Kollmorgen AKD-P01206-NBEC-0000 Installation guide

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.

2
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

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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

4
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

5
Part Number Break Down
Support Materials Available
•User Guide (in WorkBench Help)
•WorkBench & firmware
•Sample Motion Task & Setup

6
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: AKD-
CONTROLBOX-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.

7
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.

8
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™.

9
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 192.168.0x 1 x 2 . 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.

10
WorkBench Help
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
parameter, Units, Range, and Data Type.
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

11
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.

12
The command source can be changed from the Workbench setup screen, or from the
terminal screen.
If the DRV.CMDSOURCE is changed in the terminal screen while the drive
is enabled the system can experience a step change in command. This can result in
unexpected motion.
The AKD™ servo drive has to two states when operating. The drive can be enabled or
disabled. This is displayed by two LED’s located on the front of the drive, and in GUI.
There times that the drive can be enabled but not active. For the drive to be active both
the Hardwar enable, HW, and Software enable, SW, must be true, and no faults can
have occurred.
The diagram above is the Boolean representation for DRV.ACTIVE to be true. There
are no faults and the Software Enable (SW) and Hardware Enable (HW) are true.
Below the DRV.ACTIVE is false and the Power Stage is off. Missing are the Software
Enable (SW) and Hardware Enable (HW).

13
Units / Terminal / Watch window / Scope Tool
Units
The Units screen is used to set the three primary drive parameters of acceleration,
velocity and position into user defined application specific units. This will allow the user
to work in clear understandable units. Motion Task will reflect the units as they are
established in this section.
For a motor only we can still set the units to our desired values.
In this example the position units are set to
degrees of the motor shaft, velocity is in RPM
(Revolutions Per Minute) of the motor shaft, and
acceleration is being set to RPS/s (Revolutions
Per Second per Second).
The range of available units allows the system to
duplicate any mechanical scenario found in
industry.
For a motor connected to a lead/ball screw with a lead of 0.5 inches/revolution of the
screw, we can set up our units as follow.
In our example the motor is connected to
the screw directly. The input has be set to
turns to show that this can be expressed
as a turns 1 to 1.
The Lead is set to 0.5”/rev of the motor.
Velocity will be in Inches/second, and acceleration
will be in Inches/second/second.
Position units are set the mechanics of the
device. Since our lead screw was defined
in inches, the position will be provided in
inches as well. Also velocity and
acceleration will be mechanically
dependent.
Workbench provides many examples of
mechanical devices. Each one has a
pictorial of the device to assist the operator
to correctly enter the information.
The gear ratios are entered the same way
for each unit. Either as none, Turns, or
Teeth.

14
Terminal
Terminal Screen allows parameter or command to be check and entered directly
from the drive and to the drive. In most training sessions the terminal screen will be the
first stop. From here the drive can be set back to factory defaults.
Note: It is important to make sure you back up the parameter files before resetting the drive as all
values will be overwritten.
DRV.RSTVAR will restore the drive to its
default values. As you begin typing the
parameter into the terminal screen it will
begin to auto fill. To the right will be a
short explanation of the parameter or
command.
F1 can be used at any time in any screen. This will be the fast way to the help section of
Workbench. While in the terminal screen hitting F1 will take you the section on the
Terminal Screen.
Watch Window
The watch window allows selected parameters to be view in real time such as the
VL.FB, or the velocity feedback of the motor. The watch window can be turn on in three
different ways. The first is from the View tab at the top-left of Workbench.
From the tree:
View-
- Toggle Watch Pane
Ctrl +W will open and close
the watch window. Or the
Icon of the glasses can be
clicked to alternate between
open and closed.
At the bottom of Workbench will appear the Watch Window. In the example below we
are monitoring Position Feedback (PL.FB), Current Feedback (IL.FB), Velocity Feedback
(VL.FB), and the state of Digital Input 1 (DIN1.STATE).
If more than one drive is connected to Workbench Device can be setup for additional
axis and different Parameters can be set for each. This provides a simple solution to
monitor the different elements of motion.
While the watch window is providing the parameter information in real time, it is not
recorded and cannot be played back or viewed at a later time.

15
Scope Tool
The Scope tool allows the user to collect and view six channels of data from the
drive. Using the trigger mode will allow data to be collect at the same points in a move
when repeated.
In the Scope Tool, Channels allows the selection of parameters to be monitored,
displayed, and saved for later recall. Parameters can be selected from the Source
section. Clicking in the box will bring up a list of parameters. Below we see the default
parameters: Current Feedback (IL.FB), Velocity Command (VL.CMD), and Velocity
Feedback (VL.FB).
Clicking in the Source section will pull up a list of standard parameters that can be
select. Not all the parameters available are on the list so an <User Defined> parameter
is available.
Time-base and Trigger allow the Recording time and
Trigger to be setup. The Recording time can be set by
simply adjusting the time in milliseconds. If, however,
there is a need to increase the number of samples within
a given time the button can be click to provide
access to the Sampling frequency and Number of
samples.
The Trigger is used to begin the recording at the same
place in the move every time. The most common
Trigger Type is VL.CMD. Since a position move will
generate a velocity command, VL.CMD, it is a very good
trigger point. The level is set slightly above the ambient
velocity command, or that which holds position.
The slope indicates the direction of the command off which the trigger will occur. If our
first move is positive this will be set to 1-Positive, and if negative it will be set to 0-
Negative. Position is the amount of record time that will be kept in advance of the
trigger. When the system is armed it basically recording data at that point and will keep
the amount of data based on the Position time.
Service Motion
Service Motion allows a move or motion to
be created from the scope screen. This
can be very useful during the tuning or
troubleshooting process. The motion can
be a single pulse, Reversing motion, or a
continuous move.

16
Motion Task
From the scope screen a motion task can
be called. Using the motion task in the
scope will allow the exact motion required
for the application to be triggered and
captured. A plot of the motion task can
show any problems in the motion that may
be occurring.
Servo Gains
Servo Gains, Observer, All Gains, and AR Filter will be addressed in another class. All
of these can be seen from the scope screen and changed to improve the system
performance. As always, care should be taken when changings gains and filters as
systems can become unstable.
Save & Print
After a scope plot has been taken it may
be important to share the scope plot with
your colleagues commissioning purposes,
troubleshooting or bragging right.
The scope plot can be saved as an image
in BMP, JPG, PNG, EMF or WMF format.
The plot can also be saved in a csv (Comma Separated Values) file format which will
allow the data points to be brought into an Excel Spread sheet. This can be very useful
when evaluating the data collected.
The scope plot can also be sent to a print to create a hard copy. Associated with the
print tab is the Page Setup tab which allows the page to be set to the most practical
format for display. For example, Landscape or Portrait.
Measure
The measure tab allows basic information to be displayed. The data displayed is that
set in the Channels tab and will indicated the Average, Minimum, Maximum, Peak to
Peak, and RMS values. The data will be displayed in the units set for the system.
The average value is based on the sum of the data points divided by the number of data
points. The minimum and maximum values are the highest and lowest data points. The
Peak to Peak value is the value from the minimum to maximum values.
RMS (Root Mean Square) is the geometric average of the value.

17
Cursor
To measure the values between two points the
cursor can be used. The left Right Cursors can
be moved to their positions and the distance
between them in Time and the set units can be
displayed.
In the example the left cursor is set on the rising
edge of the digital input 1 state. The right cursor
is set at the end of the last motion task before the
return move. Between the two cursors is the
measured time, Position, Velocity Commanded
and Velocity.
We can see from the measured data that the move time is 1,065.000 milliseconds, or
approximately 1 second.
Since the motion task is set to move out 1,550 degrees and returning to zero, the
position is measure just before the return move. If it was measured after the return
move it would read approximately zero. We measure the distance moved as 1,549.581
degrees.
Display
The Display tab allows adjustments to the displayed data to make the interpretation of
the data easier. Controls allow the viewer to zoom In and Out, Pan Left and Right,
display the current data along with the last three.
The legend can be removed, the Font enlarged, Horizontal and Vertical grids added or
removed, and a Zero Line displayed. The data points can be marked as well, but with a
large number of data points the display can be cluttered.
Show Data will display the individual data points and their magnitude.
Zoom Out All will return the display to its original state.

18
Settings
Settings allows for a series of Preset Scope settings to be created. These settings can
be retrieved and used as needed.
Clicking on the Reload Current tab will bring down the list of preset scope settings.
Loading a preset will set the Channels to be recorded, the recording time, triggers etc.
The preset scope settings can be exported to the computer’s memory and shared as you
would any other file. Files can also be Imported and used. This is very helpful during
long distance troubleshooting where the data being collected will need to be as close as
possible.

19
AKD™ Motion Task
Homing
Before a position move can be executed, the home position must be established.
Workbench provides fifteen different methods to home a system and the type selected
will depend on the application and mechanics to which the motor is connected. Each
home mode provides flexibility when working with the application.
To select the proper home mode, HOME.MODE, will require an understanding of the
application. If the application does not require a known starting point, such as the case
for a conveyor that must index a set distance on a trigger, then a simple home type can
be used. Home mode 0, “Home using current position”, can be used. This will basically
allow the current position to be the starting point.
Mode Description
0 Home using current position
1 Find limit input
2 Find limit input then find zero angle
3 Find limit then find index
4 Find home input, including hardware limit switches
5 Find home input then find zero angle, including hardware limit switches
6 Find home input then find index, including hardware limit switches
7 Find zero angle
8 Move until position error exceeded
9 Move until position error exceeded, then find zero angle
10 Move until position error exceeded, then find index
11 Find index signal, without any precondition
12 Homing to a home-switch, including mechanical stop detection
13 Home using the feedback position
14 Find home input – Only in given direction
Home Mode Types
The home mode types can be broken into: use current position, find the limit switch, find
the home input, move until position error exceeded, and find zero angle or index. Each
of these can be modified to provide an offset from the home position.
Home Type 0
Mode Type 0, use current position, will make the current position the home point.
Although a very basic home type, it can be modified using Offset and Position. This
means the current position doesn’t have to be defined as zero, but can be given any
desired position, and the load can be moved from this position.
Mode Type 0 is very useful when you have a device that is not concerned with the actual
starting point such as a conveyor that will index a defined distance once an input has
been triggered. In other words, where it is beginning is not as important as where it is
going.

20
Home Types 1, 2 & 3
Using Mode types 1, 2, and 3 we see that this is basically looking for the limit input, or
End-Of-Travel switch (EOT). Modes 2 and 3 have the added “… then find zero angle”
and “… then find index.” Each feedback device will have either the zero-angle or the
index. SFD, EnDat Sine Encoder, BiSS, and Resolver will have the zero-angle. The
incremental encoder with and without Halls will have the index. These are precise
positions in the feedback device that do not change unless the motor or feedback is
changed.
Home Types 4, 5 & 6
Using Mode Types 4, 5, and 6 will be looking for a dedicated input specifically for the
Home Reference. This input can be a snap action switch, which is inherently inaccurate,
or a non-contact type switch such as Hall Effect, Inductive Proximity, Capacitive
Proximity, or Photo-detector Proximity switch. As with Mode Types 1, 2, and 3, finding
the Home Reference input can increase the accuracy by adding the zero-angle or index.
Homing to a limit switch, home input switch, or a physical hard stop can provide a
position that may fluctuate depending on the switch type, ambient temperature, or other
environmental or material changes. For example if the machine is using home mode 8,
which will drive the mechanical components into a hardstop, and the hardstop is a piece
of rubber the position will change with temperature as the rubber softens or hardens.
To remove this inaccuracy due to temperature, the load can move to the hardstop then
move off to the zero angle or index of the feedback device. This will make the homing
very repeatable.
In most cases when homing to a limit switch or hardstop an offset is desired. The Home
setup screen provides for this offset. The example below is for homing to a limit switch
with an offset.
Homing Example:
Units have been setup for connection to a
Lead Screw. The lead is 0.5”/rev. The
Position Unit is 3-Custom (mechanics
dependent) which will provide position in
inches when Custom Position Unit is set to
inches; Velocity Unit 3-Custom (mechanics
dependent) which be in inches/second;
Acceleration Unit is 3-Custom (mechanics
dependent) which will be in inches/s².
For this example the load will be homed in the negative direction, a 1-inche offset will be
provided, and the final position will be zero.