_val Cmd_val Cmd_val Current (-1) Position Velocity loop loop loop DRV.DIR = 1 VL.FB PL.FB Act_val Act_val Act_val IL.FB Velocity...
Page 226: Drv.dis
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.10 DRV.DIS General Information Type Command Description Disables the axis (software). Units Range Default Analog drive software enabled. All other types of drive software dis- Value abled. Data Type DRV.EN , DRV.DISSOURCES , DRV.ACTIVE , DRV.DISMODE,...
Page 227: Drv.dissources
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.11 DRV.DISSOURCES General Information Type R/O Parameter Description Returns the possible reason for a drive disable. Units Range Default Value Data Type Integer DRV.ACTIVE, DRV.FAULTS, DRV.EN, See Also DRV.DIS...
Page 228: Drv.disto
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.12 DRV.DISTO General Information Type R/W Parameter Sets the emergency time- Description Units Range 0 to 120,000 ms Default 1,000 ms Value Data Type DRV.DIS , DRV.DI- See Also...
Page 229: Drv.emuedir
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.13 DRV.EMUEDIR General Information Type R/W Parameter Sets the direction of the emulated encoder output (EEO) sig- Description nal. Units Range 0 to 1 Default Value Data Type Integer See Also DRV.EMUEMODE...
Page 230: Drv.emuemode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.14 DRV.EMUEMODE General Information Type R/W Parameter Description Sets the mode of the emulated encoder output (EEO) connector. Units Range 0 to 11 Default Value Data Type Integer DRV.EMUERES , DRV.EMUEZOFFSET , DRV.EMUE-...
Page 231 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Note: If you are using multi-turn or single tune absolute feedback devices the Z pulse from gen- erated by the EEO will always be aligned with the same mechanical position of the of the pri- mary feedback position.
Page 232: Drv.emuemturn
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.15 DRV.EMUEMTURN General Information Type R/W Parameter Defines the location of the index pulse on the EEO (emulated encoder output) Description when DRV.EMUEMODE=2. Units revolutions Range 0 to 4,294,967,295...
Page 233: Drv.emueres
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.16 DRV.EMUERES General Information Type R/W Parameter Description Sets the resolution of the EEO (emulated encoder output). lines/rev (when DRV.EMUEMODE = 1, 2, or 3) Units counts/rev (when DRV.EMUEMODE = 4 or 5)
Page 234: Drv.emuezoffset
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.17 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...
Page 235: Drv.en
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.18 DRV.EN General Information Type Command Description Enables the axis (software). Units Range Analog drive software is enabled. Default Value All other types of drive software are disabled. Data Type DRV.DIS , DRV.DISSOURCES DRV.A-...
Page 236: Drv.fault1 To Drv.fault10
Only active faults are shown. This is not a fault history. These registers are an alternative to the string type parameter DRV.FAULTLIST so that fieldbusses and AKD BASIC users have easier access to the details of the faults in the drive.
Page 237: Drv.handwheel
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.20 DRV.HANDWHEEL General Information Type R/O Parameter Description Reads the EEO input value. Units 1/4,294,967,296 rev Range 0 to 4,294,967,295 rev Default 0 rev Value Data Type Integer DRV.EMUERES , DRV.EMU-...
Page 238: Drv.handwheelsrc
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.21 DRV.HANDWHEELSRC General Information Type NV Parameter Description Selects the feedback for handwheel operation. Units None Range Default Value Data Type See Also Start Version M_01-05-08-000 Fieldbus Index/Subindex Is 64 bit? Attributes Signed?
Page 239: Drv.hwenable
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.22 DRV.HWENABLE General Information Type Description Status of the hardware enable . Units Range 0 to 1 Default Value Data Type Integer Start Version tbd Fieldbus Index/Subindex Is 64 bit? Attributes Signed?
Page 240: Drv.icont
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.23 DRV.ICONT General Information Type R/O Parameter Reads the continuous rated current Description value. Units Arms Range Default Value Data Type Float See Also DRV.IPEAK Start Version M_01-00-00-000 Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 241: Drv.ipeak
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.24 DRV.IPEAK General Information Type R/O Parameter Reads the peak rated current Description value. Units Arms Range Default Value Data Type Float See Also DRV.ICONT Start Version M_01-00-00-000 Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 242: Drv.name
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.25 DRV.NAME General Information Type NV Parameter Sets and reads the name of the Description drive. Units Range Default No-Name Value Data Type String See Also Start Version M_01-00-00-000...
Page 243: Drv.nvload
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.26 DRV.NVLOAD General Information Type R/O Parameter Loads all data from the NV memory of the drive into the RAM param- Description eters. Units Range Default Value Data Type See Also DRV.NVLOAD DRV.NVLIST...
Page 244: Drv.nvsave
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.27 DRV.NVSAVE General Information Type Command Saves the drive parameters from the RAM to the NV mem- Description ory. Units Range Default Value Data Type See Also DRV.RSTVAR Start Version M_01-00-00-000...
Page 245: Drv.opmode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.28 DRV.OPMODE General Information Type NV Parameter Sets the drive operation mode (current, velocity, or posi- Description tion). Units Range 0 to 2 Default Value Data Type Integer See Also DRV.CMDSOURCE...
Page 246: Drv.rstvar
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.29 DRV.RSTVAR General Information Type Command Sets default values in the drive without re-booting the drive and without resetting Description the NV memory. Units Range Default Value Data Type...
Page 247: Drv.setupreqbits
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.30 DRV.SETUPREQBITS General Information Type R/O Parameter Reads the bitwise set status of parameters that must be set before the drive Description can be enabled Units Range Default Value...
Page 248: Drv.stop
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.31 DRV.STOP General Information Type Command This command stops all drive Description motion. Units Range Default Value Data Type See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version...
Page 249: Drv.swenable
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.32 DRV.SWENABLE General Information Type R/W Parameter Description Controls whether power can flow to the motor. Units none Range 0 to 1 Default Value Data Type Integer Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 250: Drv.time
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 | WHEN.DRV.TIME...
Page 251: Drv.warning1 To Drv.warning10
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.11.34 DRV.WARNING1 to DRV.WARNING10 General Information Type Location of fault codes for any active warning con- Description ditions. Units Range Any supported fault code or 0 Default Value Data Type Integer...
Page 252: Egear Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.12 EGEAR Parameters This section describes the EGEAR parameters. Kollmorgen™ | March 30, 2012...
Page 253: Egear.acclimit
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.12.1 EGEAR.ACCLIMIT General Information Type Description EGEAR.ACCLIMIT sets the maximum acceleration. Units rpm/sec Range 1 to 16,000,000 rpm/sec Default 16,000,000 rpm/sec Value Data Type Integer Fieldbus Index/Subindex Is 64 bit?
Page 254: Egear.declimit
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.12.2 EGEAR.DECLIMIT General Information Type EGEAR.DECLIMIT sets the maximum deceleration that will be commanded on the follower when EGEAR.ON is turned OFF or the electronic gearing ratio Description (EGEAR.RATIO or EGEAR.PULSESOUT / EGEAR.PUSLESIN ) is decreased.
Page 255: Egear.error
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.12.3 EGEAR.ERROR General Information Type Indicates the amount of position deviation that has accumulated on the slave axis (in an electronic gearing application) as a result of the slave...
Page 256: Egear.lock
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.12.4 EGEAR.LOCK General Information Type EGEAR.LOCK indicates when the slave axis (follower axis) in an electronic gear- Description ing application has achieved velocity synchronization with the electronic gearing master.
Page 257: Egear.on
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.12.5 EGEAR.ON General Information Type Command Starts the electronic gearing; active in Description opmode 2 (position) only. Units Range 0 to 1 Default Value Data Type Integer Start Ver-...
Page 258: Egear.pulsesin
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.12.6 EGEAR.PULSESIN General Information Type Specifies the number of encoder counts used when specifying an exact elec- Description tronic gearing ratio. Units Motor revolutions / Encoder Revolution Range -2,000 to 2,000...
Page 259: Egear.pulseout
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.12.7 EGEAR.PULSEOUT General Information Type Specifies the number of position counts used in an exact electronic gearing Description ratio. Units Position counts Range -CountsPerRev/2 to CountsPerRev/2 Default Value Data Type...
Page 260: Egear.ratio
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.12.8 EGEAR.RATIO General Information Type Sets the electronic gearing ratio (rev to rev) between the encoder shaft (master) Description and the motor shaft (slave). Units Motor revolutions / Encoder Revolution...
Page 261: Egear.type
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.12.9 EGEAR.TYPE General Information Type Description Sets the allowed direction of motion for electronic gearing. Units Range 0 to 2 Default Value Data Type Integer Start Version TBD Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 262: Extencoder Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.13 EXTENCODER Parameters This section describes the EXTENCODER parameters. Kollmorgen™ | March 30, 2012...
Page 263: Extencoder.freq
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.13.1 EXTENCODER.FREQ General Information Type Description Gets the external encoder (EEO) velocity. Units Range -2^63 to +2^63 - 1 Default 0 Counts Value Data Type Float Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 264: Extencoder.position
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.13.2 EXTENCODER.POSITION General Information Type Description Gets the external encoder (EEO) position. Units 1/(2^64) -2^63 to +2^63 -1 Range 0 to EXTENCODER.POSMODULO Default 0 Counts Value Data Type Integer...
Page 265: Extencoder.posmodulo
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.13.3 EXTENCODER.POSMODULO General Information Type 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...
Page 266: Fault Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.14 FAULT Parameters This section describes the FAULT parameters. Kollmorgen™ | March 30, 2012...
Page 267: Faultx.action
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.14.1 FAULTx.ACTION General Information Type Gets/Sets the Fault Action for Fault 130, 131, 132, Description 134, 139, 451, and 702. Units Range 0 to 1 Default Value Data Type Integer...
Page 268: Fb1 Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15 FB1 Parameters This section describes the FB1 parameters. Kollmorgen™ | March 30, 2012...
Page 269: Fb1.Bissbits
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.1 FB1.BISSBITS General Information Type NV Parameter Specifies the number of Biss Sensor (Position) Bits for the BiSS Mode C Description encoder in use. Units bits Range 0 to 64 bits...
Page 270: Fb1.Encres
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.2 FB1.ENCRES General Information Type NV Parameter Sets the resolution of the motor Description encoder. Units Encoder counts Range 0 to 2 Default 1,024 Value Data Type Integer See Also...
Page 271: Fb1.Hallstate
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.3 FB1.HALLSTATE General Information Type R/O Parameter Reads the Hall switch values (encoder feed- back Description only). Units Binary Range 0 0 0 to 1 1 1 Default Value...
Page 272: Fb1.Hallstateu
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.4 FB1.HALLSTATEU General Information Type R/O Parameter Reads the state of Hall switch Description Units Range 0 and 1 Default Value Data Type Integer See Also FB1.HALLSTATE Start Version M_01-03-07-000...
Page 273: Fb1.Hallstatev
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.5 FB1.HALLSTATEV General Information Type R/O Parameter Reads the state of Hall switch Description Units Range 0 and 1 Default Value Data Type Integer See Also FB1.HALLSTATE Start Version M_01-03-07-000...
Page 274: Fb1.Hallstatew
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.6 FB1.HALLSTATEW General Information Type R/O Parameter Reads the state of Hall switch Description Units Range 0 and 1 Default Value Data Type Integer See Also FB1.HALLSTATE Start Version M_01-03-07-000...
Page 275: Fb1.Identified
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.7 FB1.IDENTIFIED General Information Type R/O Parameter Reads the type of feedback device used by the Description drive/motor. Units Range Default Value Data Type Integer See Also FB1.SELECT Start Version M_01-00-00-000...
Page 276: Fb1.Initsigned
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.8 FB1.INITSIGNED General Information Type NV Parameter Sets initial feedback value as signed or Description unsigned. Units Range 0 to 1 Default Value Data Type Integer See Also FB1.ORIGIN...
Page 277: Fb1.Mechpos
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.9 FB1.MECHPOS General Information Type R/O Parameter Reads the mechanical posi- Description tion. Units counts Range 0 to 4,294,967,295 counts Default Value Data Type Integer See Also Start Version M_01-00-00-000...
Page 278: Fb1.Memdump
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.10 FB1.MEMDUMP General Information Type R/O Parameter Dumps the memory ID data values of a feedback with mem- Description Units Range Default Value Data Type See Also Start Version M_01-00-00-000 Description FB1.MEMDUMP dumps the meory ID data values of a feedback with memory.
Page 279: Fb1.Memver
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.11 FB1.MEMVER General Information Type R/O Parameter Returns the memory feedback ver- Description sion. Units Range Default Value Data Type Integer See Also Start Version M_01-00-00-000 Description FB1.MEMVER returns the memory feedback version (only applicable for feedbacks with mem- ory).
Page 280: Fb1.Origin
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.12 FB1.ORIGIN General Information Type NV Parameter Description Adds to the initial feedback position. Depends on UNIT.ACCROTARY or UNIT.A- CCLINEAR Units Rotary: counts, rad, deg, custom units, 16-bit counts Linear: counts, mm, µm, custom units, 16-bit counts...
Page 281 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements This example uses UNIT.PROTARY set to 2 (degrees) It also assumes that the drive is connected to a single turn feedback device with memory. FB1.ORIGIN is set to 22 and saved into NV memory.
Page 282: Fb1.P
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.13 FB1.P General Information Type R/O Parameter Description Reads position from the primary feedback. Units Depends on FB1.UNIT counts or custom units. Range Default Value Data Type See Also FB1.HALLSTATE...
Page 283: Fb1.Pdir
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.14 FB1.PDIR General Information Type NV-Parameter Sets the counting direction for feedback channel Description Units None Range 0 to 1 Default Value Data Type See Also Start Version M_01-05-11-000 Description FB1.PDIR will change the sign and with it the direction of feedback channel 1.
Page 284: Fb1.Poffset
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.15 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 -10,485,760.000 to 10,485,760.000 custom units Default Value...
Page 285: Fb1.Poles
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.16 FB1.POLES General Information Type R/W Parameter Reads the number of feedback Description poles. Units Range 2 to 128 Default Value Data Type Integer See Also MOTOR.POLES Start Version M_01-00-00-000...
Page 286: Fb1.Pscale
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.17 FB1.PSCALE General Information Type R/W Parameter Sets position scaling value for fieldbus transferred position Description objects. Units Range 0 to 32 Default Value Data Type Integer See Also...
Page 287: Fb1.Punit
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.18 FB1.PUNIT General Information Type NV Parameter Description Sets the unit for FB1.P. Units Range 0, 3 Default Value Data Type See Also Start Version M_01-05-11-000 Description FB1.UNIT sets the position unit for FB1.P.
Page 288: Fb1.Select
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.15.19 FB1.SELECT General Information Type NV Parameter Description Sets user entered type or identified type (–1). Units Range –1, 10, 20, 30, 31, 32, 40, 41 Default –1 Value...
Page 289 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Input Description Value Manually sets the type to BiSS. This input sets the value of FB1.IDENTIFIED to 32. If the feedback setting fails, FB1.IDENTIFIED is automatically set to 0 (no feedback identified).
Page 290: Fb2 Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.16 FB2 Parameters This section describes the FB2 parameters. Kollmorgen™ | March 30, 2012...
Page 291: Fb2.Encres
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.16.1 FB2.ENCRES General Information Type NV Parameter Sets the secondary feedback (FB2) res- Description olution. Units counts/rev Range 0 to 262,140 counts/rev Default Value Data Type Integer See Also FB2.MODE, FB2.SOURCE...
Page 292: Fb2.Mode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.16.2 FB2.MODE General Information Type R/W Parameter Sets the mode for the second feedback inputs, EEO connector (X9) and high Description speed opto inputs (pins 9 and 10 on X7).
Page 293: Fb2.P
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.16.3 FB2.P General Information Type R/O Parameter Description Reads position from the secondary feedback. Units Depends on FB2.UNIT counts or custom units. Range Default Value Data Type See Also FB1.HALLSTATE...
Page 294: Fb2P.dir
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.16.4 FB2P.DIR General Information Type NV-Parameter Sets the counting direction for feedback channel Description Units None Range 0 to 1 Default Value Data Type See Also Start Version M_01-05-11-000 Description FB2.PDIR will change the sign and with it the direction of feedback channel 2.
Page 295: Fb2.Punit
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.16.6 FB2.PUNIT General Information Type NV Parameter Description Sets the unit for FB2.P. Units Range 0, 3 Default Value Data Type See Also Start Version M_01-05-11-000 Description FB2.UNIT sets the position unit for FB2.P.
Page 296: Fb2.Source
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.16.7 FB2.SOURCE General Information Type R/W Parameter Sets the source for the second feedback input. Choices are the EEO con- Description nectors (X9) which are RS485 inputs, or the X7 connector’s high speed opto inputs (pins 9 and 10).
Page 297: Fb3 Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.17 FB3 Parameters This section describes the FB3 parameters. Kollmorgen™ | March 30, 2012...
Page 298: Fb3.Mode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.17.1 FB3.MODE General Information Type NV Parameter Description Selects the type of feedback connected to X9. Units Range Default Value Data Type Integer See Also Start Version M_01-04-15-000 Fieldbus...
Page 299: Fb3.Poffset
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.17.2 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 -10,485,760.000 to 10,485,760.000 custom units Default Value...
Page 300: Fb3.Punit
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.17.3 FB3.PUNIT General Information Type NV Parameter Description Sets the unit for FB3.P. Units Range 0, 3 Default Value Data Type See Also Start Version M_01-05-11-000 Description FB3.UNIT sets the position unit for FB3.P.
Page 301: Hwls Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.18 HWLS Parameters This section describes the HWLS parameters. Kollmorgen™ | March 30, 2012...
Page 302: Hwls.negstate
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.18.1 HWLS.NEGSTATE General Information Type R/O Parameter Reads the status of the negative hardware limit Description switch. Units 0 to 1 Range Default Integer Value Data Type HWLS.POSSTATE See Also...
Page 303: Hwls.posstate
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.18.2 HWLS.POSSTATE General Information Type R/O Parameter Reads the status of the positive hardware limit Description switch. Units Range 0 to 1 Default Value Data Type Integer See Also HWLS.NEGSTATE...
Page 304: Il Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19 IL Parameters This section describes the IL parameters. Kollmorgen™ | March 30, 2012...
Page 305: Il.busff
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.1 IL.BUSFF General Information Type R/O Parameter Displays the current feedforward value injected by the field- Description bus. Units Arms Range Default Value Data Type Float Start Version M_01-00-00-000...
Page 306: Il.cmd
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.2 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 Data Type Float See Also DRV.IPEAK...
Page 307: Il.cmdu
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.3 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...
Page 308: Il.dfoldt
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.4 IL.DFOLDT General Information Type R/W Parameter Reads the drive foldback time constant of the exponential current drop (fold- Description back). Units Range 1 to 65.535 s Default Usually 2.500 s, but may change according to the drive type.
Page 309: Il.difold
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.5 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 Value Data Type Float Start Version M_01-00-00-000...
Page 310: Il.fb
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.6 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 Value Data Type...
Page 311: Il.ff
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.7 IL.FF General Information Type R/O Parameter Description Displays the current loop overall feedforward value Units Arms Range Default Value Data Type Float IL.KBUSFF, IL.KVFF, IL.OFFSET, IL.FRICTION, See Also IL.KACCFF...
Page 312: Il.foldfthresh
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.8 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...
Page 313: Il.foldwthresh
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.9 IL.FOLDWTHRESH General Information Type NV Parameter Sets the foldback warning Description level. Units Arms Range 0 to 500 Arms Default Value Data Type Float Start Version M_01-00-00-000 Fieldbus...
Page 314: Il.ifold
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.10 IL.IFOLD General Information Type R/O Parameter Reads the overall foldback current Description limit. Units Range 0 to 2,147,483.647 A Default Value Data Type Float Start Version M_01-00-00-000 Fieldbus...
Page 315: Il.iufb
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.11 IL.IUFB General Information Type R/O Parameter Reads the sigma-delta measured current in the u-winding of the Description motor. Units Range ± Drive peak current (DRV.IPEAK) Default Value Data Type...
Page 316: Il.ivfb
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.12 IL.IVFB General Information Type R/O Parameter Sets the sigma-delta measured current in the u-winding of the Description motor. Units Range ± Drive peak current (DRV.IPEAK) Default Value Data Type...
Page 317: Il.kp
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.13 IL.KP General Information Type NV Parameter Sets the proportional gain of the q-component of the PI reg- Description ulator. Units Range 0 to 2,000 V/A Default Read from the motor or, if no memory, 50.009 V/A...
Page 318: Il.kpdratio
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.14 IL.KPDRATIO General Information Type NV Parameter Sets the proportional gain of the d-component current PI-regulator as a per- Description centage of IL.KP Units Range 0 to 100 Default...
Page 319: Il.limitn
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.15 IL.LIMITN General Information Type NV Parameter Sets the negative user (application-specific) current Description limit. Units Range Negative drive peak current (DRV.IPEAK) to 0 A Default Negative drive peak current (DRV.IPEAK)
Page 320: Il.limitp
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.16 IL.LIMITP General Information Type NV Parameter Sets the positive user (application-specific) current Description limit. Units Range 0 A to drive peak current (DRV.IPEAK) Default Drive peak current (DRV.IPEAK)
Page 321: Il.mfoldd
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.17 IL.MFOLDD General Information Type R/O Parameter Sets the motor foldback maximum time at motor peak cur- Description rent. Units Range 0.1 to 2400 s Default 10 s Value...
Page 322: Il.mfoldr
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.18 IL.MFOLDR General Information Type R/O Parameter Description Sets the motor foldback recovery time. Units Range 0.1 to 65,535 s Default Calculated from other foldback param- Value eters. Data Type...
Page 323: Il.mfoldt
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.19 IL.MFOLDT General Information Type R/O Parameter Sets the motor foldback time constant of the exponential current drop (fold- Description back). Units Range 0.1 to 2,400 s Default 10 s...
Page 324: Il.mifold
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.20 IL.MIFOLD General Information Type R/O Parameter Sets the motor foldback current Description limit. Units Range 0 to 2147483.647 A Default Value Data Type Float Start Version M_01-00-00-000 Fieldbus...
Page 325: Il.vcmd
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.21 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 Value Data Type...
Page 326: Il.vufb
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.22 IL.VUFB General Information Type R/O Parameter Reads the measured voltage on the u-winding of the Description motor. Units Range –1200*VBusScale to +1200*VBusScale Default Value Data Type Integer See Also IL.VVFB...
Page 327: Il.vvfb
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.19.23 IL.VVFB General Information Type R/O Parameter Reads the measured voltage on the v-winding of the Description motor. Units Range –1200*VBusScale to +1200*VBusScale Default Value Data Type Integer See Also IL.VUFB...
Page 328: Intr Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.20 INTR Parameters This section describes the INTR parameters. Kollmorgen™ | March 30, 2012...
Page 329: Interrupt {Source
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.20.1 Interrupt {Source} General Information Type Description Interrupt sources enable or disable Interrupt...End Interrupt statements. Units none Range 0 (disabled) or 1 (enabled) Default 0 (disabled) Value Data Type...
Page 330 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Interrupt Source Interrupt Occurs when PL.FB < SWLS.LIMIT1 (if SWLS.LIMIT1 is the lower INTR.SWLS.LIMIT1 limit) INTR.TIMER after a number of milliseconds specified by VM.INTRTIMER Kollmorgen™ | March 30, 2012...
Page 331 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Example Main DRV.TIME INTR.DIN1LO while pause(0.5) DOUT1.STATE=0 : Pause(0.005) : DOUT1.STATE=1 wend end main '-------------- Interrupt Routines ------------ ------- Interrupt DIN1LO print "I'm awake" DRV.TIME > 10 then print "OK.
Page 332: Interrupt
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.20.2 Interrupt...End Interrupt General Information Type Statement The interrupt feature permits execution of a user-defined subroutine upon receipt Description of a hardware interrupt signal or a pre-defined interrupt event.
Page 333: Load Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.21 LOAD Parameters This section describes the LOAD parameters. Kollmorgen™ | March 30, 2012...
Page 334: Load.inertia
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.21.1 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 Default 0 kgcm² or kg...
Page 335: Modbus Paramters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.22 MODBUS Paramters This section describes the MODBUS parameters. Kollmorgen™ | March 30, 2012...
Page 336: Modbus.readfloat
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.22.1 MODBUS.READFLOAT General Information Type This function reads a floating-point value from the spec- Description ified ModBus slave and returns the value read. Units Range Default Value Data Type Float...
Page 337: Modbus.writefloat
There is not complete standardization on the format of floating-point numbers among all Mod- Bus devices. Set Modbus.FloatWordOrder to 0 to properly write floating point numbers to a ModBus slave. Refer to Using an AKD BASIC as a ModBus Master. Related Topics MODBUS.WRITE16 | MODBUS.WRITE32...
Page 338: Motor Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23 MOTOR Parameters This section describes the MOTOR parameters. Kollmorgen™ | March 30, 2012...
Page 339: Motor.brake
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.1 MOTOR.BRAKE General Information Type NV Parameter Sets the presence or absence of a motor Description brake. Units Range 0 to 1 Default Value Data Type Boolean See Also...
Page 340: Motor.brakeimm
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.2 MOTOR.BRAKEIMM General Information Type NV Parameter Brake Immediately: in the case of a drive disable, apply the brake in all sit- Description uations. Units Range 0 to 1...
Page 341: Motor.brakerls
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.3 MOTOR.BRAKERLS General Information Type Command Allows a user to release the motor Description brake. Units Range 0 to 1 Default Value Data Type Integer See Also Start Version M_01-00-00-000...
Page 342: Motor.icont
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.4 MOTOR.ICONT General Information Type NV Parameter Sets the motor continuous cur- Description rent. Units Range 0.1 to 500 A Default 1.0 A Value Data Type Float See Also...
Page 343: Motor.inertia
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.5 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 Default 100 kgcm² or kg...
Page 344: Motor.ipeak
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.6 MOTOR.IPEAK General Information Type NV Parameter Sets the motor peak cur- Description rent. Units Range 0.200 to 1,000 A Default 2.000 A Value Data Type Float See Also IL.LIMITP , IL.LIMITN...
Page 345: Motor.ke
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.7 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...
Page 346: Motor.kt
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.8 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 motors. Range 0.001 Nm/A to 1,000,000.000 N/A for linear motors.
Page 347: Motor.lqll
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.9 MOTOR.LQLL General Information Type NV Parameter Sets the line-to-line motor Description Units Range 1 to 2 Default 17.000 H Value Data Type Float See Also Start Version M_01-00-00-000...
Page 348: Motor.name
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.10 MOTOR.NAME General Information Type NV Parameter Sets the motor Description name. Units Range 11 chars Default Value Data Type String See Also Start Version M_01-00-00-000 Description This parameter is used to set the motor name.
Page 349: Motor.phase
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.11 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 Start Version M_01-00-00-000...
Page 350: Motor.pitch
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.12 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 Start Version M_01-00-00-000...
Page 351: Motor.poles
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.13 MOTOR.POLES General Information Type NV Parameter Sets the number of motor Description poles. Units Range 0 to 128 Default Value Data Type Integer See Also FB1.POLES Start Version M_01-00-00-000...
Page 352: Motor.r
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.14 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...
Page 353: Motor.tbrakeapp
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.15 MOTOR.TBRAKEAPP General Information Type NV Parameter The delay time used for applying the motor Description brake. Units Range 0 to 1,000 ms Default 75 ms Value Data Type...
Page 354: Motor.tbrakerls
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.16 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...
Page 355: Motor.temp
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.17 MOTOR.TEMP General Information Type R/O Parameter Reads the motor temperature represented as the resistance of the motor Description PTC. Units Ω Range 0 to 2 Ω Default Value...
Page 356: Motor.tempfault
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.18 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...
Page 357: Motor.tempwarn
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.19 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...
Page 358: Motor.type
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.20 MOTOR.TYPE General Information Type NV Parameter Sets the motor Description type. Units Range 0 to 1 Default Value Data Type Integer See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 359: Motor.voltmax
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.23.21 MOTOR.VOLTMAX General Information Type NV Parameter Sets the motor maximum volt- Description age. Units Vrms Range 110 to 900 Vrms Default 230 Vrms Value Data Type Integer See Also...
Page 360: Move Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24 MOVE Parameters This section describes the MOVE parameters. MOVE parameters are only valid when DRV.OPMODE = 3 and DRV.CMDSOURCE = 5. Kollmorgen™ | March 30, 2012...
Page 361: Move.abort
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.1 MOVE.ABORT General Information Type Command MOVE.ABORT stops motor motion and Description allows continued program execution. Units Range Default Value Data Type N/A Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 362: Move.acc
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.2 MOVE.ACC General Information Type Description Sets the maximum commanded acceleration rate when the speed is increased. Depends on UNIT.ACCROTARY or UNIT.ACCLINEAR Units Rotary: rps/s, rpm/s, deg/s², (custom units)/s² , rad/s² ...
Page 363 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 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...
Page 364: Move.dec
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.3 MOVE.DEC General Information Type Description Sets the maximum commanded deceleration rate when the speed is decreased. Depends on UNIT.ACCROTARY or UNIT.ACCLINEAR Units Rotary: rps/s, rpm/s, deg/s², (custom units)/s² , rad/s² ...
Page 365 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 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...
Page 366: Move.dir
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.4 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 Value...
Page 367: Move.dwelltime
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.5 MOVE.DWELLTIME General Information Type Adds a dwell time at the end of a MOVE.GOREL or MOVE.GOABS move that Description will elapse before MOVE.MOVING is set equal to 0.
Page 368: Move.goabs
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.6 MOVE.GOABS General Information Type Command MOVE.GOABS moves the motor to the position specified by MOVE.TA- Description RGETPOS. Units Range Default Value Data Type Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 369: Move.gohome
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.7 MOVE.GOHOME General Information Type Command MOVE.GOHOME causes the motor to move to the position specified where Description PL.FB = 0. Units Range Default Value Data Type Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 370: Move.gorel
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.8 MOVE.GOREL General Information Type Command MOVE.GOREL moves the motor a distance specified by MOVE.RE- Description LATIVEDIST. Units Range Default Value Data Type Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 371: Move.goupdate
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.9 MOVE.GOUPDATE General Information Type Command MOVE.GOUPDATE updates a move in progress with new move Description parameters. Units Range Default Value Data Type N/A Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 372: Move.govel
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.10 MOVE.GOVEL General Information Type Command MOVE.GOVEL moves the motor at a constant speed specified by MOVE.RU- Description NSPEED and direction specified by MOVE.DIR. Units Range Default Value Data Type N/A...
Page 373: Move.inposition
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.11 MOVE.INPOSITION General Information Type Indicates whether or not the motor has achieved com- Description mand position. Units none Range 0 or 1 Default none Value Data Type Integer...
Page 374: Move.inposlimit
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.12 MOVE.INPOSLIMIT General Information Type Specifies the tolerance of Position Error (PL.ERR) within which the MOVE.I- Description NPOSITION flag will be set to 1 (True). Units Position units Range...
Page 375: Move.moving
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.13 MOVE.MOVING General Information Type Description Indicates whether or not the commanded motion profile is complete. Units Range 0 or 1 Default Value Data Type Integer Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 376: Move.poscommand
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.14 MOVE.POSCOMMAND General Information Type Description Current Position Command from Trajectory Generator. Depends on UNIT.PROTARY or UNIT.PLINEAR UNIT.A- CCLINEAR Units Rotary: counts, rad, deg, (custom units), 16-bit counts Linear: counts, mm, µm, (custom units), 16-bit counts...
Page 377: Move.relativedist
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.15 MOVE.RELATIVEDIST General Information Type Specifies the distance the motor turns during a relative move Description (MOVE.GOREL). Depends on UNIT.PROTARY or UNIT.PLINEAR UNIT.ACCLINEAR Units Rotary: counts, rad, deg, (custom units), 16-bit counts Linear: counts, mm, µm, (custom units), 16-bit counts...
Page 378: Move.runspeed
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.16 MOVE.RUNSPEED General Information Type 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).
Page 379: Move.scurvetime
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.17 MOVE.SCURVETIME General Information Type Description Sets the amount of S-curve smoothing applied to all velocity profiles. Units 0 (trapezoidal profile) Range 0 to 0.256 (0.002, 0.004, 0.008, 0.016, 0.032, 0.064, 0.128, 0.256)
Page 380: Move.targetpos
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.24.18 MOVE.TARGETPOS General Information Type MOVE.TARGETPOS specifies the target position for an absolute Description (MOVE.GOABS) move. Depends on UNIT.PROTARY or UNIT.PLINEAR UNIT.ACCLINEAR Units Rotary: counts, rad, deg, (custom units), 16-bit counts Linear: counts, mm, µm, (custom units), 16-bit counts...
Page 381: Pl Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25 PL Parameters This section describes the PL parameters. Kollmorgen™ | March 30, 2012...
Page 382: Pl.cmd
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.1 PL.CMD General Information Type R/O Parameter Reads the position command directly from the entry to the position Description loop. Depends on UNIT.PROTARY or UNIT.PLINEAR UNIT.ACCLINEAR Units Rotary: counts, rad, deg, (custom units), 16-bit counts Linear: counts, mm, µm, (custom units), 16-bit counts...
Page 383: Pl.err
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.2 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 Default Value...
Page 384: Pl.errfthresh
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.3 PL.ERRFTHRESH General Information Type NV Parameter Description Sets the maximum position error. Depends on UNIT.ACCROTARY or UNIT.A- CCLINEAR 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...
Page 385 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements This parameter sets the maximum position error. If the position error PL.ERR is larger than PL.ERRFTHRESH the drive generates a fault. If PL.ERRFTHRESH is set to 0, the maximum position error is ignored.
Page 386: Pl.errmode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.4 PL.ERRMODE General Information Type NV Parameter Sets the type of following error warning and fault Description usage. 0- Standard following error Units 1-Enhanced following error Range 0 to 1...
Page 387 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements PL.ERR | PL.ERRFTHRESH | PL.ERRWTHRESH Kollmorgen™ | March 30, 2012...
Page 388: Pl.errwthresh
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.5 PL.ERRWTHRESH General Information Type NV Parameter Description Sets the position error warning level. Depends on UNIT.PROTARY or UNIT.PLINEAR UNIT.A- CCLINEAR Units Rotary: counts, rad, deg, (custom units), 16-bit counts Linear: counts, mm, µm, (custom units), 16-bit counts...
Page 389 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements PL.ERR | PL.ERRFTHRESH | PL.ERRMODE Kollmorgen™ | March 30, 2012...
Page 390: Pl.fb
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.6 PL.FB General Information Type R/O Parameter Description Reads the position feedback value. Depends on UNIT.PROTARY or UNIT.PLINEAR UNIT.A- CCLINEAR Units Rotary: counts, rad, deg, (custom units), 16-bit counts Linear: counts, mm, µm, (custom units), 16-bit counts...
Page 391: Pl.fbsource
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.7 PL.FBSOURCE General Information Type NV Parameter Sets the feedback source for the position Description loop. Units Range will differ depending on drive model. Range 0 to 1 (for AKD-x-xxxxx-NAxx-xxxx)
Page 392: Pl.intinmax
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.8 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.PROTARY or UNIT.PLINEAR Units Rotary: counts, rad, deg, (custom units), 16-bit counts Linear: counts, mm, µm, (custom units), 16-bit counts...
Page 393 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 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 | PL.ERRFTHRESH | PL.ERRMODE | PL.ERRWTHRESH...
Page 394: Pl.intoutmax
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.9 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.PROTARY or UNIT.PLINEAR Units Rotary: counts, rad, deg, (custom units), 16-bit counts Linear: counts, mm, µm, (custom units), 16-bit counts...
Page 395 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 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.
Page 396: Pl.ki
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.10 PL.KI General Information Type NV Parameter Sets the integral gain of the position Description loop. Units Range 0 to 250 Hz Default 0 Hz Value Data Type Float See Also PL.KP, PL.KD...
Page 397: Pl.kp
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.11 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...
Page 398: Pl.modp1
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.12 PL.MODP1 General Information Type R/W parameter Description Sets modulo range parameter. Depends on UNIT.PROTARY and UNIT.PLI- Units NEAR Range Default Value Data Type Float See Also Start Version M_01-00-00-000...
Page 399: Pl.modp2
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.13 PL.MODP2 General Information Type R/W Parameter Description Sets the beginning or end modulo range parameter. Depends on UNIT.PROTARY and UNIT.PLINEAR Units Range Default Value Data Type Float See Also...
Page 400: Pl.modpdir
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.14 PL.MODPDIR General Information Type R/W Parameter Sets the direction for absolute motion Description tasks. Units Range 0 to 2 Default Value Data Type Integer See Also Start Version M_01-00-00-000...
Page 401: Pl.modpen
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.25.15 PL.MODPEN General Information Type R/W Parameter Enables the modulo posi- Description tion. Units Range 0 to 1 Default Value Data Type Integer See Also Start Version M_01-00-00-000 Fieldbus...
Page 402: Pls Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.26 PLS Parameters This section describes the PLS parameters. Kollmorgen™ | March 30, 2012...
Page 403: Pls.en
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.26.1 PLS.EN General Information Type R/W Parameter Description Enables programmable limit switch (PLS). Units Range 0 to 255 Default Value Data Type Integer PLS.MODE , PLS.RESET, PLS.STATE, PLS.UNITS, PLS.P1 to PLS.P8, See Also PLS.WIDTH1 to PLS.WIDTH8, PLS.T1 to PLS.T8...
Page 404: Pls.mode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.26.2 PLS.MODE General Information Type R/W Parameter Description Selects programmable limit switch mode. Units Range 0 to 255 Default Value Data Type Integer PLS.EN, PLS.RESET, PLS.STATE, PLS.UNITS, PLS.P1 to PLS.P8, See Also PLS.WIDTH1 to PLS.WIDTH8, PLS.T1 to PLS.T8...
Page 405: Pls.p1 To Pls.p8
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.26.3 PLS.P1 TO PLS.P8 General Information Type R/W Parameter Sets the trigger point for programmable limit Description switches. Units Depends on UNIT.PROTARY or UNIT.PLINEAR Range Default Value Data Type...
Page 406: Pls.reset
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.26.4 PLS.RESET General Information Type R/O Parameter Description Resets programmable limit switch. Units Range 0 to 255 Default Value Data Type Integer PLS.EN, PLS.MODE, PLS.STATE, PLS.UNITS, PLS.Px (x=1…8), See Also PLS.WIDTHx (x=1…8), PLS.Tx (x=1…8)
Page 407: Pls.state
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.26.5 PLS.STATE General Information Type R/O Parameter Description Reads the programmable limit switch state. Units Range Default Value Data Type Integer PLS.EN, PLS.RESET, PLS.UNITS, PLS.MODE, PLS.P1 TO PLS.P8, See Also PLS.WIDTH1 TO PLS.WIDTH8, PLS.T1 TO PLS.T8...
Page 408: Pls.t1 To Pls.t8
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.26.6 PLS.T1 TO PLS.T8 General Information Type R/W parameter Description Sets programmable limit switch time Units 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 See Also TO PLS.WIDTH8, PLS.P1 TO PLS.P8...
Page 409: Pls.units
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.26.7 PLS.UNITS General Information Type R/W parameter Description Sets programmable limit switch (PLS) units. Units Range 0 to 255 Default Value Data Type Integer PLS.EN , PLS.RESET , PLS.STATE , PLS.MODE , PLS.P1 TO PLS.P8 See Also PLS.WIDTH1 TO PLS.WIDTH8 , PLS.T1 TO PLS.T8...
Page 410 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 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.
Page 411: Pls.width1 To Pls.width8
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.26.8 PLS.WIDTH1 TO PLS.WIDTH8 General Information Type R/W parameter Description Programmable Limit Switch Width Units Depends on UNIT.PROTARY or UNIT.PLINEAR Range Default Value Data Type Float PLS.EN, PLS.RESET, PLS.STATE, PLS.UNITS, PLS.MODE, PLS.P1 TO See Also PLS.P8, PLS.T1 TO PLS T8...
Page 412 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Is 64 Object Start Ver- Fieldbus Index/Subindex Attributes Signed? bit? sion PLS.WIDTH1 PLS.WIDTH2 PLS.WIDTH3 PLS.WIDTH4 Modbus 64 bit M_01-03-00-000 PLS.WIDTH5 PLS.WIDTH6 PLS.WIDTH7 PLS.WIDTH8 Description These parameter define the width of the PLS pulse for position-based PLS handling. For further information about the PLS functionality, especially the meaning of the PLS.WIDTH1 to...
Page 413: Rec Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.27 REC Parameters This section describes the REC parameters. 6.27.1 REC.ACTIVE General Information Type R/O Parameter Indicates if data recording is in progress Description (active). Units Range 0 to 1...
Page 414: Rec.done
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.27.2 REC.DONE General Information Type R/O Parameter Checks whether or not the recorder has finished record- Description ing. Units Range 0 to 1 Default Value Data Type Integer See Also REC.ACTIVE, REC.OFF...
Page 415: Rec.off
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.27.3 REC.OFF General Information Type R/W Parameter Description Turns the recorder OFF. Units Range Default Value Data Type REC.ACTIVE, See Also REC.DONE Start Version M_01-00-00-000 Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 416: Rec.trig
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.27.4 REC.TRIG General Information Type Command Triggers the Description recorder. Units Range Default Value Data Type Start Version M_01-00-00-000 Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 417: Regen Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.28 REGEN Parameters This section describes the REGEN parameters. Kollmorgen™ | March 30, 2012...
Page 418: Regen.power
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.28.1 REGEN.POWER General Information Type R/O parameter Reads regen resistor's calculated Description power. Units Watt Range Default Value Data Type Integer See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version...
Page 419: Regen.rext
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.28.2 REGEN.REXT General Information Type NV Parameter Sets the external, user-defined regen resistor resist- Description ance. Units Ω Range 0 to 255 Ω Default 0 Ω Value Data Type...
Page 420: Regen.text
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.28.3 REGEN.TEXT General Information Type R/W Parameter Sets the external regen resistor thermal protection time con- Description stant. Units Range 0.1 to 1,200 s Default 100 s Value Data Type...
Page 421: Regen.type
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.28.4 REGEN.TYPE General Information Type NV Parameter Function Sets the regen resistor type. WorkBench Location (Screen/Dialog Power/Regen Resistor Box) Type Units Range –1 to 0 Default Value Data Type...
Page 422: Regen.wattext
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.28.5 REGEN.WATTEXT General Information Type R/W parameter Sets the regen resistor's power fault level for an external regen Description resistor. Units Range 0 to 62,000 W Default 1000 W...
Page 423: Sto Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.29 STO Parameters This section describes the STO parameters. Kollmorgen™ | March 30, 2012...
Page 424: Sto.state
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.29.1 STO.STATE General Information Type R/O Parameter Returns the status of the safe torque Description off. Units Range 0 to 1 Default Value Data Type Integer See Also Start Version M_01-00-00-000...
Page 425: Swls Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.30 SWLS Parameters This section describes the SWLS parameters. Kollmorgen™ | March 30, 2012...
Page 426: Swls.en
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.30.1 SWLS.EN General Information Type NV Parameter Enables and disables software travel limit Description switches. Units Range 0 to 3 Default Value Data Type See Also DRV.MOTIONSTAT Start Version M_01-00-00-000...
Page 427: Swls.limit0
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.30.2 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 Value Data Type See Also UNIT.PROTARY , UNIT.PLINEAR...
Page 428: Swls.limit1
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.30.3 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...
Page 429: Swls.state
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.30.4 SWLS.STATE General Information Type R/O Parameter Reads the actual status of software limit Description switches. Units Range 0 to 3 Default Value Data Type See Also Start Version M_01-00-00-000...
Page 430: Unit Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.31 UNIT Parameters This section describes the UNIT parameters. Kollmorgen™ | March 30, 2012...
Page 431: Unit.acclinear
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.31.1 UNIT.ACCLINEAR General Information Type NV Parameter Sets the linear acceleration/deceleration Description units. Units Range 0 to 3 Default Value Data Type Integer See Also DRV.ACC , DRV.DEC , MOTOR.TYPE...
Page 432: Unit.accrotary
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.31.2 UNIT.ACCROTARY General Information Type NV Parameter Sets the rotary acceleration/deceleration Description units. Units rpm/s, rps/s, deg/s , [custom units]/s Range 0 to 3 rpm/s Default 0 rpm/s Value...
Page 433: Unit.label
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.31.3 UNIT.LABEL General Information Type NV Parameter Sets user-defined name for user-defined position Description units. Units Range Maximum 16 characters, no spaces Default custom units Value Data Type String See Also UNIT.PLINEAR , UNIT.POUT...
Page 434: Unit.pin
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.31.4 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 Value Data Type Integer See Also UNIT.POUT...
Page 435: Unit.plinear
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.31.5 UNIT.PLINEAR General Information Type NV Parameter Description Sets the linear position units. Units Range 0 to 4 Default Value Data Type Integer PL.FB , PL.CMD , See Also MOTOR.TYPE...
Page 436: Unit.pout
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.31.6 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 Value Data Type Integer See Also UNIT.PLINEAR...
Page 437: Unit.protary
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.31.7 UNIT.PROTARY General Information Type NV Parameter Sets the position units when the motor type (MOTOR.TYPE ) is Description rotary. Units counts, rad, deg, custom units, 16-bit counts Range...
Page 438: Unit.vlinear
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.31.8 UNIT.VLINEAR General Information Type NV Parameter Description Sets the linear velocity units. Units Range 0 to 3 Default Value Data Type Integer VL.FB , VL.CMDU , VL.CMD , See Also MOTOR.TYPE...
Page 439: Unit.vrotary
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.31.9 UNIT.VROTARY General Information Type NV Parameter Sets the velocity units when the motor type (MOTOR.TYPE ) is Description rotary. Units rpm, rps, deg/s, (custom units)/s Range 0 to 3...
Page 440: Vbus Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.32 VBUS Parameters This section describes the VBUS parameters. Kollmorgen™ | March 30, 2012...
Page 441: Vbus.ovfthresh
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.32.1 VBUS.OVFTHRESH General Information Type R/O Parameter Reads the over voltage fault Description level. Units Range 0 to 900 Vdc Default Value Data Type Integer See Also VBUS.UVFTHRESH Start Version M_01-00-00-000...
Page 442: Vbus.ovwthresh
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.32.2 VBUS.OVWTHRESH General Information Type NV Parameter Sets voltage level for over voltage warn- Description ing. Units Range 0 to 900 Vdc Default 0 Vdc (warning disabled) Value Data Type...
Page 443: Vbus.rmslimit
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.32.3 VBUS.RMSLIMIT General Information Type R/O Parameter Reads the limit for the bus capacitors Description load. Units Vrms Range Default Value Data Type Integer See Also Start Version M_01-00-00-000...
Page 444: Vbus.uvfthresh
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.32.4 VBUS.UVFTHRESH General Information Type R/W Parameter Sets the under voltage fault Description level. Units Range 90 to 420 Vdc Default 90 Vdc Value Data Type Integer See Also VBUS.OVFTHRESH...
Page 445: Vbus.uvmode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.32.5 VBUS.UVMODE General Information Type N/V Parameter Indicates undervoltage (UV) Description mode. Units Range 0 to 1 Default Value Data Type Integer See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 446: Vbus.uvwthresh
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.32.6 VBUS.UVWTHRESH General Information Type NV Parameter Description Sets voltage level for undervoltage warning. Units Range 0 to 900 Vdc 10 volts above the default value of the under voltage fault threshold Default (VBUS.UVFTHRESH).
Page 447: Vbus.value
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.32.7 VBUS.VALUE General Information Type R/O Parameter Reads DC bus volt- Description age. Units Range 0 to 900 Vdc Default Value Data Type Float See Also Start Version M_01-00-00-000...
Page 448: Vl Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33 VL Parameters This section describes the VL parameters. Kollmorgen™ | March 30, 2012...
Page 449: Vl.arpf1 To Vl.arpf4
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.1 VL.ARPF1 TO VL.ARPF4 General Information Type R/W Parameter Sets the natural frequency of the pole (denominator) of anti-resonance (AR) Description filters 1, 2, 3, and 4; active in opmodes 1 (velocity) and 2 (position) only.
Page 450 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 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 func- tion on the DSP.
Page 451: Vl.arpq1 To Vl.arpq4
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.2 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 Description opmodes 1 (velocity) and 2 (position) only.
Page 452 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements The velocity loop compensation is actually implemented as a digital discrete time system func- tion on the DSP. The continuous time transfer function is converted to the discrete time domain by a backward Euler mapping: s ≈...
Page 453: Vl.artype1 To Vl.artype4
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.3 VL.ARTYPE1 TO VL.ARTYPE4 General Information Type NV Parameter Indicates the method used to calculate BiQuad coefficients; active in opmodes Description 1 (velocity) and 2 (position) only. Units Range...
Page 454: Vl.arzf1 To Vl.arzf4
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.4 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; Description active in opmodes 1 (velocity) and 2 (position) only.
Page 455 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 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 func- tion on the DSP.
Page 456: Vl.arzq1 To Vl.arzq4
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.5 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 Description 1 (velocity) and 2 (position) only.
Page 457 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements The velocity loop compensation is actually implemented as a digital discrete time system func- tion on the DSP. The continuous time transfer function is converted to the discrete time domain by a backward Euler mapping: s ≈...
Page 458: Vl.busff
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.6 VL.BUSFF General Information Type R/O Parameter Displays the velocity loop feedforward value injected by the field-bus; active in Description opmodes 1 (velocity) and 2 (position) only. Depends on UNIT.VROTARY or UNIT.VLINEAR UNIT.ACCLINEAR...
Page 459: Vl.cmd
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.7 VL.CMD General Information Type R/O Parameter Reads the actual velocity command; active in opmodes 1 (velocity) and 2 (posi- Description tion) only. Depends on UNIT.VROTARY or UNIT.VLINEAR UNIT.ACCLINEAR...
Page 460: Vl.cmdu
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.8 VL.CMDU General Information Type R/W Parameter Sets the user velocity command; active in opmodes 1 (velocity) and 2 (posi- Description tion) only. Depends on UNIT.VROTARY or UNIT.VLINEAR UNIT.ACCLINEAR...
Page 461: Vl.err
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.9 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 or UNIT.VLINEAR Units Rotary: rpm, rps, deg/s, (custom units)/s, rad/s Linear: counts/s, mm/s, µm/s, (custom units)/s...
Page 462: Vl.fb
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.10 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 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...
Page 463: Vl.fbfilter
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.11 VL.FBFILTER General Information Type R/O Parameter Filters VL.FB value; active in opmodes 1 (velocity) and 2 (position) Description only. Depends on UNIT.VROTARY or UNIT.VLINEAR Units Rotary: rpm, rps, deg/s, (custom units)/s, rad/s Linear: counts/s, mm/s, µm/s, (custom units)/s...
Page 464: Vl.fbsource
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.12 VL.FBSOURCE General Information Type NV Parameter Sets feedback source for the velocity loop; active in opmodes 1 (velocity) and 2 Description (position) only. Units Range 0 to 1...
Page 465: Vl.fbunfiltered
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.13 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...
Page 466: Vl.ff
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.14 VL.FF General Information Type R/O Parameter Displays the velocity loop overall feedforward value; active in opmodes 1 (veloc- Description ity) and 2 (position) only. Depends on UNIT.ACCROTARY or UNIT.ACCLINEAR...
Page 467: Vl.genmode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.15 VL.GENMODE General Information Type NV Parameter Selects mode of velocity generation (Observer, d/dt); active in opmodes 1 Description (velocity) and 2 (position) only. Units Range 0 to 1...
Page 468: Vl.kbusff
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.16 VL.KBUSFF General Information Type R/W Parameter Sets the velocity loop acceleration feedforward gain value; active in opmodes 1 Description (velocity) and 2 (position) only. Units Range 0.0 to 2.0...
Page 469: Vl.ki
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.17 VL.KI General Information Type NV Parameter Sets the velocity loop integral gain for the PI controller; active in opmodes 1 Description (velocity) and 2 (position) only. Units Range...
Page 470: Vl.kp
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.18 VL.KP General Information Type NV Parameter Sets velocity loop proportional gain for the PI controller; active in opmodes 1 Description (velocity) and 2 (position) only. Units A/(rad/sec) Range 0.001 to 2,147,483.008...
Page 471: Vl.kvff
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 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.
Page 472: Vl.limitn
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.20 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 or UNIT.VLINEAR Units Rotary: rpm, rps, deg/s, custom units/s, rad/s Linear: counts/s, mm/s, µm/s, custom units/s...
Page 473: Vl.limitp
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.21 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 or UNIT.VLINEAR Units Rotary: rpm, rps, deg/s, custom units/s, rad/s Linear: counts/s, mm/s, µm/s, custom units/s...
Page 474: Vl.lmjr
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.22 VL.LMJR General Information Type NV Parameter Sets the ratio of the estimated load moment of inertia relative to the motor Description moment of inertia; active in opmodes 1 (velocity) and 2 (position) only.
Page 475: Vl.thresh
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.33.23 VL.THRESH General Information Type NV Parameter Sets the over speed fault value; active in opmodes 1 (velocity) and 2 (position) Description only. Depends on UNIT.VROTARY or UNIT.VLINEAR Units Rotary: rpm, rps, deg/s, custom units/s, rad/s Linear: counts/s, mm/s, µm/s, custom units/s...
Page 476 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Example VL.THRESH is set to 600 rpm. A velocity (VL.FB ) of 700 rpm will generate an over speed fault. Kollmorgen™ | March 30, 2012...
Page 477: Vm Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.34 VM Parameters This section describes the VM parameters. Kollmorgen™ | March 30, 2012...
Page 478: Vm.autostart
Modbus 1152 32 bit 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. 0 = Program does not start automatically 1 = Program starts automatically Set VM.AUTOSTART to 0 or 1 in the terminal in WorkBench and execute an NVSave.
Page 479: Vm.err
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.
Page 480 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements Value of VM_ Error Caused by Array Index Bounds Error Invalid Axis in PACLAN Message No LAN Interrupt Handler LAN Interrupt Queue is full LAN Interrupt is not available...
Page 481: Vm.intrtimer
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.34.3 VM.INTRTIMER General Information Type Sets a number of milliseconds before Description INTR.TIMER executes after it is called. Units Milliseconds Range 100 to 1,000,000,000 Default Value Data Type Integer Description Sets a number of milliseconds before INTR.TIMER executes after it is called.
Page 482: Vm.restart
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.34.4 VM.RESTART General Information Type Command Description Restart AKD BASIC virtual machine. Units Range Default Value Data Type Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version Modbus 1154...
Page 483: When Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.35 WHEN Parameters This section describes the WHEN parameters. Kollmorgen™ | March 30, 2012...
Page 484: When
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.35.1 When General Information Type Statement The WHEN statement is used for very fast response to certain input con- Description ditions. Units Range Default Value Data Type Start Ver-...
Page 485 AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements When-actions DOUT1.STATEU = 0 or 1 DOUT2.STATEU = 0 or 1 EGEAR.RATIO = value 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.
Page 486: When.drvhandwheel
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.35.2 WHEN.DRVHANDWHEEL General Information Type Records the value of DRV.HANDWHEEL when the when-condition is sat- Description isfied. Units 1/4,294,967,296 rev Range 0 to 4,294,967,295 rev Default 0 rev Value...
Page 487: When.drvtime
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.35.3 WHEN.DRVTIME General Information Type Description Records the value of Time when the when-condition is satisfied. Units Seconds Range 0 - 2,147,483 (~24.8 days) Default Value Data Type Integer...
Page 488: When.fb1Mechpos
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.35.4 WHEN.FB1MECHPOS General Information Type Description Records the value of FB1.MECHPOS when the when-condition is satisfied. Units Position units Range Default Value Data Type Integer Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 489: When.plcmd
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.35.5 WHEN.PLCMD General Information Type Description Records the value of PL.CMD when the when-condition is satisfied. Units Position units Range Default Value Data Type Integer Fieldbus Index/Subindex Is 64 bit? Attributes Signed? Object Start Version...
Page 490: When.plfb
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.35.6 WHEN.PLFB General Information Type Description Records the value of Position when the when-condition is satisfied. Depends on UNIT.PROTARY or UNIT.PLINEAR UNIT.A- CCLINEAR Units Rotary: counts, rad, deg, (custom units), 16-bit counts Linear: counts, mm, µm, (custom units), 16-bit counts...
Page 491: Ws Parameters
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36 WS Parameters This section describes the WS parameters. Kollmorgen™ | March 30, 2012...
Page 492: Ws.arm
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36.1 WS.ARM General Information Type Command Sets wake and shake to start at the next drive ena- Description ble. Units Range Default Value Data Type See Also Start Version M_01-01-00-101, M_01-02-00-000...
Page 493: Ws.disarm
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36.2 WS.DISARM General Information Type Command Cancels ARM requests and resets wake and shake to the IDLE Description state. Units Range Default Value Data Type See Also Start Version M_01-04-00-000...
Page 494: Ws.distmax
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36.3 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...
Page 495: Ws.distmin
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36.4 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...
Page 496: Ws.imax
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36.5 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...
Page 497: Ws.mode
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36.6 WS.MODE General Information Type R/W Parameter Sets the method used for wake and Description shake. Units Range 0 to 1 Default Value Data Type See Also Start Version M_01-01-00-101, M_01-02-00-000...
Page 498: Ws.numloops
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36.7 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...
Page 499: Ws.state
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36.8 WS.STATE General Information Type R/O Parameter Description Reads wake and shake status Units Range Only valid before the first enable occurs. Default 11 - for feedback types that do not require wake and...
Page 500: Ws.t
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36.9 WS.T General Information Type R/W Parameter Sets wake and shake current-vector appliance Description time Units Range 1 to 200 ms Default 2 ms Value Data Type See Also WS.IMAX , WS.DISTMAX...
Page 501: Ws.tdelay1
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36.10 WS.TDELAY1 General Information Type NV Parameter Description Delay for wake and shake timing Units Range 0 to 200 ms Default 5 ms Value Data Type See Also M_01-01-00-101, M_01-02-00-...
Page 502: Ws.tdelay2
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36.11 WS.TDELAY2 General Information Type NV Parameter Sets the delay for wake and shake tim- Description ing. Units Range 0 to 200 ms Default 50 ms Value Data Type...
Page 503: Ws.tdelay3
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36.12 WS.TDELAY3 General Information Type NV Parameter Sets the delay for wake and shake between loops in mode Description Units Range 0 to 2,000 ms Default 100 ms Value...
Page 504: Ws.vthresh
AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements 6.36.13 WS.VTHRESH General Information Type NV Parameter Description Defines the maximum allowed velocity for Wake & Shake Depends on UNIT.VROTARY or UNIT.VLINEAR UNIT.A- CCLINEAR Units Rotary: rpm, rps, deg/s, custom units/s, rad/s Linear: counts/s, mm/s, µm/s, custom units/s...
Page 505 This page intentionally left blank. Kollmorgen™ | March 30, 2012...
Page 506 About Kollmorgen Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry- leading 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 irrefutable marketplace advantage. ...

Kollmorgen AKD Basic User Manual

1 About this User Guide

2 Program View

3 AKD BASIC Language

4 Quick Reference: Parameters, Functions, Operators

5 AKD BASIC Functions

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