Kollmorgen AKD Installation Manual

AKD Installation | 6 Technical description and data
6.14.2.2 Switch-off behavior using a digital input (controlled stop)
This is a category 2 stop according to IEC 60204 (➜ p. 50).
A digital input can be configured to bring the motor to a controlled stop and then disable the
drive and apply the holding brake.(if present). See the AKD User Guide for information on con-
figuring Digital Inputs.
If velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied
(➜ p. 102).
6.14.2.3 Switch-off behavior using HW Enable input (uncontrolled stop)
This is a category 0 stop according to IEC 60204 (➜ p. 50).
The hardware enable input disables the power stage immediately.
If velocity drops below threshold CS.VTHRESH or timeout occurs the motor holding brake is
applied (➜ p. 102). Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply the
motor holding brake immediately after Hardware Disable.
46 Kollmorgen™ | May 2013

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