About the Parameter and Command Reference Guide

This reference guide provides descriptive information about each parameter and command used in the drive firmware. Parameters and commands are used to configure the drive or to return status information from the drive using the WorkBench terminal screen. The use of these parameters and commands to perform various drive functions is detailed in related sections of the AKD User Guide.

For each parameter or command, this reference guide presents the following tables of information, followed by a description of the command, examples, and links to related information in the User Guide, as appropriate.

General Information
Type	One of four types: Command: Action or W/O command. NV Parameter: R/W and stored in nonvolatile (NV) memory R/W Parameter: Can be either read from or written to the drive. R/O Parameter. Can only be read from the drive
Description	Brief description of the parameter or command and notes if the parameter or command is not active in all opmodes.
Units	Appropriate units
Range	Permissible range; multiple ranges are sometimes present.
Default Value	Determined at setup process time or motor ID; otherwise set to 0.010.
Data Type	Integer, Boolean, Float, or String
See Also	Links to related information such as other parameters, block diagrams, schematics, or other sections of the product manual.
Start Version	The minimum firmware version number required to use the parameter or command

Fieldbus	Index/Subindex	Object Start Version
Fieldbus type, such as EtherCAT COE and CANopen or Modbus.	Index/subindex values for the parameter or command. The index value may be linked to the Object Dictionary for each fieldbus, if the object dictionary contains more detailed information about the object.	The minimum firmware version number required to use the fieldbus.

Additional data types may include the following:

Type	Description
Error	Illegal type=0
b	Boolean
U8	8 x unsigned numbers
S8	8 x signed numbers
U16	16 x unsigned numbers
S16	16 x signed numbers
U32	32 x unsigned numbers
S32	32 x signed numbers
U64	64 x unsigned numbers
S64	64 x signed numbers

Parameter and Command Naming Conventions

Abbreviation	Term
ACC	Acceleration
APP	Apply
CLR	Clear
CS	Controlled Stop
I	Current
D	Current d-component
DEC	Deceleration
DIR	Direction
DIS	Disable
DIST	Distance
EMUE	Emulated encoder
EN	Enable
ERR	Error
F	Fault
FB	Feedback
FF	Feedforward
K	Gain
INT	Integrator
LIM	Limit
L	Loop
MAX	Maximum
MIN	Minimum
N	Negative
NV	Nonvolatile
P	Position, Proportional, Positive
RLS	Release
R	Resistance
STATE	Status, State, Stat
THRESH	Threshold
T	Time
TMAX	Timeout
U	User
V	Velocity, Volt
W	Warning