Kollmorgen AKD series User Manual

21.3.3 Guide to Setup
Only professional personnel with extensive knowledge of control and drive
technology are allowed to setup the drive.
Make sure that any unintended movement of the drive cannot endanger
machinery or personnel.
1. Check assembly/installation. Check that all the safety instructions in the product manual for the drive and
this manual have been observed and implemented. Check the setting for the station address and baud
rate.
2. Connect PC,start WorkBench. Use the setup software WorkBench to set the parameters for the drive.
3. Setup basic functions. Start up the basic functions of the drive and optimize the current, speed and posi-
tion controllers. This section of the setup is described in the in the online help of the setup software.
4. Save parameters. When the parameters have been optimized, save them in the drive.
21.3.4 Setup via TwinCAT NC/PTP System Manager
Before you set up the drive, make sure the following have been completed:
l The AKD is configured with WorkBench and the servomotor is able to move
l A correctly configured EtherCAT card is present in the master.
l TwinCAT software from Beckhoff (NC/PTP-Mode setup) is installed. Install first the TwinCAT System
Manager, restart your PC, then install the option package NC/PTP-Mode.
l The XML description of the drive is available (the XML file on the CD-ROM or on the Kollmorgen website).
l An AKD EtherCAT slave is connected to the EtherCAT master PC.
l The TwinCAT system manager resides in Config-Mode. The current mode of the system manager is dis-
played of the bottom right side of the TwinCAT main-screen window.
Copy the XML description of the drive to the TwinCAT system (usually to the folder c:\TwinCAT\IO\EtherCAT)
and restart the TwinCAT system since TwinCAT analyzes all device description files during start-up.
The following example explains the automatic EtherCAT network setup. The network setup can also be done
manually; please refer to the TwinCAT manual for more details.
AKD User Guide |
Kollmorgen | December 2010 38

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