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The AKD2G can be used in a KAS Motion/Machine control system. This application note outlines new/different features to be cognizant of when developing a KAS application that includes  AKD2G drives. After reviewing this document, contact a KAS application engineer if you want more detail.

WorkBench (version ≥ 2.2.2.4811) has some accessible parameters to tweak the way data are exchanged with the drive. Keywords sent to the drive and answers returned will be grouped together to build bigger packets of data. This is particularly helpful on networks with high latency. It is also useful for slowing down the polling interval to avoid overloading the communication channel on slower networks.

These parameters are accessible in the WorkBench configuration file, which is usually placed in the install directory:

New Features

  • FailSafe over EtherCAT (FSoE) "Black Channel" Communication
  • AKD2G Drive Integration:
    • Backup/Restore
    • AKD2G with SMM options #2 (basic) and #3 (advanced)
  • Robotic Kinematic Transforms: T-Bot, H-Bot, and Gantry
  • IDE Ease-of-Use Enhancements:
    • New Project Comparison view
    • New Create Variable dialog box, also available from the Editors
    • PLCopen Axes Groups in the Project Tree

For more details, please see the attached release note.

The boot time was measured from the point of applying 24V control power to the drives.  The time was measured to specific indicators and functions of the drives.

Note that AC power was already turned on prior to running these tests, so that the drives could automatically enable.  Normally, AC power would be applied after the drives are booted up, and the enable signal would be applied after the drives are “Ready to Operate.”  (See the timing diagrams in the installation manuals.)  But for the sake of taking time measurements without the use of a PLC or control relays, the drives needed to automatically enable after booting up.

New features include:

  • Enhanced AKD2G Drive Integration
  • Map EtherCAT feedback to PLCopen Digitizing Axis
  • Multiple IDE Instances
  • IDE Ease-of-Use Enhancements:
  • Elastic Search capability in On-Line help

See the article for more information.

Many servo applications exist in which it is more practical to use a DC power supply for the motor bus power instead of using AC power.  Some of these include the use of batteries, generators, low voltage DC power supplies, and there are cases where high voltage DC power supplies are used just because of preference or availability.

The following applies to the AKD-x003y through AKD-x024y, where y = 6 or 7 (All AKD drives except for the AKD48).

New Features

  • AKD2G Drive Integration:
    • Single and Multi-Axis drive variants
    • Firmware download
    • Digital and Analog I/O
    • Features not yet available: Capture, Feedback #2-5, Backup/Restore
    • Note: Please contact Kollmorgen for latest AKD2G firmware and KAS software.
  • PCMM Dual-Core model
    • Fully supported with PLCopen and PipeNetwork Motion Engines
  • Multiple KAS versions installed on the same computer
  • IDE Ease-of-Use Enhancements

Help setup the AKD2G in DS402 Profile Velocity mode. 

This document assumes the EtherCAT Master has “free mapping” function available. The ability to select what data is to be shard every update cycle. This information may not make sense to you but (hopefully) it will make sense to the person helping set up your master.

I added the analog and digital I/O to the mapping. That is optional. The position units in my example are 65536 counts/rev. The velocity units in my example are in RPM.

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