Kollmorgen Support Network
The below represents frequent questions our support, engineering and sales teams have been asked over the years. If you have a question, please submit our contact us form to reach our application engineering team.
The biggest difference is the pin count between SFD and SFD3. SFD has 4 pins whereas SFD3 only has 2 pins. The performance specs (feedback resolution, data channel resolution, etc.) are the same between the two.
AKD2G is where this difference matters most. If you select SFD3, you will be able to use the hybrid connector for both motor power and feedback. If you select SFD, you will need either X23 or SFA to connect the feedback.
The checksum value from DRV.NVCHECK is calculated based on parameter values in RAM. So DRV.NVSAVE is not required prior to running DRV.NVCHECK. If you change a parameter value and don't save it, it will revert to the value in NV upon a reboot. If you are writing to parameter values from a master as a recipe after every bootup, then saving with DRV.NVSAVE is not necessarily required.
If you change a parameter value and want to go back to what was last saved to NV, you can either reboot the drive or use DRV.NVLOAD.
A customer was working on building a system that incorporates the Kollmorgen workbench, AKD-P00307, and AKMH24D-CCK2R Motor and needed more details.
Answer:
The 07 in the AKD model number refers to high voltage, meaning 400/480VAC. If you want to run with 220VAC (as low as 208VAC), you must set VBUS.HALFVOLT = 1. This sets the overvoltage threshold, regen threshold, and inrush threshold appropriately for 220/240V. Also set the undervoltage fault and warning thresholds to appropriate values. You will see the "green" allowable voltage range in the Power screen meter move to the desired levels.
VBUS.HALFVOLT help page: Webhelp VBUS.HALFVOLT
Siehe Referenzliste.
See the Reference table.
When changing the frequency of the sinusoidal profile, you may notice noise and resonance at different frequency values. There are several possible causes.
EMI - Make sure all your cables are properly shielded and ground the shields. Make sure the analog input wiring is twisted-pair and shielded. Follow the recommendations in the articles on this site: Grounding and Shielding Landing Page (Prevent Noise Issues) | Kollmorgen
Tuning - The resonance could be due to improper tuning. If the velocity loop is in the drive and the position loop is in the controller, you must tune both to make sure they are balanced. You can use the Performance Servo Tuner in Workbench to autotune the velocity loop in the drive, but you will likely need to make manual adjustments to the velocity gains while tuning the position loop in the controller.
Cables - The motor power and feedback cables for the linear motor and linear encoder will move as the motor moves. Make sure to follow proper bend radius limitations. If you are powering the drive with 400V/480VAC, putting the motor power cable and the feedback cable together in a cable track may not be ideal. The cables should be separated by several inches at least. Also, make sure that the cables you are using are rated for flexing. If the cables are not flex rated, as the cables flex/bend, the shield moves and can open up allowing EMI.
Encoder resolution - The 2.5 micron AquadB encoder is relatively low resolution. 2.5 microns = 12800 lines per 32mm (1 pole-pair) = 51200 counts (post quad). That is not the worst resolution, but it is relatively low compared to very high resolution encoders. The resolution affects the overall performance.
EEO - If you are using an Emulated Encoder Output (EEO), the EEO resolution needs to be set as high as possible without exceeding the maximum frequency limit. A low EEO resolution is the same as using a linear encoder with a low resolution. It will give poor performance and make it difficult to tune.
A customer wanted to issue a non-motion based home command (similar to Home Mode 0) and then that reference point would continue to be retained in the drive moving forward (on subsequent power ups the reference point that was set as home will continued to be retained).
Answer:
The home offset that is automatically set by the homing feature upon completion of the homing (AXIS#.HOME.OFFSET) is automatically saved to NV memory immediately after homing is completed. It will be retained through a power cycle.
Home mode 0: the position is set to AXIS#.HOME.P, and AXIS#.HOME.OFFSET is calculated and saved.
Home mode 13: the position is set to the position value of the absolute feedback device (resolver, SFD, SFD3, absolute encoder). Essentially, the position doesn't change, and the "home found" and "home done" bits are set. The drive uses the absolute feedback device's position for reference.
To make the drive retain the homed state (home found and home done bits true) upon bootup, set AXIS#.HOME.SINGLETURNMODE = 1 (the default is 0).
If using a multiturn absolute feedback device, homing is not required. Set AXIS#.HOME.MULTITURNMODE = 1 and use AXIS#.PL.OFFSET to align the axis. You can use this method or the "singleturnmode" method listed above. Either will work.
DBL / DBK with Encoder | Feedback has no defined commutation offset. The commutation offset is determined with the help of the servo amplifier and stored in the encoder memory. |
|---|---|
AKM with Hiperface encoder | Encoder is installed arbitrarily. The commutation offset is determined with the aid of the servo amplifier and stored in the encoder memory. |
AKM with BiSS encoder | Encoder is installed arbitrarily. Commutation offset is set to zero electronically. |
AKM with EnDat encoder | Commutation offset is mechanically set to zero. |
Mit einem aktuellen Betriebssystemen (Windows Vista/7/8) funktioniert die installierte DLL des USB CAN-Dongles nicht mehr. Wenn die Fehlermeldung ILLHW (illegal hardware) erscheint, ersetzen Sie nach der Installation die Datei "PCAN_USB.dll" im Installationsverzeichnis "C:\Programme\Drive Download Utility–USB\" mit der gleichnamigen einzelnen Datei "PCAN_USB.dll" aus dem heruntergeladenen PCAN_USB.ZIP Archiv aus der Downloads.
That depends on the servo amplifier that is used.
| S300 | 5.0 kOhm |
| S400 | 2.0 kOhm |
| S600 | 1.6 kOhm |
| S700 | 5.0 kOhm |
See page Synchronism.
That is an AKM72M (480V). A list of all motor numbers can be found in the Motor Database, available from the Downloads page.
See page Four Quadrant Operation.
No, this is forbidden. Connecting a motor directly to the main supply will destroy the motor. Refer to the chapter "Use as directed" in the instructions manual.
Yes, for the Servostar line it is possible with S300 and S700. See page Cogging Suppression for details. For AKD drive family the feature is available in firmware version 1.15 See Cogging Compensation for details.
Low rotor inertia is the source for this problem, ironless linear motors show a similar behavior.
Solution for drives with S300/S700 servo amplifiers:
Increase the bandwidth of the current control loop with the Smith Predictor (FILTMODE = 2). Refer to page Tuning: Delay Time Compensation with Smith Predictor.
The Endat protocol has been changed by Heidenhain. The firmware used in older S601...620 does not support this protocol. Please use, depending on the serial number, the following firmware version:
Ser.No. < 220.000 : Firmware version 3.76
Ser.No. > 220.000 : latest or current firmware version
Although Windows displays this message and the limited functionality icon for the drive connection, your PC can communicate fully with the drive. This message and the icon are normal for an AKD to PC connection.
This is because you are using the Windows classic theme. To get a white background you must change the theme that Windows is using.
To change the theme go to the Control Panel, select Display, select the Themes tab, and choose a new theme, such as "Windows XP".
See Device not Shown in the Workbench Help for a detailed discussion of this problem.
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