Kollmorgen AKD series User Manual

7.1 Power 52
7.1.1 Drive Setup for Power and Bus 52
7.1.2 Direct DC Mains Operation 52
7.2 Regeneration 54
7.2.1 Overview 54
7.2.2 Regen Resistor Options 54
7.2.3 Calculating Motor Peak Energy and Regen Resistor Size 54
7.2.4 Selecting a Compatible Regen Resistor 57
7.2.5 Configuring Regen Parameter Values 57
7.2.6 Related Parameters 58
8 Configuring Motor Settings 59
8.1 Motor 60
8.1.1 Overview 60
8.1.2 Motor Setup 60
8.1.3 Using the Motor View 60
8.1.4 Selecting a Motor 61
8.1.4.1 Configuring Custom Motors 62
8.1.4.2 Validating Motor Parameters 62
8.2 Feedback 1 62
8.2.1 Overview 63
8.3 Using Feedback Options 63
8.3.1 Auto 63
8.3.2 Incremental Encoder 63
8.3.3 Sine Encoder 63
8.3.4 Endat 2.1, Endat 2.2 63
8.3.5 BiSS 63
8.3.6 Hiperface 63
8.3.7 Resolver 64
8.3.8 SFD 64
8.3.9 Using Wake and Shake (WS) 64
8.3.9.1 Overview 64
8.3.9.2 Configuring WS 64
Wake and Shake, More View 65
Special Cases for WS 65
Operation with Motor Brake 65
End of Travel Limits 66
Large Load Inertia or High Friction System 66
8.3.9.3 Using WS: Advanced 66
Maximizing WS Reliability 66
8.3.9.4 Related Parameters 67
8.3.9.5 Troubleshooting WS 67
8.3.10 Commutation Alignment 68
8.4 Feedback 2 68
8.4.1 Encoder Emulation 69
8.4.1.1 Overview 69
4 Kollmorgen | December 2010

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