Kollmorgen AKD series Manuals

Manuals and User Guides for Kollmorgen AKD series. We have 7 Kollmorgen AKD series manuals available for free PDF download: User Manual, Installation Manual, Manual, Training Manual

Kollmorgen AKD series User Manual (906 pages)

Brand: Kollmorgen | Category: DC Drives | Size: 8 MB

Table of Contents
3
1 About this User Guide

27
- Abbreviations
  27
2 AKD Models

28
- CC Drive Models
  28
- Basic Drive Setup
  29
- Display Codes
  30
3 Basic Drive Setup

30
- AKD Setup Wizard
  31
4 Connecting the Drive

33
- Connected and Disconnected States
  34
- Disconnected
  34
- Device Not Shown
  34
- Find and Enter IP Address
  35
- Check Communications
  36
- Connect to Another Drive
  36
5 Communicating with the Drive

37
- Overview
  38
- Identifying the Drive IP Address
  38
  - Automatic (Dynamic) IP Addressing
    38
  - Static IP Addressing
    38
- Check Communications
  39
- Troubleshooting Connection and Communication Problems
  41
  - No Drives Are Shown
    42
  - Device Not Shown
    42
  - Find and Enter IP Address
    42
- TCP/IP Communication Protocols
  44
- IP Address
  44
  - Port Number
    44
  - MAC Address
    44
6 Using Workbench

45
- Welcome Screen
  45
  - Online
    45
  - Offline
    46
- AKD Overview
  46
- Online and Offline
  47
  - Online Drive
    47
  - Offline Drive
    47
  - Switching between Online and Offline
    48
- Watch
  48
- Settings
  48
  - Navigation Tree
    48
  - Settings View
    48
7 Configuring Drive Power

51
- Power
  52
  - Drive Setup for Power and Bus
    52
  - Direct DC Mains Operation
    52
- Regeneration
  54
8 Configuring Motor Settings

59
- Motor
  60
  - Overview
    60
  - Motor Setup
    60
  - Using the Motor View
    60
  - Selecting a Motor
    61
    
    Configuring Custom Motors
    62
    
    Validating Motor Parameters
    62
- Feedback
  62
  - Overview
    63
- Using Feedback Options
  63
  - Auto
    63
  - Incremental Encoder
    63
  - Sine Encoder
    63
  - Endat 2.1, Endat
    63
  - Biss
    63
  - Hiperface
    63
  - Resolver
    64
  - Sfd
    64
  - Using Wake and Shake (WS)
    64
    
    Configuring WS
    64
    
    Overview
    64
    
    Operation with Motor Brake
    65
    
    Special Cases for WS
    65
    
    Wake and Shake, more View
    65
    
    End of Travel Limits
    66
    
    Large Load Inertia or High Friction System
    66
    
    Maximizing WS Reliability
    66
    
    Using WS: Advanced
    66
    
    Related Parameters
    67
    
    Troubleshooting WS
    67
  - Commutation Alignment 8.4 Feedback
    68
  - Feedback 2
    68
  - Encoder Emulation
    69
    
    Function Settings
    69
    
    Mode 0: Disable X9
    69
    
    Output Modes 1 and 2
    69
    
    Overview
    69
    
    Using Encoder Emulation
    69
    
    Input Modes 3, 4, and
    70
    
    Kollmorgen | December
    70
    
    Related Parameters and Commands
    71
    
    Resolution
    71
- Non-Plug and Play Feedback Devices
  71
- Parameters
  71
- Calculations
  72
  - Current Loop
    72
  - Velocity Loop
    72
  - Position Loop
    72
  - Slider Tuning
    72
    
    Constants
    72
    
    Input - Motor Data
    72
    
    Output - Control Loop Gains
    72
- Foldback
  72
  - Drive Foldback
    73
  - Setting up Motor Foldback
    73
  - Setting Fault and Warning Levels
    73
  - Motor Peak Current Time
    74
  - Motor Foldback Ramp
    74
  - Motor Recovery
    75
- Overall Foldback
  75
- Brake
  76
- Using Position Capture
  76
9 Selecting Units for Your Application

79
- Selecting Units
  80
- Units Example
  80
  - Settings
    82
  - Related Parameters
    82
10 Configuring General Drive Settings

83
- Digital Inputs and Outputs
  84
- Overview
  84
- Using Digital I/O
  84
- Digital Inputs
  84
- Digital Outputs
  87
- Command Buffer
  88
  - Overview
    88
  - Editing the Command Buffers
    89
  - Behavior of the Command Buffer
    90
  - Delays for the Buffer
    91
- Digital Inputs (X7/X8)
  91
  - Digital Inputs 1 and
    94
  - Digital Inputs 3 to
    94
  - Digital Input 8 (ENABLE)
    94
- Analog Input
  95
  - Related Parameters and Commands
    95
  - Analog Output
    95
- I/O Connection
  96
  - I/O Connectors (X7 and X8)
    97
- Electronic Gearing
  98
  - Overview
    98
  - Limits
    98
  - Determining Maximum Cable Length
    99
  - Related Parameters
    100
  - Limits
    101
- Programmable Limit Switch
  101
  - Overview
    101
  - Using Programmable Limit Switches
    101
  - Single Shot Mode
    103
  - Related Parameters and Commands
    103
- Enable/Disable
  103
  - Overview
    103
  - Enable Modes
    103
    
    Hardware Enable Mode
    103
    
    Software Enable Default
    104
  - Disable Modes
    104
  - Drive Status
    104
  - Controlled Stop
    105
  - More/Less Button
    105
- Controlled Stop
  107
  - Related Parameters and Commands
    108
  - Related Topics
    109
- Dynamic Braking
  109
  - Drive Regeneration
    109
    
    AKD-X00306 to AKD-X00606
    109
    
    AKD-X01206 to AKD-X02406 and AKD-Xzzz07
    109
- Emergency Stop
  110
  - Safe Torque off (STO)
    110
  - Under Voltage Fault Behavior
    110
11 Using Command Source and Operating Modes

111
- Kollmorgen | December
  111
- Overview
  112
- Using Command Source and Operation Modes
  112
  - Command Source
    112
    
    Analog
    112
    
    Electronic Gearing
    112
    
    Fieldbus
    112
    
    Operation Mode
    112
    
    Service
    112
  - Related Parameters
    112
- Current Loop
  113
  - Overview
    113
  - Current Loop Gain
    113
- Velocity Loop
  114
- Position Loop
  116
12 Creating Motion

119
- Homing
  120
  - Overview
    120
  - Using Homing
    120
    
    Home Default Window
    120
    
    Mode Selection
    121
    
    Controls
    122
    
    Homing Mode 0: Home Using Current Position
    122
    
    Homing Mode 1: Find Limit Input
    122
    
    Selecting and Using Homing Modes
    122
    
    Settings
    122
    
    Homing Mode 2: Find Input Limit then Find Zero Angle
    123
    
    Homing Mode 3: Find Input Limit then Find Index
    124
    
    Homing Mode 4: Find Home Input
    125
    
    Homing Mode 5: Find Home Input then Find Zero Angle
    125
    
    Homing Mode 6: Find Home Input then Find Index
    126
    
    Homing Mode 7: Find Zero Angle
    127
    
    Homing Mode 8: Move until Position Error Exceeded
    127
    
    Homing Mode 9: Move until Position Error Exceeded then Find Zero Angle
    127
    
    Homing Mode 11: Find Index
    128
  - Using Homing: Advanced
    128
    
    Related Parameters and Commands
    129
    
    Related Topics
    129
- Motion Tasks
  129
  - Overview
    129
  - Motion Task Input Table
    129
  - Using Motion Tasks
    130
    
    Absolute Motion Task
    132
    
    Motion Profiles
    132
    
    Motion Task Relative to Current Position Command (PL.CMD)
    132
    
    Motion Types
    132
    
    Motion Task Relative to the Target Position of the Previous Motion Task
    133
  - Using Motion Tasks: Advanced
    133
    
    Blending
    133
    
    Joining Multiple Tasks
    133
    
    Start Conditions
    133
- Service Motion
  134
- Jog Move
  135
13 Saving Your Drive Configuration

137
- Save Options
  138
- Save on Exit
  138
- Save on Disconnect
  139
- Save on Firmware Download
  140
14 Tuning Your System

141
- Slider Tuning
  142
  - Gentle, Medium, and Stiff
    142
  - The Slider
    142
  - Inertia Ratio
    142
- Load Inertia
  142
- Using the Autotuner
  142
  - Overview
    142
  - Using the Autotuner
    143
    
    Saving and Emailing Bode Plots
    144
  - Measurement Options
    145
    
    Taking a Bode Measurement Without Autotuning
    145
    
    Using Manual Excitation Levels
    145
  - Using the Autotuner: Advanced
    146
    
    Tuning Systems with Low-Frequency Resonances
    146
    
    Typical Cases for Advanced Autotuning
    146
    
    Tuning Systems with High-Frequency Resonances
    148
    
    Tuning Systems with Noisy Frequency Responses
    149
    
    Autotuner Options
    150
    
    Kollmorgen | December
    150
    
    Biquad Type
    151
    
    Enable Biquad 1 Tuner
    151
    
    Enable Biquad 2 Tuner
    151
    
    Enable Stability Motion
    151
    
    Phase and Gain Margins
    151
    
    Tune Acceleration FF
    151
    
    Smooth
    152
    
    Recording Options
    154
    
    Current Amplitude
    155
    
    Excitation Type
    155
    
    Injection Point
    155
    
    Measurement
    155
    
    Velocity Amplitude
    155
    
    Excite Gap
    156
    
    FFT Points
    156
    
    Number Points
    156
    
    Velocity Max
    156
    
    Plot Options
    157
    
    Coherence
    158
    
    Cursors
    158
    
    Resizing Bode Plots
    159
    
    Reading and Understanding the Bode Plot
    160
- Tuning Guide
  164
  - Overview
    164
  - Determining Tuning Criteria
    164
  - Before You Tune
    164
  - Closed Loop Tuning Methods
    165
    
    Tuning the Velocity Loop
    165
    
    Tuning the Position Loop
    167
  - Torque Feedforward Tuning Methods
    167
    
    Shape Based Feedforward Tuning
    167
  - Using Anti-Resonance Filters
    168
    
    Biquad Calculations
    176
    
    Common Uses of Anti Resonance Filters
    178
15 Scope

179
- Overview
  179
- Using the Scope
  179
  - Scope Channels Tab
    179
    
    Source Column
    179
    
    Color Column
    180
    
    Filter and Filter Frequency Column
    180
    
    Hide Column
    180
    
    Y-Axis Column
    180
  - Scope Time-Base and Trigger Tab
    180
    
    Scope Time-Base and Trigger, more View
    181
    
    Trigger Position
    182
    
    Trigger Type
    182
    
    Trigger Value
    183
    
    Effects of Recorder Gap
    184
    
    Trigger Slope
    185
- Scope Settings
  185
  - Load a Setting (Preset) to Scope Screen
    186
  - Create a New Preset
    186
  - Save or Delete Preset
    186
  - Import Preset
    186
  - Export Preset
    187
  - Scope Axis Scaling and Zooming
    188
  - Manual Range Per Axis
    189
  - Unit Display on y Axis
    189
16 Using Parameters and the Terminal Screen

191
- Terminal
  192
  - Overview
    192
  - Using the Terminal
    192
  - Macros
    193
    
    Creating a Macro from Terminal Commands
    193
    
    Macro Editor
    194
- Viewing Parameters
  195
- Parameter List
  195
- Parameter Load/Save
  195
- Summary of Parameters and Commands
  195
  - Synchronization
    200
17 Faults and Warnings

209
- Fault and Warning Messages
  210
- Clearing Faults
  216
- Parameter and Command Error Messages
  217
- Canopen Emergency Messages and Error Codes
  220
- Unknown Fault
  223
  - Remedies
    223
18 Troubleshooting the AKD

224
19 Firmware and Firmware Updates

225
- Downloading Firmware
  226
- Firmware Compatibility
  226
- Invalid Firmware
  226
- Forcing the Drive into Firmware Download Mode
  227
- Forced Download of AKD Firmware
  227
- Connection Diagrams
  229
  - Connection Diagram, AKD-X00306 to X00606
    230
  - Connection Diagram, AKD-X01206
    231
  - Connection Diagram, AKD-X02406 and AKD-Xzzz07
    232
  - Kollmorgen | December
    232
  - Auxiliary Supply (X1)
    233
  - Motor Connection
    234
  - External Brake Resistor (X3)
    235
  - DC Bus Link (X3)
    236
  - Mains Supply Connection (X3, X4)
    237
    
    Three Phase Connection (All AKD Types)
    237
    
    Single Phase Connection (AKD-Xzzz06 Only)
    238
  - I/O Connection
    239
  - Analog Output (X8)
    240
  - Analog Input (X8)
    241
  - Command Encoder Signal Connection
    242
    
    Incremental Encoder Input 24 V (X7)
    242
    
    Incremental Encoder Input 5 V (X9)
    242
    
    Emulated Encoder Output (EEO) - a Quad B (X9)
    243
  - Pulse / Direction Signal Connection
    244
    
    Pulse / Direction Input 24 V (X7)
    244
    
    Pulse / Direction Input 5 V (X9)
    244
  - Up / down Signal Connection
    244
    
    Up / down Input 5 V (X9)
    244
    
    Up / down Input 24 V (X7)
    245
  - Feedback Connector (X10)
    245
- Block Diagrams
  246
  - Block Diagram for Current Loop
    247
  - Block Diagram for Position/Velocity Loop
    247

Kollmorgen AKD series Installation Manual (216 pages)

Brand: Kollmorgen | Category: Servo Drives | Size: 17 MB

1 Table of Contents

3
2 General

9
- About this Installation Manual
  10
- Using the PDF Format
  10
- Symbols Used
  11
- Abbreviations Used
  12
- Referred Standards
  13
3 Safety

14
- You Should Pay Attention to this
  15
- Use as Directed
  17
- Prohibited Use
  18
- Warning Notes Placed on the Product
  18
4 Handling

19
- Transport
  20
- Packaging
  20
- Storage
  20
- Decommissioning
  21
- Maintenance and Cleaning
  21
- Disassemble
  21
- System Repair
  22
- Disposal
  22
5 Approvals

23
6 Package

29
- Package Supplied
  30
- Nameplate
  30
- Part Number Scheme
  31
7 Technical Description and Data

32
- The AKD Family of Digital Drives
  33
- Ambient Conditions, Ventilation, and Mounting Position
  35
- Mechanical Data
  35
- Inputs/Outputs
  36
- Electrical Data AKD-Xzzz06
  37
- Electrical Data AKD-Xzzz07
  38
- Performance Data
  39
- Recommended Tightening Torques
  39
- Grounding System
  39
- Fusing
  40
- Connectors
  41
- Cable and Wire Requirements
  42
  - General
    42
  - Cable Cross Sections and Requirements
    42
- Dynamic Braking
  43
  - Regen Circuit
    43
  - Functional Description
    43
  - Technical Data for AKD-Xzzz06
    44
  - Technical Data for AKD-Xzzz07
    45
- Switch-On and Switch-Off Behavior
  46
  - Switch-On Behavior in Standard Operation
    47
  - Switch-Off Behavior
    48
    
    Switch-Off Behavior Using the DRV.DIS Command
    48
    
    Switch-Off Behavior Using a Digital Input (Controlled Stop)
    49
    
    Switch-Off Behavior Using HW Enable Input (Uncontrolled Stop)
    49
    
    Switch-Off Behavior in the Event of a Fault
    50
- Stop / Emergency Stop / Emergency off
  53
  - Stop
    53
  - Emergency Stop
    54
  - Emergency off
    54
- Safe Torque off (STO)
  55
  - Safety Characteristic Data
    55
  - Safety Instructions
    56
  - Use as Directed
    57
  - Prohibited Use
    57
  - Technical Data and Pinout
    57
  - Enclosure, Wiring
    59
  - OSSD Test Pulses
    59
  - Functional Description
    60
    
    Signal Diagram (Sequence)
    61
    
    Wiring Examples
    62
    
    Functional Test
    64
- Shock-Hazard Protection
  66
8 Mechanical Installation

67

Kollmorgen AKD series Installation Manual (196 pages)

Brand: Kollmorgen | Category: DC Drives | Size: 11 MB

Table of Contents

3
- Digital Inputs 3 to
  7
- 2 General
  9
2 General

10
- 1 Table of Contents
  
  10
  - About this Manual
    10
  - Using the PDF Format
    10
  - Notes for the Printed Edition (Paper Version)
    10
  - Symbols Used
    11
  - Abbreviations Used
    12
  - Standards Used
    13
- 3 Safety
  
  14
  - You Should Pay Attention to this
    15
  - Use as Directed
    17
  - Prohibited Use
    17
  - Handling
    18
    
    Packaging
    18
    
    Storage
    18
    
    Transport
    18
    
    Maintenance and Cleaning
    19
    
    Repair and Disposal
    19
    
    Uninstalling
    19
- 4 Approvals
  
  20
  - Conformance with Ul/Cul
    21
    
    UL Markings
    21
  - CE Conformance
    22
    
    European Directives and Standards for the Machine Builder
    23
    
    EC Declaration of Conformity
    24
  - Safe Torque off (STO)
    25
- 5 Package
  
  26
  - Package Supplied
    27
  - Nameplate
    27
  - Part Number Scheme
    28
6 Technical Description and Data

29
- The AKD Family of Digital Drives
  30
- Ambient Conditions, Ventilation, and Mounting Position
  32
- Mechanical Data
  32
- Inputs/Outputs
  33
- Electrical Data AKD-Xzzz06
  34
- Electrical Data AKD-Xzzz07
  35
- Performance Data
  36
- Recommended Tightening Torques
  36
- Fusing
  37
- Grounding System
  37
- Connectors
  38
- Cable and Wire Requirements
  39
  - General
    39
  - Cable Cross Sections and Requirements
    39
- Dynamic Braking
  40
  - Regen Circuit
    40
    
    Functional Description
    40
    
    Technical Data for AKD-Xzzz06
    41
    
    Technical Data for AKD-Xzzz07
    42
- Switch-On and Switch-Off Behavior
  43
  - Switch-On Behavior in Standard Operation
    44
  - Switch-Off Behavior
    45
    
    Switch-Off Behavior Using the DRV.DIS Command
    45
    
    Switch-Off Behavior Using a Digital Input (Controlled Stop)
    46
    
    Switch-Off Behavior Using HW Enable Input (Uncontrolled Stop)
    46
    
    Switch-Off Behavior in the Event of a Fault
    47
- Stop / Emergency Stop / Emergency off
  50
  - Stop
    50
  - Emergency Stop
    51
  - Emergency off
    51
- Safe Torque off (STO)
  52
  - Safety Characteristic Data
    52
  - Use as Directed
    52
  - Prohibited Use
    52
  - Safety Instructions
    53
  - Technical Data and Pinning
    54
  - Enclosure, Wiring
    54
  - Functional Description
    54
    
    Functional Test
    55
    
    Signal Diagram (Sequence)
    55
    
    Control Circuit (Example)
    56
    
    Mains Supply Circuit (Example)
    57
- Shock-Hazard Protection
  58
- 7 Mechanical Installation
  59

Kollmorgen AKD series Installation Manual (180 pages)

Brand: Kollmorgen | Category: Servo Drives | Size: 8 MB

Digital Inputs 1 and
2
Table of Contents
3
1 General

9
- About this Manual
  10
- Target Group
  10
- Using the PDF Format
  10
- Abbreviations Used
  11
- Incremental Encoder (Wake&Shake) X10
  11
- Symbols Used
  12
- Standards Used
  13
2 Safety

14
- Safety Instructions
  15
- Use as Directed
  16
- Prohibited Use
  16
3 Approvals

17
- Conformance with Ul/Cul
  18
  - UL Markings
    18
- CE Conformance
  20
- Safe Torque off (STO)
  23
4 Handling

24
- Transport
  25
- Packaging
  25
- Storage
  25
- Maintenance and Cleaning
  26
- Uninstalling
  26
- Repair and Disposal
  26
5 Package

27
- Package Supplied
  28
- Nameplate
  28
- Part Number Scheme
  29
6 Technical Description and Data

30
- 103 X10
  30
- The AKD Family of Digital Drives
  31
- 104 X10
  31
- Ambient Conditions, Ventilation, and Mounting Position
  33
- Mechanical Data
  33
- Inputs/Outputs
  33
- Sincos Encoder Hiperface => P. 105 X10
  33
- Electrical Data AKD-Xzzz06
  34
- Electrical Data AKD-Xzzz07
  35
- Performance Data
  36
- Recommended Tightening Torques
  36
- Fusing
  37
- Grounding System
  37
- Connectors
  38
  - AKD-Xzzz06 Types (120V to 240V Mains Voltage Supply)
    38
  - AKD-Xzzz07 Types (240V to 480V Mains Voltage Supply)
    38
- Cable and Wire Requirements
  39
  - General
    39
  - Cable Cross Sections and Requirements
    39
- Dynamic Braking
  40
  - Regen Circuit
    40
    
    Functional Description
    40
    
    Technical Data for AKD-Xzzz06
    41
    
    Technical Data for AKD-Xzzz07
    42
- Switch-On and Switch-Off Behavior
  43
  - Switch-On Behavior in Standard Operation
    44
  - Switch-Off Behavior
    45
    
    Switch-Off Behavior Using the DRV.DIS Command
    45
    
    Switch-Off Behavior Using a Digital Input (Controlled Stop)
    46
    
    Switch-Off Behavior Using HW Enable Input (Uncontrolled Stop)
    46
    
    Switch-Off Behavior in the Event of a Fault
    47
- Stop / Emergency Stop / Emergency off
  50
  - Stop
    50
  - Emergency Stop
    51
  - Emergency off
    51
- Safe Torque off (STO)
  52
  - Safety Characteristic Data
    52
  - Use as Directed
    52
  - Prohibited Use
    52
  - Safety Instructions
    53
  - Technical Data and Pinning
    53
  - Enclosure
    53
  - Wiring
    53
  - Functional Description
    54
    
    Signal Diagram (Sequence)
    54
    
    Control Circuit (Example)
    55
    
    Functional Test
    56
    
    Mains Supply Circuit (Example)
    56
- Shock-Hazard Protection
  57
7 Mechanical Installation

58

Kollmorgen AKD series Manual (59 pages)

EtherNet/IP Communication

Brand: Kollmorgen | Category: Amplifier | Size: 0 MB

Status Word
2
1 Table of Contents

3
2 About this Manual

5
3 Overview

6
4 AKD Ethernet/Ip Features

7
- Supported Features
  7
- Expected Packet Rate
  7
- Connection Port
  7
- Network Topology
  7
5 Setup

8
6 Communication Profile

9
- Explicit Messaging (On-Demand)
  9
  - Supported Services
    9
  - Supported Objects
    9
  - Data Types
    10
  - Error Codes
    10
- I/O Assembly Messaging (Cyclic)
  10
- Velocity Mode
  17
  - Setup Velocity Mode
    17
  - Velocity Moves
    17
- Position Mode
  17
  - Setup Position Mode
    17
  - Homing
    18
  - Position Moves (Point to Point)
    18
  - Running a Stored Motion Task Sequence
    18
- Torque
  18
  - Setup Torque Mode
    18
  - Torque Moves
    19
- Handling Faults
  19
- Saving to Non-Volatile Memory
  19

Kollmorgen AKD series Manual (42 pages)

EtherCAT Communication

Brand: Kollmorgen | Category: Servo Drives | Size: 2 MB

Table of Contents
3
1 General

5
- About this Manual
  6
- Target Group
  6
- Warning Symbols
  7
- Abbreviations Used
  8
2 Safety

9
- Safety Instructions
  10
- Use as Directed
  11
- Prohibited Use
  11
3 Installation and Setup

12
- Safety Instructions
  13
- Ethercat Onboard
  14
  - LED Functions
    14
  - Connection Technology
    14
  - Network Connection Example
    14
- Guide to Setup
  15
- Setup Via Twincat NC/PTP System Manager
  15
  - Scan Devices
    15
  - Select the Device
    17
  - Scan for Boxes
    17
  - Add Slaves to NC Tasks
    18
  - Enable the Network Configuration
    19
  - Enable the Axis and Move the Axis
    20
4 Ethercat Profile

21
5 Index

39
- Kollmorgen | December
  40

Kollmorgen AKD series Training Manual (35 pages)

Positioner

Brand: Kollmorgen | Category: Servo Drives | Size: 2 MB

Table of Contents
2
Introduction to AKD™ Advanced Kollmorgen Drive
4
- Features of AKD
  4
- Benefits of AKD
  4
Wiring the Drive for Training
6
- Power Connections
  6
- Digital Inputs and Outputs
  7
- Overview
  8
  - Connect to the AKD Drive
    8
- IP Address
  8
  - Workbench Help
    10
- Drive Setup Screens
  10
- Opmode/Source/Enabled/Running
  11
  - Drv.opmode
    11
  - Drv.cmdsource
    11
  - Units
    13
  - Terminal
    14
  - Watch Window
    14
  - Scope Tool
    15
  - Service Motion
    15
  - Motion Task
    16
  - Servo Gains
    16
  - Save & Print
    16
  - Measure
    16
  - Cursor
    17
  - Display
    17
  - Settings
    18
AKD™ Motion Task
19
- Homing
  19
  - Home Mode Types
    19
  - Home Type 0
    19
  - Home Types 1, 2 & 3
    20
  - Home Types 4, 5 & 6
    20
  - Home Types 7 & 11
    21
  - Home Types 8, 9 & 10
    21
  - Home Type 12
    22
- Motion Task
  22
  - Absolute Move
    22
  - Relative Move
    22
  - Motion Task
    23
- Electronic Gearing
  26
  - Leader
    26
  - Follower
    27
Tuning
28
- Introduction
  28
- Slider Tuning
  29
  - Bandwidth
    29
  - Slider Tuner - How It Works
    30
  - Limitations of Slider Tuner
    31
Appendix A - under Construction
33
- Under Construction
  35
Appendix B - under Construction
35

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