Kollmorgen AKD series Installation Manual

7.14.2.2 Switch-off behavior using a digital input (controlled stop)
This is a category 2 stop according to IEC 60204 (➜ # 53).
A digital input can be configured to bring the motor to a controlled stop and then disable the
drive and apply the holding brake.(if present). See the WorkBench Online Help for information
on configuring Digital Inputs.
If velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied
(➜ # 118).
7.14.2.3 Switch-off behavior using HW Enable input (uncontrolled stop)
This is a category 0 stop according to IEC 60204 (➜ # 53).
The hardware enable input disables the power stage immediately.
If velocity drops below threshold CS.VTHRESH or timeout occurs the motor holding brake is
applied (➜ # 118). Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply the
motor holding brake immediately after Hardware Disable.
AKD Installation | 7 Technical description and data
Kollmorgen | kdn.kollmorgen.com | October 2017 49

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