Kollmorgen AKD series Installation Manual

Start conditions of the test sequence:
Operational readiness FAULT = “1"
Enable signal ENABLE = “0"
STO-ENABLE 1 = “0" and STO-ENABLE 2 = “0"
Legend:
FAULT: relay output, 1=ready to operate
STO-ENABLE 1: digital input, 1st switch-off path
STO-ENABLE 2: digital input, 2nd switch-off path
STO-STATUS 1: digital output, switching state of 1st pulse inhibitor
STO-STATUS 2: digital output, switching state of 2nd pulse inhibitor
T1 … T5: Test sequence
Start: Start of test sequence
End: End of test sequence
AKD Installation | 7 Technical description and data
Kollmorgen | kdn.kollmorgen.com | October 2017 65

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