Kollmorgen AKD series User Manual

19.8 Connection Diagram, AKD-x02406 and AKD-xzzz07 232
19.9 24 V Auxiliary Supply (X1) 233
19.10 Motor Connection 234
19.11 External Brake Resistor (X3) 235
19.12 DC Bus Link (X3) 236
19.13 Mains Supply Connection (X3, X4) 237
19.13.1 Three Phase connection (all AKD types) 237
19.13.2 Single phase connection (AKD-xzzz06 only) 238
19.14 I/O Connection 239
19.14.1 I/O Connectors (X7 and X8) 239
19.15 Analog Output (X8) 240
19.16 Analog Input (X8) 241
19.17 Command encoder signal connection 242
19.17.1 Incremental encoder input 5 V (X9) 242
19.17.2 Incremental encoder input 24 V (X7) 242
19.17.3 Emulated Encoder Output (EEO) - A quad B (X9) 243
19.18 Pulse / Direction signal connection 244
19.18.1 Pulse / Direction input 5 V (X9) 244
19.18.2 Pulse / Direction input 24 V (X7) 244
19.19 Up / Down signal connection 244
19.19.1 Up / Down input 5 V (X9) 244
19.19.2 Up / Down input 24 V (X7) 245
19.20 Feedback Connector (X10) 245
Block Diagrams 246
19.21 Block Diagram for Current Loop 247
19.22 Block Diagram for Position/Velocity Loop 247
Appendix A 248
249
About the Parameter and Command Reference Guide 251
Parameter and Command Naming Conventions 253
Summary of Parameters and Commands 253
AIN Parameters 267
AIN.CUTOFF 268
AIN.DEADBAND 269
AIN.ISCALE 270
AIN.OFFSET 271
AIN.PSCALE 272
AIN.VALUE 273
AIN.VSCALE 274
AIN.ZERO 275
AIO Parameters 277
AIO.ISCALE 277
AIO.PSCALE 278
AIO.VSCALE 279
AOUT Parameters 281
AOUT.DEBUGADDR 281
AOUT.DEBUGSCALE 282
Kollmorgen | December 2010 11

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