Kollmorgen AKD series User Manual

10.9.6 More/Less Button 105
10.10 Controlled Stop 107
10.10.0.1 Related Parameters and Commands 108
10.10.1 Related topics: 109
10.11 Dynamic Braking 109
10.11.1 Drive Regeneration 109
10.11.1.1 AKD-x00306 to AKD-x00606 109
10.11.1.2 AKD-x01206 to AKD-x02406 and AKD-xzzz07 109
10.12 Emergency Stop 110
10.13 Safe Torque Off (STO) 110
10.14 Under Voltage Fault Behavior 110
11 Using Command Source and Operating Modes 111
11.1 Overview 112
11.2 Using Command Source and Operation Modes 112
11.2.1 Command Source 112
11.2.1.1 Service 112
11.2.1.2 Fieldbus 112
11.2.1.3 Electronic Gearing 112
11.2.1.4 Analog 112
11.2.1.5 Operation Mode 112
11.2.2 Related Parameters 112
11.3 Current Loop 113
11.3.1 Overview 113
11.3.2 Current Loop Gain 113
11.4 Velocity Loop 114
11.4.1 Overview 114
11.4.2 Tabs in the Velocity Loop View 114
11.4.3 Velocity Loop Default Settings and Changes 115
11.4.3.1 Velocity Loop Changes Based on Slider Tuning 115
11.4.3.2 Velocity Loop Changes Based on Autotuner 115
11.5 Position Loop 116
11.5.1 Overview 116
11.5.2 Tabs in the Position Loop View 116
11.5.3 Position Loop Default Behavior and Changes 117
11.5.3.1 Position Loop Changes Based on Slider Tuning 117
11.5.3.2 Position Loop Changes Based on Autotuner 117
12 Creating Motion 119
12.1 Homing 120
12.1.1 Overview 120
12.1.2 Using Homing 120
12.1.2.1 Home Default Window 120
Mode Selection: 121
Settings: 121
Controls: 122
AKD User Guide | Table of Contents
Kollmorgen | December 2010 8

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