Kollmorgen AKD series Installation Manual

12 Record of document revisions
Revision Remarks
-, 11/2009 Beta launch version
-, 12/2009 Digital I/O corrections, several updates
A, 03/2010
CAN termination connector "optional", data dynamic brake updated, resolver signals renamed,
CE certificate, X9 description updated, technical data completed
B, 06/2010 Several updates, typos, dimensions corrected, switch on/off timing diagrams
C, 07/2010 Switch on/off timing diagrams,typos, cover layout
D, 01/2011 Hardware Revison C, STO certified, voltage level digital inputs changed
E, 04/2011 Analog In/Out specification extended, single-/two phase mains supply updated
F, 10/2011 PROFINET RT, Modbus TCP, several updates, cover layout updated
G, 03/2012
AKD PDMM added, 270 VAC mains supply restriction removed, part number scheme extended,
EnDat 2.2 @ X9, STOP chapter updated, dimension drawings
H, 05/2012 AKD-T-IC added, I/O option card signals added , PDMM error codes updated
J, 08/2012 Smart Abs (Tamagawa) new, BiSS C new, X21 & X22 pinout updated
K, 11/2012 Feedback wiring diagrams updated, font size hint, fault tables updated, regen fusing
L, 05/2013 Hiperface DSL Feedback new (from FW 1.9), fault tables updated, KCM module added
M, 09/2013 24A AKD-M added, fault tables update, outer dimensions updated
N, 12/2013
sercos
®
III option added, SFD3 feedback added, sincos frequency limit, automatic restart notes
P, 05/2014
KCM X4 and Ready contacts added, KCM switch-on sequence, AKD-M-M1 added, Up/Down
renamed to CW/CCW, primary feedback on X7/X9, ISO warning symbols
R, 08/2014
Thermal sensor drawing design and pinout updated for all feedbacks, "NB" hint Tamagawa, DC
Bus link information added, DC Bus fusing
T, 12/2014 48A drive information included, CE certificate removed, HR changed acc. to export control
U, 09/2015
EAC certification, 48A drive completed, RoHS/Reach chapters added, FPS added, connector
voltage rating corrected, AKD 48A functional safety information, EnDAT 2.2 to X9&X8, KCM wir-
ing corrected, note mains choke for 48A drive
V, 11/2015
Hall-Only Feedback new, hints for "User Guide" replaced by hints for Workbench Onlinehelp, Use
as Directed (DC supply / grouping notes), safety standard corrected (EN 62061 for SIL)
W, 08/2016
Techn.Data X7 (Electr.Gearing) updated, LV and EMC Directive version updated, Warning notes
updated, chapter Handling moved, 48A motor brake connection corrected, PFH value changed
Y, 03/2017
Frequency limit EnDat 2.2 changed, Links in Fault chapters to KDN, fault table updated (F120,
F124, n179, n180, F471, n495, F631)
AA, 10/2017
Digital output wiring X23/X24 updated, STO reaction time added (03...24A), 24V wiring for 48A
STO control, AKD48A motor holding brake connection corrected
AKD Installation | 12 Record of document revisions
Kollmorgen | kdn.kollmorgen.com | October 2017 215

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