Kollmorgen AKD series User Manual

AKD User Guide | 8 Configuring Motor Settings
8.3.7 Resolver
The resolver feedback option is not plug and play. When selecting the resolver option, three specific parameters
are set by default for the standard AKM resolver: phase lag, transformation ratio, and feedback poles. Cur-
rently,the AKD does not support non-Kollmorgen standard resolver options.
8.3.8 SFD
Smart Feedback Device(SFD) is Kollmorgen's most popular plugand play device. SFD allows for quick and easy
setupfrom theAuto mode, which automatically configures thedrive withthe motorand feedback parameters.
8.3.9 Using Wake and Shake (WS)
8.3.9.1 Overview
Wake and shake (WS) is used to establish commutation in drives with the following types of feedback:
l Incremental encoders
l Sine encoders without an absolute data channel
l BiSS type C encoders
When controlling a brushless DC (BLDC) motor, you must know the electrical position of the motor shaft. With-
out absolute position data, it is impossible for the drive to know which sequence of coils to energize to produce
motion. Absolute feedback devices, such as resolvers and absolute encoders, can detect position directly. Incre-
mental devices, such as incremental encoders and sine encoders without a parameter channel, must determine
electrical position indirectly at start up. The AKD uses the WS feature to determine electrical position by sending
the motor short bursts of current and measuring the resulting incremental motion. The drive uses this meas-
urement to estimate electrical position accurately enough to control the motor.
8.3.9.2 Configuring WS
You can configure WS after your motor has been connected to the AKD according to the AKD Installation
Manual. The WS procedure is initiated automatically when both the hardware and software enable signals
become logic high.
Before attempting to enable the drive, the drive must be compensated for the motor and the AKD servo loops
must be stable.
Compensation values for many rotary motors are included in a database already loaded into the AKD.
NOTE: An unstable system will not function properly during or after the WS process.
Use the default Wake and Shake view to configure your system:
64 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