Kollmorgen AKD series User Manual

Record of Document Revisions:
Revision Remarks
- ,11/2009 Beta launch version
-, 12/2009 Objects 2018&60FE added, Object dictionary, formatting updated
A, 04/2010 Termination connector "optional", several new objects, Object dictionary split
B, 07/2010 Part number added, several new objects, Object dictionary expanded
Hardware Revision (HR)
Hardware Revision Firmware WorkBench Remarks
A M_01-03-zz-zzz 1.3.0.zzzzz Start revision
B M_01-04-zz-zzz 1.4.0.zzzzz STO certified
EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
EtherCAT is a registered trademark of EtherCAT Technology Group
HIPERFACE is a registered trademark of Max Stegmann GmbH
WINDOWS is a registered trademark of Microsoft Corporation
AKD is a registered trademark of Kollmorgen Corporation
Current patents:
US Patent 5,646,496 (used in control card R/D and 1 Vp-p feedback interface)
US Patent 5,162,798 (used in control card R/D)
US Patent 6,118,241 (used in control card simple dynamic braking)
Technical changes which improve the performance of the device may be made without prior notice!
Printed in the United States of America
This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be repro-
duced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed
by electronic means without the written permission of Kollmorgen.
Kollmorgen | December 2010 3

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