Kollmorgen AKD series User Manual

AKD User Guide |
21.1.1 About this Manual
This manual, AKD EtherCAT Communication, describes the installation, setup, range of functions, and software
protocol for the EtherCAT AKD product series. All AKD EtherCAT drives have built-in EtherCAT functionality;
therefore an additional option card is not required.
A digital version of this manual (pdf format) is available on the CD-ROM included with your drive. Manual updates
can be downloaded from the Kollmorgen website.
Related documents for the AKD series include:
l AKD Quick Start (also provided in hard copy). This guide provides instructions for basic drive setup and
connection to a network.
l AKD Installation Manual (also provided in hard copy for EU customers). This manual provides instructions
for installation and drive setup.
l AKD Parameter and Command Reference Guide. This guide provides documentation for the parameters
and commands used to program the AKD.
l AKD CANopen Communication. This manual includes setup information for the CAN interface and
describes the CANopen profile.
Additionally, an EtherCAT XML file, entitled AKD EtherCAT Device Description, describes the drive SDO and
PDO. This file is available on the Kollmorgen website:
http://www.kollmorgen.com/website/com/eng/products/drives/ac_servo_drives/akd_drives_akd_software_
tab.php
21.1.2 Target Group
This manual addresses personnel with the following qualifications:
l Installation: only by electrically qualified personnel.
l Setup: only by qualified personnel with extensive knowledge of electrical engineering
and drive technology
l Programming: Software developers, project-planners
The qualified personnel must know and observe the following standards:
l ISO 12100, IEC 60364 and IEC 60664
l National accident prevention regulations
During operation there are deadly hazards, with the possibility of death, severe
injury or material damage. The operator must ensure that the safety instructions in
this manual are followed. The operator must ensure that all personnel responsible
for working with the servo drive have read and understand the manual.
31 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