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File Description 
AKD2G Servo Drive Firmware for CANopen, EtherCAT, EtherNet/IP, PROFINET, and Analog devices. This firmware complies with recently revised U.S. and E.U. export regulations (E.U. Dual-Use Regulation 428/2009, and U.S. Dual-use regulation EAR Category 3 under ECCN3A225).
Language 
English
Release 
02.09.00.001
Release Date 
Monday, April 4, 2022
File Description 
AKD2G Servo Drive Firmware for CANopen, EtherCAT, EtherNet/IP, PROFINET, and Analog devices. This firmware complies with recently revised U.S. and E.U. export regulations (E.U. Dual-Use Regulation 428/2009, and U.S. Dual-use regulation EAR Category 3 under ECCN3A225).
Language 
English
Release 
02.09.00.000
Release Date 
Friday, April 1, 2022

This article discusses AKD EtherCAT scaling for velocity, acceleration, and deceleration commands and actual velocity.  For the position modes, FBUS.PARAM05 applies to position scaling and the scaling for velocity, acceleration, and deceleration.

PP = Profile Position
IP = Interpolated Position
CSP = Cyclic Synchronous Position
PV = Profile Velocity

The AKD drive supports flexible EtherCAT PDO mapping.  The 4 available flexible RxPDO’s (PDO data for receive direction, commands from master to drive) are mapped using objects 1600h, 1601h, 1602h, and 1603h.  Each one of these RxPDOs is limited to a maximum size of 8 bytes, but historically the sum total size for all four RxPDOs was limited to 20 bytes.  This sum total size for all four RxPDOs was changed in firmware version 1-16-00-002 to 32 bytes, dependent on setting ECAT.LEGACYREV=0.

TxPDO’s have always supported 32 byte of data

File Description 
This manual provides technical data, installation, and operating instructions for Kollmorgen AKT2G I/O slice devices, including Safety devices. Devices include: AKT2G-AN-240-000, AKT2G-AN-400-000, AKT2G-AN-430-000, AKT2G-AT-410-000, AKT2G-AT-425-000, AKT2G-BRC-000-000, AKT2G-DN-002-000, AKT2G-DN-008-000, AKT2G-DNH-008-000, AKT2G-DT-008-000, AKT2G-ECT-000-000, AKT2G-EM-000-000, AKT2G-ENC-180-000, AKT2G-ENC-190-000, AKT2G-PSF-024-000, AKT2G-SDI-004-000, and AKT2G-SDO-004-000
Language 
English
Release 
3.07
Release Date 
Tuesday, December 7, 2021
The following application note demonstrates several examples of using the Touchprobes feature over EtherCAT.
NOTE

This landing page is under construction and is a work-in-progress.

Check for more content and application notes in the near future.

 

File Description 
AKD2G Servo Drive Firmware for CANopen, EtherCAT, EtherNet/IP, PROFINET, and Analog devices. This firmware complies with recently revised U.S. and E.U. export regulations (E.U. Dual-Use Regulation 428/2009, and U.S. Dual-use regulation EAR Category 3 under ECCN3A225).
Language 
English
Release 
02.08.00.000
Release Date 
Friday, October 22, 2021

The AKD command source (DRV.CMDSOURCE) is set automatically by the EtherCAT/CANopen master controller.  There is no need to set this in Workbench when using the fieldbus.  And there is no need to read DRV.CMDSOURCE to verify that it's set correctly as long as there is nothing configured in the drive that would change it, such as a digital input.  Set the fieldbus mode of operation with object 6060h and let that automatically set the correct command source.

EoE Overview

EoE = Ethernet over EtherCAT

This allows communication between Workbench (installed on the EtherCAT master PC) and the AKD using Telnet communication over the EtherCAT network.  It allows connecting to the drive with Workbench without needing a separate PC or Ethernet port.

Types of Connections

EoE connection:

  • EtherCAT Master PC with Workbench installed ---> Telnet over EtherCAT ---> AKD X5 EtherCAT Port

Separate Workbench and EtherCAT connections:

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