Name: Kollmorgen AKD series
Brand: Kollmorgen
Rating: 4 (1 reviews)

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COB-ID Control Index Sub- Data Comment

byte Low byte High byte index

183 FE 45 01 00

A6 AB 1A 00

response

603 2B 40 60 00h 0F 01 00 00 intermediate stop

583 60 40 60 00h 00 00 00 00 response telegram

AKD User Guide |

Kollmorgen | December 2010 136

Default Chapter3
- Table of Contents3
1 About this User Guide27
- Abbreviations27
2 AKD Models28
- CC Drive Models28
- Basic Drive Setup29
- Display Codes30
3 Basic Drive Setup30
- AKD Setup Wizard31
4 Connecting the Drive33
- Connected and Disconnected States34
- Disconnected34
- Device Not Shown34
- Find and Enter IP Address35
- Check Communications36
- Connect to Another Drive36
5 Communicating with the Drive37
- Overview38
- Identifying the Drive IP Address38
  - Automatic (Dynamic) IP Addressing38
  - Static IP Addressing38
- Check Communications39
- Troubleshooting Connection and Communication Problems41
- TCP/IP Communication Protocols44
- IP Address44
  - Port Number44
  - MAC Address44
6 Using Workbench45
- Welcome Screen45
  - Online45
  - Offline46
- AKD Overview46
- Online and Offline47
- Watch48
- Settings48
  - Navigation Tree48
  - Settings View48
7 Configuring Drive Power51
- Power52
  - Drive Setup for Power and Bus52
  - Direct DC Mains Operation52
- Regeneration54
8 Configuring Motor Settings59
- Motor60
- Feedback62
  - Overview63
- Using Feedback Options63
- Non-Plug and Play Feedback Devices71
- Parameters71
- Calculations72
- Foldback72
- Overall Foldback75
- Brake76
- Using Position Capture76
9 Selecting Units for Your Application79
- Selecting Units80
- Units Example80
  - Settings82
  - Related Parameters82
10 Configuring General Drive Settings83
- Digital Inputs and Outputs84
- Overview84
- Using Digital I/O84
- Digital Inputs84
- Digital Outputs87
- Command Buffer88
- Digital Inputs (X7/X8)91
- Analog Input95
  - Related Parameters and Commands95
  - Analog Output95
- I/O Connection96
  - I/O Connectors (X7 and X8)97
- Electronic Gearing98
- Programmable Limit Switch101
- Enable/Disable103
- Controlled Stop107
  - Related Parameters and Commands108
  - Related Topics109
- Dynamic Braking109
  - Drive Regeneration109
    - AKD-X00306 to AKD-X00606109
    - AKD-X01206 to AKD-X02406 and AKD-Xzzz07109
- Emergency Stop110
  - Safe Torque off (STO)110
  - Under Voltage Fault Behavior110
11 Using Command Source and Operating Modes111
- Kollmorgen | December111
- Overview112
- Using Command Source and Operation Modes112
  - Command Source112
  - Related Parameters112
- Current Loop113
  - Overview113
  - Current Loop Gain113
- Velocity Loop114
- Position Loop116
12 Creating Motion119
- Homing120
- Motion Tasks129
- Service Motion134
- Jog Move135
13 Saving Your Drive Configuration137
- Save Options138
- Save on Exit138
- Save on Disconnect139
- Save on Firmware Download140
14 Tuning Your System141
- Slider Tuning142
- Load Inertia142
- Using the Autotuner142
- Tuning Guide164
15 Scope179
- Overview179
- Using the Scope179
  - Scope Channels Tab179
  - Scope Time-Base and Trigger Tab180
- Scope Settings185
16 Using Parameters and the Terminal Screen191
- Terminal192
- Viewing Parameters195
- Parameter List195
- Parameter Load/Save195
- Summary of Parameters and Commands195
  - Synchronization200
17 Faults and Warnings209
- Fault and Warning Messages210
- Clearing Faults216
- Parameter and Command Error Messages217
- Canopen Emergency Messages and Error Codes220
- Unknown Fault223
  - Remedies223
18 Troubleshooting the AKD224
19 Firmware and Firmware Updates225
- Downloading Firmware226
- Firmware Compatibility226
- Invalid Firmware226
- Forcing the Drive into Firmware Download Mode227
- Forced Download of AKD Firmware227
- Connection Diagrams229
- Block Diagrams246
  - Block Diagram for Current Loop247
  - Block Diagram for Position/Velocity Loop247
Appendix A248
- About the Parameter and Command Reference Guide251
  - Parameter and Command Naming Conventions253
  - Summary of Parameters and Commands253
  - Ain.cutoff254
  - Ain.deadband254
  - Ain.iscale254
  - Ain.offset254
  - Ain.pscale254
  - Ain.value254
  - Ain.vscale254
  - Ain.zero254
  - Aio.iscale254
  - Aio.pscale254
  - DOUT.RELAYMODE DOUT.STATES Doutx.mode255
  - Aout.iscale283
  - Aout.mode284
  - Aout.offset285
  - Aout.pscale286
  - Aout.value288
  - Aout.valueu289
  - Aout.vscale290
- BODE Parameters291
  - Bode.freq292
  - Bode.iamp293
  - Bode.iflimit294
  - Bode.ifthresh295
  - Bode.injectpoint296
  - Bode.mode297
  - Bode.modetimer300
  - Bode.prbdepth302
  - Bode.vamp303
  - Bode.vflimit304
  - Bode.vfthresh305
- CAP Parameters306
  - Cap0.En, Cap1.En307
  - Cap0.Event, Cap1.Event308
  - Cap0.Filter, Cap1.Filter311
  - Cap0.Mode, Cap1.Mode312
  - Cap0.Plfb, Cap1.Plfb313
  - Cap0.Preedge, Cap1.Preedge314
  - Cap0.Prefilter, Cap1.Prefilter315
  - Cap0.Preselect, Cap1.Preselect316
  - Cap0.State, Cap1.State317
  - Cap0.T, Cap1.T318
  - Cap0.Trigger, Cap1.Trigger319
- CS Parameters320
  - Cs.state322
  - Cs.to323
- DIN Parameters325
  - Din.states326
  - Din1.Inv to Din7.Inv327
  - Din1.Mode to Din7.Mode328
  - Din1.Param to Din7.Param330
  - Din1.State to Din7.State331
- DOUT Parameters333
  - Kollmorgen | December334
  - Dout1.Param and Dout2.Param337
  - Dout1.State and Dout2.State338
  - Dout1.Stateu and Dout2.Stateu339
- DRV Parameters and Commands341
  - Drv.acc341
  - Drv.active343
  - Drv.blinkdisplay344
  - Drv.clrfaulthist345
  - Drv.clrfaults346
  - Drv.cmddelay347
  - Drv.cmdsource348
  - Drv.crashdump349
  - Drv.dbilimit350
  - Drv.dec351
  - Drv.dir352
  - Drv.dis354
  - Drv.dismode355
  - Drv.dissources356
  - Drv.disto357
  - Drv.emuedir358
  - Drv.emuemode359
  - Drv.emuemturn360
  - Drv.emueres361
  - Drv.emuezoffset362
  - Drv.en363
  - Drv.endefault364
  - Drv.faulthist365
  - Drv.faults366
  - Drv.handwheel367
  - Drv.help368
  - Drv.helpall369
  - Drv.hwenmode370
  - Drv.icont371
  - Drv.info372
  - Drv.ipeak373
  - Drv.izero374
  - Drv.list375
  - Drv.logicvolts376
  - Drv.memaddr377
  - Drv.memdata378
  - Drv.motionstat379
  - Drv.name380
  - Drv.nvlist381
  - Drv.nvload382
  - Drv.nvsave383
  - Drv.ontime384
  - Drv.opmode385
  - Drv.readformat386
  - Drv.rstvar387
  - Drv.runtime388
  - Drv.setupreqbits389
  - Drv.setupreqlist390
  - Drv.stop391
  - Drv.temperatures392
  - Drv.type393
  - Drv.ver394
  - Drv.verimage395
  - Drv.warnings396
  - Drv.zero397
- FB1 Parameters398
  - Fb1.Encres399
  - Fb1.Hallstate400
  - Fb1.Identified401
  - Fb1.Initsigned402
  - Fb1.Mechpos403
  - Fb1.Memver404
  - Fb1.Offset405
  - Fb1.Origin406
  - Fb1.Pfind408
  - Fb1.Pfindcmdu409
  - Fb1.Poles410
  - Fb1.Pscale411
  - Fb1.Resktr412
  - Fb1.Resrefphase413
  - Fb1.Select414
  - Fb1.Trackingcal416
- FB2 Parameters417
  - Fb2.Mode418
  - Fb2.Source419
- FBUS Parameters420
  - Fbus.pllstate422
  - Fbus.pllthresh423
  - Fbus.sampleperiod424
  - Fbus.syncact425
  - Fbus.syncdist426
  - Fbus.syncwnd427
  - Fbus.type428
- GEAR Parameters429
  - Kollmorgen | December430
  - Gear.in431
  - Gear.mode432
  - Gear.move434
  - Gear.out435
  - Gear.vmax436
- GUI Parameters437
  - Gui.param01438
  - Gui.param04439
  - Gui.param07440
  - Gui.param10441
- HOME Parameters443
  - Home.automove444
  - Home.dec445
  - Home.dir446
  - Home.dist447
  - Home.feedrate448
  - Home.ipeak449
  - Home.mode450
  - Home.move451
  - Home.p452
  - Home.perrthresh453
  - Home.set454
  - Home.V455
- HWLS Parameters456
  - Hwls.posstate457
- IL Parameters459
  - Il.CMD460
  - Il.cmdu461
  - Il.difold462
  - Il.fb463
  - Il.ff464
  - Il.foldfthresh465
  - Il.foldfthreshu466
  - Il.foldwthresh467
  - Il.friction468
  - Il.ifold469
  - Il.iufb470
  - Il.ivfb471
  - Il.kaccff472
  - Il.kbusff473
  - Il.kp474
  - Il.kpdratio475
  - Il.kvff476
  - Il.limitn477
  - Il.limitp478
  - Il.mfoldd479
  - Il.mfoldr480
  - Il.mfoldt481
  - Il.mifold482
  - Il.offset483
  - Il.VCMD484
  - Il.vufb485
  - Il.vvfb486
- MOTOR Parameters487
  - Motor.brake488
  - Motor.brakerls489
  - Motor.brakestate490
  - Motor.ctf0491
  - Motor.icont492
  - Motor.inertia494
  - Motor.ipeak495
  - Motor.kt496
  - Motor.lqll497
  - Motor.name498
  - Motor.phase499
  - Motor.pitch500
  - Motor.poles501
  - Motor.r502
  - Motor.rtype503
  - Motor.tbrakeapp504
  - Motor.tbrakerls505
  - Motor.temp506
  - Motor.tempfault507
  - Motor.tempwarn508
  - Motor.type509
  - Motor.vmax510
  - Motor.voltmax511
- MT Parameters and Commands513
  - Mt.clear515
  - Kollmorgen | December516
  - Mt.continue519
  - Mt.dec520
  - Mt.emergmt522
  - Mt.list523
  - Mt.load524
  - Mt.move525
  - Mt.mtnext526
  - Mt.num527
  - Mt.p528
  - Mt.params529
  - Mt.set530
  - Mt.tnext531
  - Mt.tnum532
  - Mt.tposwnd533
  - Mt.tvelwnd534
  - Mt.V535
  - Mt.VCMD536
- PL Parameters537
  - Pl.err538
  - Pl.errfthresh539
  - Pl.errmode541
  - Pl.errwthresh542
  - Pl.fb543
  - Pl.fbsource544
  - Pl.intinmax545
  - Pl.intoutmax546
  - Pl.ki547
  - Pl.kp548
  - Pl.modp1549
  - Pl.modp2550
  - Pl.modpdir551
  - Pl.modpen552
- PLS Parameters and Commands553
  - Pls.en554
  - Pls.mode555
  - Pls.p1 to Pls.p8556
  - Pls.reset557
  - Pls.state558
  - Pls.t1 to Pls.t8559
  - Pls.units560
  - Pls.width1 to Pls.width8562
- REC Parameters and Commands563
  - REC.CH1 to REC.CH6564
  - Rec.done565
  - Rec.gap566
  - Rec.numpoints567
  - Rec.off568
  - Rec.recprmlist569
  - Rec.retrieve570
  - Rec.retrievedata571
  - Rec.retrievefrmt572
  - Rec.retrievesize574
  - Rec.stoptype575
  - Rec.trig576
  - Rec.trigparam577
  - Rec.trigpos578
  - Rec.trigprmlist580
  - Rec.trigslope581
  - Rec.trigtype582
  - Rec.trigval583
- REGEN Parameters584
  - Regen.rext585
  - Regen.text586
  - Regen.type587
  - Regen.wattext588
- SM Parameters589
  - Sm.i2590
  - Sm.mode591
  - Sm.move594
  - Sm.t1595
  - Sm.t2596
  - Sm.v1597
  - Sm.v2598
- STO Parameters599
- SWLS Parameters600
  - Swls.limit0601
  - Swls.limit1602
  - Swls.state603
- UNIT Parameters605
  - Unit.accrotary606
  - Unit.label607
  - Unit.pin608
  - Unit.plinear609
  - Unit.pout610
  - Unit.protary611
  - Kollmorgen | December612
  - Unit.vrotary613
- VBUS Parameters614
  - Vbus.ovwthresh615
  - Vbus.rmslimit616
  - Vbus.uvfthresh617
  - Vbus.uvmode618
  - Vbus.uvwthresh619
  - Vbus.value620
- VL Parameters621
  - Vl.arpq1 to Vl.arpq4623
  - Vl.artype1 to Vl.artype4625
  - Vl.arzf1 to Vl.arzf4626
  - Vl.arzq1 to Vl.arzq4627
  - Vl.busff629
  - Vl.CMD630
  - Vl.cmdu631
  - Vl.err632
  - Vl.fb633
  - Vl.fbfilter634
  - Vl.fbsource635
  - Vl.ff636
  - Vl.genmode637
  - Vl.kbusff638
  - Vl.ki639
  - Vl.ko640
  - Vl.kp641
  - Vl.limitn642
  - Vl.limitp643
  - Vl.model645
  - Vl.obsbw646
  - Vl.obsmode647
  - Vl.thresh648
- WS Parameters649
  - Ws.distmin650
  - Ws.imax651
  - Ws.mode652
  - Ws.distmax653
  - Ws.numloops654
  - Ws.state655
  - Ws.t657
  - Ws.tdelay1658
  - Ws.tdelay2659
  - Ws.tdelay3660
  - Ws.vthresh661
Appendix B664
- Safety Instructions687
- Safety Instructions692
- Basic Features Implemented by Canopen703
- Canopen Communication Profile704
- Canopen Drive Profile719
  - Canopen Emergency Messages and Error Codes720
  - General Definitions723

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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