Kollmorgen AKD series User Manual

When you select your feedback device from the Feedback Selection list, the appropriate feedback configuration
choices appear below the dial.
8.2.1 Overview
The AKD offers a variety of feedback solutions, which allows you to optimize your system based on your spe-
cific machine needs. The available feedback options include resolver, SFD, sine-cosine encoder (Endat 2.1,
BiSS, Hiperface), incremental encoder, as well as line-count, single, and absolute variations. Your motor model
number will indicate the type of feedback that you have. With some incremental encoders, parameters are set up
in the encoder itself, and the AKD drive recognizes the feedback automatically and sets up the drive accordingly.
This automatic recognition is called "plug and play". Currently, SFD and Endat are plug and play encoders. Other
feedback types require that you enter parameters manually.
8.3 Using Feedback Options
Use the Feedback screen to set up your system to match the proper feedback device. By default, the drive uses
the Auto setting to detect feedback devices. This setting allows the drive to interrogate the feedback device to
see if it is a recognized plug and play device. If the drive recognizes the device, then all the parameters for that
device and motor are loaded into the drive. Both the feedback and the motor information are now present in the
drive and the system is operable.
If the feedback is a non- plug and play device, then you can choose from the list of supported devices in Feed-
back Selection list and then enter the line count manually. The following sections describe each supported
device available in the Feedback Selection list and the input information required to configure each device.
8.3.1 Auto
Thisis thedefault settingandisusedtodetermine if aplug andplay deviceis available. Ifaplugandplaydeviceis
available,theAutomodeisreplacedbythefeedbackdevicedetected,alongwiththeappropriateresolutionsettings.
8.3.2 Incremental Encoder
The incremental encoder is a non-plug and play device. Incremental encoders are available in a variety of line
counts. If you select an incremental encoder option, the encoder resolution must be entered into the Rotary
Encoder Resolution box. The units for this field are in counts per revolution, which is post-quadrature (mul-
tiplies the lines per revolution by 4).
8.3.3 Sine Encoder
Sine encoders are offered with different data communication protocols. These include Endat, BiSS, Hiperface,
and others. A standard sine-cosine encoder with simple analog communication is not a plug and play device. As
with the incremental encoder, the line count is entered in the Rotary Encoder Resolution box.
8.3.4 Endat 2.1, Endat 2.2
Endat-based sine encoders are plug and play compatible, and the system will properly recognize these
encoders. With the AKD set in Auto, this encoder type is detected and the feedback and motor parameters are
loaded automatically.
8.3.5 BiSS
BiSS will be plug and play in a future release. Currently, the device is programmed with the motor and feedback
information and once selected will sets up the feedback and motor parameters in the AKD.
8.3.6 Hiperface
Hiperface is a plug and play device that will be supported in a future release.
AKD User Guide | 8 Configuring Motor Settings
Kollmorgen | December 2010 63

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