Setup and Reference Guide - Kollmorgen

VARIABLE/COMMAND SET
ACC
Sets the drive acceleration rate. This variable is only asserted when linear ramp control is selected
(PROFMODE = 1 and OPMODE = 0, 1, 4, or 8). For firmware versions (VER) prior to 3.1.0, the range of this
variable was 1 to 399,987.
Firmware Versions: All Type: variable (R/W)
Range: 10 to 400,000 Default: 400,000
Units: rotary: RPM / sec
linear: mm/sec/sec
Opmodes: 0, 1, 4, 8 Drive Status: EN/DIS EEPROM: Yes
ACKMODE
Sets the communication safety level of the drive. The range of values is 0, 1, or 2.
0 = No safety procedures or error messages
1 = Drive responds with ACK or NAK after every message
2 = Same as 1 with an added Block Check Character (BCC or checksum) attached to the end of every
message
ACKMODE must be set to 0 for MOTIONLINK to function properly.
Firmware Versions: All Type: switch mode (R/W) Units: N/A
Range: 0 - 2 Default: 400,000 EEPROM: Yes
Opmodes: All Drive Status: EN/DIS
ACTFAULT
Defines how to handle the DISABLE procedure when a fault occurs.
0 = disable the drive immediately
1 = follow an Active Disable procedure (similar to the “S” cmd - see also DECSTOP, DISSPEED,
DISTIME, and O1MODE=5)
The drive is always disabled immediately in the event of a feedback loss fault to prevent the
drive from “running away.”
Firmware Versions: All Type: switch (R/W) Units: N/A
Range: 0, 1 Default: 0 EEPROM: Yes
Opmodes: All Drive Status: EN/DIS
ACTIVE
Displays if the drive is enabled and power is applied to the motor. This flag is the overAll readiness indicator of
the drive.
0 = drive is inactive
1 = drive is active and ready to operate
Firmware Versions: All Type: switch (R) Units: N/A
Range: 0, 1 Default: N/A EEPROM: No
Opmodes: All Drive Status: EN/DIS
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