Kollmorgen AKD User Manual

AKD CANopen | 4 Installation and Setup
4.2.1 CAN-Bus activation with AKD-CC models
AKD-CC drive models are Drives, which support EtherCAT and CAN fieldbus types within one common soft-
ware. These CC drive models allow selecting a fieldbus support by setting the DRV.TYPE parameter to a certain
value. CC drive models are delivered with EtherCAT set active.
To activate CANopen, the DRV.TYPE parameter must be changed
1. by software: connect the PC to the AKD and change the parameter DRV.TYPE in the WorkBench terminal
screen (see DRV.TYPE parameter documentation) or
2. by hardware: with the rotary switches S1 & S2 at the front and the button B1 on the top side of the Drive.
The following steps are needed for changing the fieldbus type from EtherCAT to CAN with the rotary switches.
1. Set the rotary switches on the front side of the AKD to the value of 89.
Set S1 to 8 and S2 to 9
2. Press the button B1 for about 3 seconds (starts DRV.NVSAVE).
The seven segment display shows Cn during the process of changing DRV.TYPE to CAN.
Do not switch off the 24[V] power supply while the seven segment shows Cn!
3. Wait until the seven segment display goes back to the original state, no the drive is prepared for CAN.
4. Power cycle the drive by switching the 24 V power supply off and then on again.
The seven segment display shows Er (Error) in case that the DRV.TYPE
instruction failed. In this case please power cycle the drive and contact the
Kollmorgen™ customer support for further help.
18 Kollmorgen™ | November 2012

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