AKD Drive
First generation AKD drives
In electrical engineering, a drive is an electronic device to provide power to a motor or servo.
Control device for regulating the speed, torque and position of a motor.
A unit controlling a motor using the current and timing in its coils. support one axis per drive, while AKD2G drives support two axes per drive.
When configuring drives in the EtherCAT Devices tab, you need to designate which motion axis applies to each drive axis, which is the actual axis the drive controls.
See WorkBench 2 in the KAS-IDE for more information.
WorkBench Toolbar
The toolbar provides access to these actions:
- Enable Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set.
Both are required for enabling the drive. / Disable Removal of the ENABLE signal.
Disables power stage. the drive (software enable).
- Start / Stop the Service Motion.
- Mode: Position Position means a point in space which is described by different coordinates.
Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation.
In ACS there can be even more than six coordinates.
If the same position is described in different coordinate systems the values of the coordinates are different. / torque The tendency of a force to rotate an object about an axis.
A force is a push or a pull; a torque is a twist. / velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP
- Disable and Clear Faults: Click this button to clear the fault, then click the Enable button to enable the drive again.
- See Clearing Faults for more information.
Figure 1: AKD Toolbar
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Depending on the number of AKD drives physically present in the EtherCAT network, the KAS Kollmorgen Automation Suite-IDE Integrated Development Environment - An type of computer software that assists computer programmers in developing software.
IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger. might slow down when getting data.
The KAS Runtime In computer science, runtime (or run-time) describes the operation of a computer program, the duration of its execution, from beginning to termination (compare compile time).
In KAS, runtime refers to the virtual machine that manage the program written in a computer language while it is running. is not concerned with this limitation.
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To stop all the AKD drives at the same time, click the Stop button
in the Device Toolbar.
WorkBench Status Bar
The status bar provides the following information on the drive:
- A fault indicator (No Faults / x Faults) that becomes red when any AKD gets a fault.
- Use the Log Messages Settings to get more details on the drive messages.
- The drive status: active / inactive.
- The software (SW) enable status.
- The hardware (HW Hardware) enable status.
Figure 2: AKD Status Bar
For the SW and HW enable status indicators, the color code is:
