Name: Kollmorgen AKD series
Brand: Kollmorgen
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AKD™

User Guide

Edition: Revision B, December 2010

Valid for Hardware Revision A

Part Number: 903-200006-00

Patents Pending

Original Instructions

Keep all manuals as a product component

during the life span of the product.

Pass all manuals to future users/owners

of the product.

Default Chapter3
- Table of Contents3
1 About this User Guide27
- Abbreviations27
2 AKD Models28
- CC Drive Models28
- Basic Drive Setup29
- Display Codes30
3 Basic Drive Setup30
- AKD Setup Wizard31
4 Connecting the Drive33
- Connected and Disconnected States34
- Disconnected34
- Device Not Shown34
- Find and Enter IP Address35
- Check Communications36
- Connect to Another Drive36
5 Communicating with the Drive37
- Overview38
- Identifying the Drive IP Address38
  - Automatic (Dynamic) IP Addressing38
  - Static IP Addressing38
- Check Communications39
- Troubleshooting Connection and Communication Problems41
- TCP/IP Communication Protocols44
- IP Address44
  - Port Number44
  - MAC Address44
6 Using Workbench45
- Welcome Screen45
  - Online45
  - Offline46
- AKD Overview46
- Online and Offline47
- Watch48
- Settings48
  - Navigation Tree48
  - Settings View48
7 Configuring Drive Power51
- Power52
  - Drive Setup for Power and Bus52
  - Direct DC Mains Operation52
- Regeneration54
8 Configuring Motor Settings59
- Motor60
- Feedback62
  - Overview63
- Using Feedback Options63
- Non-Plug and Play Feedback Devices71
- Parameters71
- Calculations72
- Foldback72
- Overall Foldback75
- Brake76
- Using Position Capture76
9 Selecting Units for Your Application79
- Selecting Units80
- Units Example80
  - Settings82
  - Related Parameters82
10 Configuring General Drive Settings83
- Digital Inputs and Outputs84
- Overview84
- Using Digital I/O84
- Digital Inputs84
- Digital Outputs87
- Command Buffer88
- Digital Inputs (X7/X8)91
- Analog Input95
  - Related Parameters and Commands95
  - Analog Output95
- I/O Connection96
  - I/O Connectors (X7 and X8)97
- Electronic Gearing98
- Programmable Limit Switch101
- Enable/Disable103
- Controlled Stop107
  - Related Parameters and Commands108
  - Related Topics109
- Dynamic Braking109
  - Drive Regeneration109
    - AKD-X00306 to AKD-X00606109
    - AKD-X01206 to AKD-X02406 and AKD-Xzzz07109
- Emergency Stop110
  - Safe Torque off (STO)110
  - Under Voltage Fault Behavior110
11 Using Command Source and Operating Modes111
- Kollmorgen | December111
- Overview112
- Using Command Source and Operation Modes112
  - Command Source112
  - Related Parameters112
- Current Loop113
  - Overview113
  - Current Loop Gain113
- Velocity Loop114
- Position Loop116
12 Creating Motion119
- Homing120
- Motion Tasks129
- Service Motion134
- Jog Move135
13 Saving Your Drive Configuration137
- Save Options138
- Save on Exit138
- Save on Disconnect139
- Save on Firmware Download140
14 Tuning Your System141
- Slider Tuning142
- Load Inertia142
- Using the Autotuner142
- Tuning Guide164
15 Scope179
- Overview179
- Using the Scope179
  - Scope Channels Tab179
  - Scope Time-Base and Trigger Tab180
- Scope Settings185
16 Using Parameters and the Terminal Screen191
- Terminal192
- Viewing Parameters195
- Parameter List195
- Parameter Load/Save195
- Summary of Parameters and Commands195
  - Synchronization200
17 Faults and Warnings209
- Fault and Warning Messages210
- Clearing Faults216
- Parameter and Command Error Messages217
- Canopen Emergency Messages and Error Codes220
- Unknown Fault223
  - Remedies223
18 Troubleshooting the AKD224
19 Firmware and Firmware Updates225
- Downloading Firmware226
- Firmware Compatibility226
- Invalid Firmware226
- Forcing the Drive into Firmware Download Mode227
- Forced Download of AKD Firmware227
- Connection Diagrams229
- Block Diagrams246
  - Block Diagram for Current Loop247
  - Block Diagram for Position/Velocity Loop247
Appendix A248
- About the Parameter and Command Reference Guide251
  - Parameter and Command Naming Conventions253
  - Summary of Parameters and Commands253
  - Ain.cutoff254
  - Ain.deadband254
  - Ain.iscale254
  - Ain.offset254
  - Ain.pscale254
  - Ain.value254
  - Ain.vscale254
  - Ain.zero254
  - Aio.iscale254
  - Aio.pscale254
  - DOUT.RELAYMODE DOUT.STATES Doutx.mode255
  - Aout.iscale283
  - Aout.mode284
  - Aout.offset285
  - Aout.pscale286
  - Aout.value288
  - Aout.valueu289
  - Aout.vscale290
- BODE Parameters291
  - Bode.freq292
  - Bode.iamp293
  - Bode.iflimit294
  - Bode.ifthresh295
  - Bode.injectpoint296
  - Bode.mode297
  - Bode.modetimer300
  - Bode.prbdepth302
  - Bode.vamp303
  - Bode.vflimit304
  - Bode.vfthresh305
- CAP Parameters306
  - Cap0.En, Cap1.En307
  - Cap0.Event, Cap1.Event308
  - Cap0.Filter, Cap1.Filter311
  - Cap0.Mode, Cap1.Mode312
  - Cap0.Plfb, Cap1.Plfb313
  - Cap0.Preedge, Cap1.Preedge314
  - Cap0.Prefilter, Cap1.Prefilter315
  - Cap0.Preselect, Cap1.Preselect316
  - Cap0.State, Cap1.State317
  - Cap0.T, Cap1.T318
  - Cap0.Trigger, Cap1.Trigger319
- CS Parameters320
  - Cs.state322
  - Cs.to323
- DIN Parameters325
  - Din.states326
  - Din1.Inv to Din7.Inv327
  - Din1.Mode to Din7.Mode328
  - Din1.Param to Din7.Param330
  - Din1.State to Din7.State331
- DOUT Parameters333
  - Kollmorgen | December334
  - Dout1.Param and Dout2.Param337
  - Dout1.State and Dout2.State338
  - Dout1.Stateu and Dout2.Stateu339
- DRV Parameters and Commands341
  - Drv.acc341
  - Drv.active343
  - Drv.blinkdisplay344
  - Drv.clrfaulthist345
  - Drv.clrfaults346
  - Drv.cmddelay347
  - Drv.cmdsource348
  - Drv.crashdump349
  - Drv.dbilimit350
  - Drv.dec351
  - Drv.dir352
  - Drv.dis354
  - Drv.dismode355
  - Drv.dissources356
  - Drv.disto357
  - Drv.emuedir358
  - Drv.emuemode359
  - Drv.emuemturn360
  - Drv.emueres361
  - Drv.emuezoffset362
  - Drv.en363
  - Drv.endefault364
  - Drv.faulthist365
  - Drv.faults366
  - Drv.handwheel367
  - Drv.help368
  - Drv.helpall369
  - Drv.hwenmode370
  - Drv.icont371
  - Drv.info372
  - Drv.ipeak373
  - Drv.izero374
  - Drv.list375
  - Drv.logicvolts376
  - Drv.memaddr377
  - Drv.memdata378
  - Drv.motionstat379
  - Drv.name380
  - Drv.nvlist381
  - Drv.nvload382
  - Drv.nvsave383
  - Drv.ontime384
  - Drv.opmode385
  - Drv.readformat386
  - Drv.rstvar387
  - Drv.runtime388
  - Drv.setupreqbits389
  - Drv.setupreqlist390
  - Drv.stop391
  - Drv.temperatures392
  - Drv.type393
  - Drv.ver394
  - Drv.verimage395
  - Drv.warnings396
  - Drv.zero397
- FB1 Parameters398
  - Fb1.Encres399
  - Fb1.Hallstate400
  - Fb1.Identified401
  - Fb1.Initsigned402
  - Fb1.Mechpos403
  - Fb1.Memver404
  - Fb1.Offset405
  - Fb1.Origin406
  - Fb1.Pfind408
  - Fb1.Pfindcmdu409
  - Fb1.Poles410
  - Fb1.Pscale411
  - Fb1.Resktr412
  - Fb1.Resrefphase413
  - Fb1.Select414
  - Fb1.Trackingcal416
- FB2 Parameters417
  - Fb2.Mode418
  - Fb2.Source419
- FBUS Parameters420
  - Fbus.pllstate422
  - Fbus.pllthresh423
  - Fbus.sampleperiod424
  - Fbus.syncact425
  - Fbus.syncdist426
  - Fbus.syncwnd427
  - Fbus.type428
- GEAR Parameters429
  - Kollmorgen | December430
  - Gear.in431
  - Gear.mode432
  - Gear.move434
  - Gear.out435
  - Gear.vmax436
- GUI Parameters437
  - Gui.param01438
  - Gui.param04439
  - Gui.param07440
  - Gui.param10441
- HOME Parameters443
  - Home.automove444
  - Home.dec445
  - Home.dir446
  - Home.dist447
  - Home.feedrate448
  - Home.ipeak449
  - Home.mode450
  - Home.move451
  - Home.p452
  - Home.perrthresh453
  - Home.set454
  - Home.V455
- HWLS Parameters456
  - Hwls.posstate457
- IL Parameters459
  - Il.CMD460
  - Il.cmdu461
  - Il.difold462
  - Il.fb463
  - Il.ff464
  - Il.foldfthresh465
  - Il.foldfthreshu466
  - Il.foldwthresh467
  - Il.friction468
  - Il.ifold469
  - Il.iufb470
  - Il.ivfb471
  - Il.kaccff472
  - Il.kbusff473
  - Il.kp474
  - Il.kpdratio475
  - Il.kvff476
  - Il.limitn477
  - Il.limitp478
  - Il.mfoldd479
  - Il.mfoldr480
  - Il.mfoldt481
  - Il.mifold482
  - Il.offset483
  - Il.VCMD484
  - Il.vufb485
  - Il.vvfb486
- MOTOR Parameters487
  - Motor.brake488
  - Motor.brakerls489
  - Motor.brakestate490
  - Motor.ctf0491
  - Motor.icont492
  - Motor.inertia494
  - Motor.ipeak495
  - Motor.kt496
  - Motor.lqll497
  - Motor.name498
  - Motor.phase499
  - Motor.pitch500
  - Motor.poles501
  - Motor.r502
  - Motor.rtype503
  - Motor.tbrakeapp504
  - Motor.tbrakerls505
  - Motor.temp506
  - Motor.tempfault507
  - Motor.tempwarn508
  - Motor.type509
  - Motor.vmax510
  - Motor.voltmax511
- MT Parameters and Commands513
  - Mt.clear515
  - Kollmorgen | December516
  - Mt.continue519
  - Mt.dec520
  - Mt.emergmt522
  - Mt.list523
  - Mt.load524
  - Mt.move525
  - Mt.mtnext526
  - Mt.num527
  - Mt.p528
  - Mt.params529
  - Mt.set530
  - Mt.tnext531
  - Mt.tnum532
  - Mt.tposwnd533
  - Mt.tvelwnd534
  - Mt.V535
  - Mt.VCMD536
- PL Parameters537
  - Pl.err538
  - Pl.errfthresh539
  - Pl.errmode541
  - Pl.errwthresh542
  - Pl.fb543
  - Pl.fbsource544
  - Pl.intinmax545
  - Pl.intoutmax546
  - Pl.ki547
  - Pl.kp548
  - Pl.modp1549
  - Pl.modp2550
  - Pl.modpdir551
  - Pl.modpen552
- PLS Parameters and Commands553
  - Pls.en554
  - Pls.mode555
  - Pls.p1 to Pls.p8556
  - Pls.reset557
  - Pls.state558
  - Pls.t1 to Pls.t8559
  - Pls.units560
  - Pls.width1 to Pls.width8562
- REC Parameters and Commands563
  - REC.CH1 to REC.CH6564
  - Rec.done565
  - Rec.gap566
  - Rec.numpoints567
  - Rec.off568
  - Rec.recprmlist569
  - Rec.retrieve570
  - Rec.retrievedata571
  - Rec.retrievefrmt572
  - Rec.retrievesize574
  - Rec.stoptype575
  - Rec.trig576
  - Rec.trigparam577
  - Rec.trigpos578
  - Rec.trigprmlist580
  - Rec.trigslope581
  - Rec.trigtype582
  - Rec.trigval583
- REGEN Parameters584
  - Regen.rext585
  - Regen.text586
  - Regen.type587
  - Regen.wattext588
- SM Parameters589
  - Sm.i2590
  - Sm.mode591
  - Sm.move594
  - Sm.t1595
  - Sm.t2596
  - Sm.v1597
  - Sm.v2598
- STO Parameters599
- SWLS Parameters600
  - Swls.limit0601
  - Swls.limit1602
  - Swls.state603
- UNIT Parameters605
  - Unit.accrotary606
  - Unit.label607
  - Unit.pin608
  - Unit.plinear609
  - Unit.pout610
  - Unit.protary611
  - Kollmorgen | December612
  - Unit.vrotary613
- VBUS Parameters614
  - Vbus.ovwthresh615
  - Vbus.rmslimit616
  - Vbus.uvfthresh617
  - Vbus.uvmode618
  - Vbus.uvwthresh619
  - Vbus.value620
- VL Parameters621
  - Vl.arpq1 to Vl.arpq4623
  - Vl.artype1 to Vl.artype4625
  - Vl.arzf1 to Vl.arzf4626
  - Vl.arzq1 to Vl.arzq4627
  - Vl.busff629
  - Vl.CMD630
  - Vl.cmdu631
  - Vl.err632
  - Vl.fb633
  - Vl.fbfilter634
  - Vl.fbsource635
  - Vl.ff636
  - Vl.genmode637
  - Vl.kbusff638
  - Vl.ki639
  - Vl.ko640
  - Vl.kp641
  - Vl.limitn642
  - Vl.limitp643
  - Vl.model645
  - Vl.obsbw646
  - Vl.obsmode647
  - Vl.thresh648
- WS Parameters649
  - Ws.distmin650
  - Ws.imax651
  - Ws.mode652
  - Ws.distmax653
  - Ws.numloops654
  - Ws.state655
  - Ws.t657
  - Ws.tdelay1658
  - Ws.tdelay2659
  - Ws.tdelay3660
  - Ws.vthresh661
Appendix B664
- Safety Instructions687
- Safety Instructions692
- Basic Features Implemented by Canopen703
- Canopen Communication Profile704
- Canopen Drive Profile719
  - Canopen Emergency Messages and Error Codes720
  - General Definitions723

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Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing