Kollmorgen AKD Installation Manual

6.14.2 Switch-off behavior
The drive’s 24 V supply must remain constant. Hardware Enable input disables the power
stage immediately. Configured Digital Inputs and fieldbus commands can be used to per-
form controlled stops.
6.14.2.1 Switch-off behavior using the DRV.DIS command
The enable/disable button in WorkBench issues a drv.dis command internally to the drive.
See AKD User Guide for configuring inputs and software commands. Sometimes this enable
signal is called "Software Enable" (SW-Enable).
DRV.DISMODE DRV.DISMODE controls the behavior of the drv.dis command issued
through WorkBench, or terminal, or fieldbus. Consult the AKD User
Guide for configuring.
0 Disable axis immediately, if velocity drops below threshold
CS.VTHRESH or timeout occurs brake is applied. Category 0 stop
according to IEC 60204(➜ p. 50).
2 Use controlled stop to disable drive, if velocity drops below threshold
CS.VTHRESH or timeout occurs brake is applied. Category 1 stop
according to IEC 60204(➜ p. 50).
If velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied
(➜ p. 102).
AKD Installation | 6 Technical description and data
Kollmorgen™ | May 2013 45

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