Kollmorgen AKD-P01206-NBEC-0000, AKD Series Training Manual
AKD™
AKD™ Positioner Training Manual
Rev 4.2.0
This training module is intended to provide a full understanding of AKD. This manual will help
the user to become familiar with setting up an AKD. This workbook is the prerequisite to the AKD
BASIC training manual.
Material is subject to change based on firmware and WorkBench™ design development.
Table of Contents
Introduction to AKD™ Advanced Kollmorgen Drive™ .................................................. 4
Features of AKD ....................................................................................................... 4
Benefits of AKD ........................................................................................................ 4
Wiring the Drive for Training ........................................................................................ 6
Power Connections ...................................................................................................... 6
Digital Inputs and Outputs ............................................................................................ 7
Overview ..................................................................................................................... 8
Connect to the AKD Drive ........................................................................................ 8
WorkBench Help .................................................................................................... 10
Drive Setup Screens .................................................................................................. 10
Opmode/Source/Enabled/Running ............................................................................ 11
DRV.OPMODE ....................................................................................................... 11
DRV.CMDSOURCE ............................................................................................... 11
IP Address ................................................................................................................... 8
Units ....................................................................................................................... 13
Terminal ................................................................................................................. 14
Watch Window ....................................................................................................... 14
Scope Tool ............................................................................................................. 15
Service Motion ....................................................................................................... 15
Motion Task ........................................................................................................... 16
Servo Gains ........................................................................................................... 16
Save & Print ........................................................................................................... 16
Measure ................................................................................................................. 16
Cursor .................................................................................................................... 17
Display ................................................................................................................... 17
Settings .................................................................................................................. 18
AKD™ Motion Task ..................................................................................................... 19
Homing ...................................................................................................................... 19
Home Mode Types ................................................................................................. 19
Home Type 0 ......................................................................................................... 19
Home Types 1, 2 & 3.............................................................................................. 20
Home Types 4, 5 & 6.............................................................................................. 20
Home Types 7 & 11 ............................................................................................... 21
Home Types 8, 9 & 10 ............................................................................................ 21
Home Type 12........................................................................................................ 22
Motion Task ............................................................................................................... 22
Absolute Move ....................................................................................................... 22
Relative Move ........................................................................................................ 22
Motion Task ........................................................................................................... 23
Electronic Gearing ..................................................................................................... 25
Leader .................................................................................................................... 26
Follower ................................................................................................................. 27
Tuning .......................................................................................................................... 28
Introduction ................................................................................................................ 28
Slider Tuning ............................................................................................................. 29
Bandwidth .............................................................................................................. 29
2
Slider Tuner – How it Works ................................................................................... 30
Limitations of Slider Tuner ...................................................................................... 31
Appendix A – Under Construction ............................................................................. 33
Under Construction ....................................................... Error! Bookmark not defined.
Appendix B – Under Construction ............................................................................. 35
3
Introduction to AKD™ Advanced Kollmorgen Drive™
The AKD Servo Drive is designed with the end user in mind. The AKD provides to
the customer the fastest current and velocity loops on the market. The WorkBench
graphical user interface, or GUI, makes setup fast and intuitive.
Kollmorgen servomotors with intelligent feedback devices become Plug & Play,
removing the need for any motor setup. Tuning can be completed using either the
Automatic mode or Manual mode. The Bode Tool can provide important information
about the system to which the drive is connected.
Features of AKD
• Ease of Use
• Plug & Play motor combinations
• Advance Tuning
• Intuitive Graphical User Interface
• Fastest Current and Velocity Loop on the market
• Versatile Connectivity
• Robust Design
Benefits of AKD
• Fast Setup
• Highest Throughput
• Reduced Down Time
4
Part Number Break Down
Support Materials Available
• User Guide (in WorkBench Help)
• WorkBench & firmware
• Sample Motion Task & Setup
5
Wiring the Drive for Training
The AKD Servo Drive is mounted on the base plate and wired to 115vac for training.
The following schematic is provided since the base plate is prewired for simulation of an
electrical cabinet.
Power Connections
Include on the base plate are:
115vac Circuit Breaker
24vdc Power Supply
Emergency Stop Button
Power Contactor
Auxiliary Contacts for STO
Terminal Strip for easy connection
Ground Bar
Note: Not included on the base plate are the Light Curtain Contacts. They have
been added to show where the contacts could be added in a real world
application.
The I/O connections are made using the manual control I/O box, part number: AKDCONTROLBOX-A. The AKD I/O is Optically Isolated and can be configured for either
Sinking or Sourcing, but not both on the same connector.
Input is sourcing – Drive is sinking Input is sinking – Drive is sourcing
Note: X7 & X8 have individual DC Commons that must be wired up. These DC Commons are
not connected internally. This allows X7 & X8 to be connected as either sourcing or sinking
independently of each other. For example, X7 can be sourcing and X8 can be sinking. But all
the connections on X7 & X8 must be connected in the same configuration.
6
Digital Inputs and Outputs
The Digital I/O connections are made on connectors X7 & X8. Once the connections are
properly made, they can be configured in WorkBench. Digital Inputs 1 & 2 both are high
speed inputs with update rates of 2µs. Digital Inputs 3 to 7 are standard programmable
inputs with update rates of 250 µs.
The function of the input can be programmed in WorkBench and selecting one of the
twenty-one available modes. Each input has a drop down box with the available mode.
The mode selected will depend on
the application requirements.
Keep in mind End Of Travel limits
are, in most cases, Normally
Closed, and Home Switches are
Normally Open.
All of the inputs can have Filters add, or the Polarity changed. Adding filters can be very
helpful when the input is from a mechanical switch that may bounce when closing or
opening.
Setting the filter to 0 – Off will allow all inputs to be
detected. The image to the right is a scope plot of
Digital Input 1 with filters off. The input is coming
from a snap action switch. The bounce of the
switch is clearly visible in the scope plot.
A bouncing input can trigger more than one move.
Adding a filter can insure the trigger will be
acknowledged only once.
The available filters are:
0 – Off (detects all inputs >40ns wide)
1 - 10µs (detects all inputs >10.24µs wide)
2 – 162µs (detects all inputs >163µs wide)
3 – 2.62ms (detects all inputs >2.62ms wide)
Digital Input with filters off.
Polarity allows the input to be changed from Active High to Active Low. Polarity can be
changed in Workbench by clicking Polarity, , or by setting the parameter. The
parameter is, DINx.INV, and will be set as follows.
0 – Input is Active High
1 – Input is Active Low
CAUTION: Changing the Polarity with the drive enabled can cause unexpected motion.
7
WorkBench - AKD™ Positioner
Overview
The Advanced Kollmorgen Drive is the most advanced servo drive on the market. The
WorkBench software used to set-up and program the drive is an intuitive graphical user
interface. The power of the AKD comes for its high level features such as:
• Plug-and-Play compatibility with Kollmorgen motors
• Digital Signal Processor Control
• Optically Isolated I/O
• Highest Current Loop & Velocity Loop Bandwidth
• Fastest Digital Current Loop on the market
• Wide Feedback Range
• Multiple Bus choices
The AKD is a powerful, yet easy to set-up and use, digital servo drive. Its compact
design makes it the industry leader in power density.
Connect to the AKD Drive
To communicate the AKD Servo Drive, the WorkBench graphical user interface is
provided. The most recent released version can be found at: www.kollmorgen.com.
The current versions of Workbench are compatible with the AKD and AKD BASIC.
Open WorkBench™.
8
IP Address
In order to use the AKD, you must be able to communicate with the device using
WorkBench and an Ethernet connection. The AKD uses TCP/IP. Both the AKD and the
PC must connect through this standard in order to communicate.
Automatic (Dynamic) IP Address
The IP Address for each drive can be set automatically, or
dynamically. This is using the Dynamic Host Configuration
Protocol (DHCP). To set the drive to Automatic IP Address
set switches S1 and S2 to 0. Either power the drive up or
cycle power.
The drive will display an I-P on the display followed by the
address. This address can change each time the logic
power is cycled.
Static IP Address
A Static (fixed) IP Address can be set using rotary switches S1 and S2. The IP address
for the drive will be set to 192.168.0x1x2. The last two numbers, x1 and x2, are set by
S1 and S2.
Example:
We want to set the drive address to reflect its location in the system. This drive
is Axis No. 15.
S1 is set to 1 & S2 is set to 5
The IP address of the drive is now: 192.168.015
For your computer to see the drive it must be setup in the same domain. To set your
computer up, go into your control panel. Here you will find either Local Are Connection
or Network and Sharing Center. If it is Network and Sharing Center enter this to find
Local Area Connection. Note that your screen may look differently depending on your
version of Windows.
In the Local Area Connection click, on Properties then scroll down to TCP/IP version 4
and click on Properties again. Set Use the following IP address and enter:
IP Address: 192.168.0.100
Subnet mask: 255.255.255.0
Then click OK.
At this point the drives IP Address will appear in the screen and the PC can connect to
drive. This address will not change until you decide to make a change.
9
WorkBench Help
parameter, Units, Range, and Data Type.
Within WorkBench is provided quick access to the help screens. These can be
accessed using the Help tab, or the F1 key. If the Help tab is used the search screen
within Help will allow you search on a specific topic. In the example a search of
DRV.ACTIVE was made returning 14 results.
Using the F1 key can take the user to a specific section by clicking on the screen, or
within a specific parameter to narrow the search. For example, from the Motor screen
and clicking in the Motor Poles then F1 brings up the Help screen specific to
MOTOR.POLES, the parameter name.
At this point all the general information about
this parameter is displayed. Some of the
important information displayed is Type of
Also include is the Variants Supported which
is helpful if the parameter is to be changed in
other drive types. The Fieldbus Information
provides the format and for this parameter in
EtherCAT COE, CANopen, and Modbus. A
detailed description of the parameter is also
provided as well as Related Topics.
Another helpful feature is using the Right Click in
the parameter box. A drop down box will appear
in which is the selection, “Parameter Info” is
available. When this is click a box with a brief
description about parameter will appear. At times
this is enough information to help complete the
current setup task.
Drive Setup Screens
Drive Overview
Settings
• Motor • Units
• Feedback 1 • Modulo
• Feedback 2 • Limits
• Brake • Home
10
Power
The Power screen allows the bus voltage to be monitored, the DC-bus Over-Voltage
threshold, DC-bus Under-Voltage threshold, Under-Voltage Fault Mode, and the
Operating voltage.
Opmode/Source/Enabled/Running
DRV.OPMODE
The AKD™ servo drive has three operation modes in which it can function. The
operation mode, or DRV.OPMODE, of the drive is selected for the application in which
the drive is being used. The “Opmode” ranges are 0 to 2.
Mode Description
0 Current or Torque mode
1 Velocity mode
2 Position mode
The display is indicating that the drive is in position
mode and not enabled.
The display indicates that the drive is in position
mode and the drive is enabled and active.
DRV.CMDSOURCE
The Command Source sets the method with which the drive will be communicated.
During setup of the drive the command source is usually set to 0 for Service mode.
Value Description
0 Service/TCP/IP
1 Fieldbus
2 Electronic Gearing
3 Analog
5 Program
DRV.CMDSOURCE 5 is only available in the AKD BASIC servo drive and is used in the
programming mode.
11
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