Kollmorgen AKD - User Manual

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Questions and Answers

J
Julia CruzAug 14, 2025
What to do if the motor does not rotate with Kollmorgen DC Drives?
- C
  Christopher HicksAug 14, 2025
  If the motor isn't rotating, several factors could be at play. First, ensure the drive is enabled, and the software enable is activated. Check for any breaks in the setpoint cable and verify the motor phase sequence is correct. Also, confirm that the brake is released, the drive isn't mechanically blocked, the motor pole number is correctly set, and the feedback is properly configured. To resolve this, apply the ENABLE signal, set the software enable, check the setpoint cable, correct the motor phase sequence, check the brake control, check the mechanism, set the motor pole number, and set up the feedback correctly.
D
dixonjosephAug 17, 2025
How to fix a communication fault in Kollmorgen DC Drives?
- S
  Sean GarciaAug 17, 2025
  A communication fault may occur due to using the wrong cable, plugging the cable into the wrong position on the drive or PC, or selecting the wrong PC interface. The solution is to plug the cable into the correct sockets on both the drive and the PC, and ensure that you have selected the correct interface.
K
Kathy StantonAug 21, 2025
Why Kollmorgen DC Drives does not enable?
- C
  Craig BensonAug 21, 2025
  If the drive doesn't enable, it could be due to the HW Enable not being wired or the HW or SW Enable not being set. To fix this, connect HW Enable (X8 pin 4) and apply 24V to HW Enable. Also, select SW Enable in WorkBench / Fieldbus.
A
Amanda AlvarezAug 25, 2025
What causes motor overheating in Kollmorgen DC Drives?
- J
  Julia Miller PhDAug 25, 2025
  Motor overheating can occur if the motor is operating above its rated capacity or if the motor current settings are incorrect. To address this, verify the motor and drive sizing, and ensure that both the motor's continuous and peak current values are set correctly.
C
Christopher FarmerAug 27, 2025
What to do if Kollmorgen DC Drives reports a following error?
- L
  lcrossAug 27, 2025
  A following error can be reported if the Irms or Ipeak is set too low, current or velocity limits are applied, or the acceleration/deceleration ramp is too long. To resolve this, verify the motor/drive sizing, ensure that IL.LIMITN/P and VL.LIMITN/P are not limiting the drive, and reduce DRV.ACC/DRV.DEC.
B
Brian EllisAug 31, 2025
How to stop motor oscillation in Kollmorgen DC Drives?
- E
  Eric JohnsonAug 31, 2025
  Motor oscillation can be caused by a gain that is too high in the speed controller, a broken feedback cable shielding, or AGND not being wired up. To resolve this, reduce VL.KP (speed controller), replace the feedback cable, and join AGND to CNC-GND.
G
Gary ShawSep 3, 2025
Why is my Kollmorgen DC Drives running roughly?
- R
  Robert LopezSep 3, 2025
  If the drive is running roughly, it could be because the Kp or Ki (speed controller) is too high, or the filters are set too low. To fix this, reduce VL.KP and VL.KI (speed controller), and refer to the documentation regarding increasing filtering (VL.AR*).
K
Kayla AdamsSep 6, 2025
Why Kollmorgen DC Drives feels too soft?
- W
  William FloresSep 6, 2025
  If the drive feels too soft, it may be because the Kp or Ki (speed controller) is too low, or the filters are set too high. To improve this, increase VL.KP and VL.KI (speed controller), and refer to the documentation regarding reducing filtering (VL.AR*).
W
wanda56Sep 9, 2025
What to do if the Kollmorgen DC Drives installer freezes on 'Please wait while the installer finishes determining your disk space requirements'?
- C
  cjenkinsSep 9, 2025
  This issue during installation can be due to an MSI installer problem or insufficient hard disk space. Cancel the installation and relaunch the installer; you may need to try several times as the problem can be random. Ensure you have enough disk space on your hard disk (approximately 500MB) to allow for a Windows .NET update if necessary. If not, free up some space.

Summary

General Information

About this Manual

Details the manual's scope, content, and related documents for AKD CANopen drives.

Target Group

Identifies personnel qualifications and standards required for the manual's audience.

Safety

Safety Instructions

Provides critical safety warnings for operating and installing the AKD drive.

Installation and Setup

CAN-Bus Interface (X12;X13)

Details the pinout and function of the 6-pin RJ-12 connectors for CAN-Bus connection.

Guide to Setup

Provides a step-by-step procedure for setting up the drive using software and hardware.

CANopen Basics

Important Configuration Parameters

Describes key parameters like FBUS.PARAM01, 02, 04, and 05 for CANopen configuration.

CANopen Communication Profile

Communication Objects

Outlines AKD's support for Network Management, SYNC, Emergency, PDO, SDO, and Nodeguard/Heartbeat objects.

CANopen Drive Profile

CANopen Emergency Messages and Error Codes

Lists error codes, fault/warning codes, and descriptions for internal equipment errors.

PDO Configuration

Explains Receive PDOs (RXPDO) and Transmit PDOs (TXPDO) configuration and mapping.

Device Control (dc)

Details the AKD's motion functions and mode-dependent status machine control.

Profile Position Mode (DS402)

Explains the structure and functional description for applying target positions using setpoints.

Appendix

Object Dictionary

Provides a comprehensive list of reachable objects via SDO or PDO, including their properties.

Examples

Offers practical examples for setup, status machine operation, SDO/PDO usage, and communication tests.

Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing