Kollmorgen AKD series Installation Manual

AKD Installation | 9 Electrical Installation
9.20.3 Node Address for CAN-Bus
After changing the node address, you must turn off the 24 V auxiliary supply for the drive and
then turn it on again.
During setup, use the rotary switches on the AKD front panel to preset the station address for
communication.
The rotary switches on the front of the AKD (S1&S2) correspond to the CAN node address.
The S1&S2 switches also correspond to the IP address setting of the drive. Both CAN and IP
network address schemes have to be configured to account for this dependence if both
TCP/IP and CAN networks are running at the same time in an application. Example:
S1 (MSB) S2 (LSB) CAN address IP address
4 5 45
192.168.0.45
The IP address setting can be decoupled from the rotary switches using WorkBench (Set-
tings -> Fieldbus-> TCP/IP).
9.20.4 CAN-Bus Termination
The last bus device on both ends of the CAN-Bus system must have termination resistors.
The AKD has built-in 132 ohms resistors that can be activated by connecting pins 1 and 6. An
optional termination plug is available for AKD (P-AKD-CAN-TERM). The optional termination
plug is an RJ-12 connector with an enclosed wire jumper between pins 1&6. The termination
plug should be inserted into the X13 connector of the last drive in the CAN network.
Remove the termination connector if the AKD is not the last CAN-Bus device and use X13
for connecting the next CAN node.
9.20.5 CAN-Bus Cable
To meet ISO 11898, a bus cable with a characteristic impedance of 120 ohms should be
used. The maximum usable cable length for reliable communication decreases with increas-
ing transmission speed. As a guide, you can use the following values which Kollmorgen has
measured; however, these values are not assured limits:
Characteristic impedance: 100–120 ohms
Cable capacitance max.: 60 nF/km
Lead loop resistance: 159.8 ohms/km
Transmission Rate (kBaud) 1,000 500 250
Maximum Cable Length (m) 10 70 115
Lower cable capacitance (max. 30 nF/km) and lower lead resistance (loop resistance, 115
ohms/1000m) make it possible to achieve greater distances. The characteristic impedance
150 ± 5 ohms requires terminating resistor 150 ± 5 ohms.
178 Kollmorgen | kdn.kollmorgen.com | October 2017

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