Kollmorgen AKD series User Manual

21.4.13 Fieldbus Parameters
The AKD holds several fieldbus-specific, general purpose parameters. Some of them contain the following Ether-
CAT relevant data:
l FBUS.PARAM02: This parameter activates the synchronization feature of the AKD. The DC feature
must be activated in order to allow the AKD to get synchronized with the master. A value of 1 enables the
drive internal PLL functionality, a value of 0 deactivates this feature.
l FBUS.PARAM03: This parameter contains the Configured Station Alias address of the AKD. An EEP-
ROM emulation write access to the Configured Station Alias address forces the AKD to store the drive
parameters automatically using the DRV.NVSAVE command.
l FBUS.PARAM04: This parameter enables (1) or disables(0) the synchronization supervision of the CAN-
Open or EtherCAT fieldbus.
Default values for this parameter are as follows:
CANopen drive: disabled (0)
EtherCAT drive: enabled (1)
Synchronization supervision is active when FBUS.PARAM 04 = 1 and the first CANOpen Sync message
or first EtherCAT frame is received. When more than three CANOpen sync messages or seven Ether-
CAT frames have not been received and the drive is enabled, fault F125 (“Synchronization lost“), occurs.
AKD User Guide |
Kollmorgen | December 2010 62

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