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File Description 
This manual describes the accessories for Kollmorgen digital drive systems and servo drive motors. European edition.
Language 
English
Release 
08/2020
Release Date 
Wednesday, August 12, 2020

This sample configuration illustrates setting up a dual-axis AKD2G with dual-axis KSM 12-2 Safety PLC. 

Safety Engineering is not so simple that one design will meet SIL2 for all applications. The intent of this document is to give a functional example of an AKD2G drive and KSM Safety PLC.

Sample KAS Fault Handling code and project has been created for KAS applications that utilize the AKD2G drive. Differences in parameter names and functionality between the AKD and AKD2G led to the new code being created.

The following shows parts of the project starter template (project .kas link below) in which the Program FaultMonitorAKD2G and Subprogram MCFB_AKD2G_Fault are included. The .kas project is for a Dual Axis AKD2G drive. This code can be modified for a single axis AKD2G drive by removing the parts that correspond to the second axis.

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).

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