To Next PageTo Next PageWhat to do if Kollmorgen AKD Servo Drives report following error?
If your Kollmorgen Servo Drives report a following error, verify the motor/drive sizing because the Irms or Ipeak might be set too low. Also, check that current or velocity limits (IL.LIMITN, IL.LIMITP, VL.LIMITN, or VL.LIMITP) are not limiting the drive. If the acceleration/deceleration ramp is too long, reduce DRV.ACC/DRV.DEC.
What to do if the Kollmorgen AKD Servo Drives motor does not rotate?
If the Kollmorgen Servo Drives motor does not rotate, ensure the drive is enabled by applying an ENABLE signal and set the software enable. Check the setpoint cable for breaks, correct the motor phase sequence if phases are swapped, and verify the brake control to ensure the brake is released. Also, check the mechanism for mechanical blocks, set the motor pole number correctly, and ensure the feedback is set up correctly.
How to fix Kollmorgen Servo Drives communication fault?
If you receive a 'Communication fault' message on your Kollmorgen Servo Drives HMI, first ensure that you are using the correct cable and that it is plugged into the correct sockets on both the drive and the PC. Also, verify that you have selected the correct PC interface.
Why is my Kollmorgen Servo Drives motor overheating?
If your Kollmorgen Servo Drives motor is overheating, verify the motor/drive sizing, ensuring the motor is not operating above its rating. Also, check that the motor's continuous and peak current values are set correctly.
Why does my Kollmorgen AKD Servo Drives motor oscillate?
If the Kollmorgen Servo Drives motor oscillates, it could be due to the gain being too high in the speed controller. Reduce VL.KP in the speed controller. Check if the feedback cable shielding is broken and replace it if necessary. Also, ensure that AGND is properly wired to CNC-GND.
What causes Kollmorgen Servo Drives to run roughly?
If your Kollmorgen Servo Drives are running roughly, the Kp (speed controller) might be too high, so reduce VL.KP. Alternatively, the Ki (speed controller) could be too high, so reduce VL.KI. Also, refer to the documentation regarding increasing filtering (VL.AR*) if the filters are set too low.
Why are my Kollmorgen Servo Drives too soft?
If the Kollmorgen Servo Drives feel too soft, increase VL.KP and VL.KI (speed controller). Also, refer to the documentation regarding reducing filtering (VL.AR*) if the filters are set too high.
What to do if Kollmorgen AKD Servo Drives installation is stuck on 'Please wait while the installer finishes determining your disk space requirements'?
To solve the MSI installer issue during the installation of Kollmorgen Servo Drives, cancel the installation. Ensure you have enough disk space on your hard disk (approximately 500MB to allow for a Windows .NET update if necessary); if not, free up some space. Relaunch the installer; you may need to try several times, as the problem occurs randomly.
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 |
Outlines the general steps for basic drive setup, including hardware installation and software configuration.
Common reasons why drives may not appear in the WorkBench list.
Reasons why a specific drive may not be shown in the WorkBench list.
Allows configuring the drive to fit specific application needs.
Allows confirmation of Power Bus settings and accommodation of external regeneration needs.
Details how regeneration dissipates energy from the DC bus during deceleration.
Sets up or confirms parameters of the motor connected to the drive.
Configures the primary position feedback device fitted to the motor.
Sets up the system to match the proper feedback device.
Protects the motor and drive from overheating by monitoring current feedback.
Precisely determines motor position or drive clock time when a specific event triggers.
Explains how to use programmable digital inputs and outputs for various functions.
Allows changing parameter values and executing commands using digital inputs.
Details the functionality of the eight programmable digital inputs.
Supplies current or velocity command to control loops when analog source is set.
Controls the voltage output or selects different modes to output signals.
Explains electronic gearing, the act of sending a digital pulse position command to the AKD.
Turns on and off drive digital outputs based on drive's position.
Covers hardware and software enables, and Safe Torque Off (STO).
Details the procedure for bringing the drive motion to a standstill in a controlled manner.
Describes the method to slow a servo system by dissipating mechanical energy.
Explains the STO safety feature that prevents a system restart.
Explains operation modes for direct communication via Ethernet, fieldbus, analog, or digital control.
Accesses graphical representation of Command Source and Operation Mode via Settings.
Details the current loop parameters active in current torque mode.
Details parameters governing the velocity loop active in velocity or position mode.
Details parameters governing the position loop active in position mode.
Mechanically moves a motor to a specific location on the machine, referred to as 'home'.
Allows direct linking of an input to a single motion task or sequence of tasks.
Provides a simple approach to tuning by adjusting proportional and integral gains.
An easy way to accomplish sophisticated tuning using automated parameters.
Provides guidance on tuning velocity and position loops in the AKD.
Explains how to set up scope plots using various tabs.
Provides a quick way to issue commands directly to the drive.
Allows viewing and editing parameters in the Parameters screen.
Copies or loads drive parameters to/from nonvolatile memory.
Lists and explains all faults and warnings, including their causes and remedies.
Details four methods for clearing drive faults.
Lists common error messages related to parameters and commands.
Explains how to download firmware via the WorkBench.
Details the connection of the motor supply cable and motor winding.
Details the mains supply connections for three-phase and single-phase types.
Explains how standard digital and analog I/O signals are connected.
Explains connecting 5 V A quad B encoder or another drive's emulation output.
Explains connecting to a stepper-motor controller and adapting to pulse/direction signals.
Details connecting to a third-party controller delivering 5V up-down signals.
Provides descriptive information about each parameter and command used in the AKD firmware.
Sets the analog current scale factor.
Sets the analog input offset.
Sets the analog position scale factor.
Sets analog velocity scale factor.
Sets the analog current scale factor.
Sets the analog position scale factor.
Sets the analog velocity scale factor.
Sets the analog current scale factor for the analog output.
Sets the analog output mode.
Sets the analog input offset.
Sets the analog position scale factor for the analog output.
Reads/writes the analog output value when AOUT.MODE = 0.
Sets analog velocity scale factor for analog output.
Sets current fault duration limit (seconds) for BODE.MODE 5 stability test.
Sets current fault threshold for BODE.MODE 5 stability test.
Sets whether excitation uses current or velocity excitation type.
Sets the mode of the excitation.
Sets the watchdog timer for the excitation.
Sets velocity fault duration limit (seconds) for BODE.MODE 5 stability test.
Sets current fault threshold for BODE.MODE 5 stability test.
Enables or disables the related capture engine.
Controls the precondition logic for capture events.
Selects the captured value (position, time, or encoder signal).
Specifies the trigger source for the position capture.
Sets the deceleration value for the controlled stop process.
Sets the indicated polarity of a digital input mode.
Sets the digital input modes.
Sets the source of digital outputs (firmware or fieldbus).
Indicates faults relay mode.
Sets the digital output mode.
Describes the acceleration ramp for the velocity loop.
Clears the fault history log in the NV.
Tries to clear all active faults in the drive.
Sets the command source (service, fieldbus, analog input, gearing, digital, or Bode).
Sets the deceleration value for the velocity loop.
Changes drive direction.
Disables the axis (software).
Selects among disable immediately or stop and then disable options.
Sets the mode of the emulated encoder output (EEO) connector.
Enables the axis (software).
Reads the active faults.
Sets the drive operation mode (current, velocity, or position).
Command to stop all drive motion.
Selects the operational fieldbus on CC drive models.
Sets or gets the resolution of the motor encoder.
Sets position feedback offset.
Sets position scaling value for fieldbus transferred position objects.
Sets user entered type or identified type (-1).
Sets the secondary feedback (FB2) resolution.
Sets the mode for the second feedback inputs, EEO connector (X9).
Sets the source for the second feedback input.
Sets the maximum allowed acceleration value; active in opmode 2 (position) only.
Sets the maximum allowed deceleration value; active in opmode 2 (position) only.
Selects electronic gearing mode; active in opmode 2 (position) only.
Sets homing acceleration; active in opmode 2 (position) only.
Sets homing deceleration; active in opmode 2 (position) only.
Sets homing direction; active in opmode 2 (position) only.
Sets homing distance; active in opmode 2 (position) only.
Sets current limit during homing procedure to a mechanical stop.
Selects the homing mode; active in opmode 2 (position) only.
Starts a homing procedure; active in opmode 2 (position) only.
Sets home position; active in opmode 2 (position) only.
Immediately sets the home position; active in opmode 2 (position) only.
Sets homing velocity; active in opmode 2 (position) only.
Reads the value of the q-component current controller inside the FPGA.
Sets the user current command value.
Reads the foldback fault level.
Sets proportional gain of the q-component of the PI regulator.
Sets velocity loop velocity feedforward gain value.
Sets the negative user (application-specific) current limit.
Sets the positive user (application-specific) current limit.
Determines which drive parameters are calculated automatically.
Sets the presence or absence of a motor brake.
Sets the motor continuous current.
Sets the motor inertia.
Sets the motor peak current.
Sets the motor type.
Specifies motion task acceleration; active in opmode 2 (position) only.
Clears motion tasks from the drive; active in opmode 2 (position) only.
Sets motion task control word; active in opmode 2 (position) only.
Sets motion task deceleration; active in opmode 2 (position) only.
Starts a motion task; active in opmode 2 (position) only.
Sets the motion task position; active in opmode 2 (position) only.
Sets the motion task in the drive; active in opmode 2 (position) only.
Sets the motion task velocity; active in opmode 2 (position) only.
Returns the position error present when the drive is controlling the position loop.
Sets the maximum position error.
Sets the type of following error warning and fault usage.
Sets the position error warning level.
Sets the integral gain of the position loop.
Sets proportional gain of position regulator PID loop.
Enables the modulo position feature.
Enables and disables software travel limit switches.
Selects programmable limit switch mode.
Indicates if data recording is in progress (active).
Sets the service motion mode.
