Kollmorgen Servo Drive

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• • First generation AKD, KLD, and Kollmorgen Essentials Drive support one axis per drive.
  • AKD2G drives support either one or two axes per drive.
  • In the EtherCAT Devices tab, assign a motion axis to each drive axis.
  • For dual-axis AKD2G drives, each drive axis must be mapped to a separate motion axis.

In addition to different views, WorkBench provides a WorkBench Toolbar and WorkBench Status Bar to display extra information.

See WorkBench Views in the KAS-IDE.

WorkBench Toolbar

The toolbar provides access to these actions:

• Enable / Disable the drive (software enable).
• Start / Stop the Service Motion.
• Mode: Position / torque / velocity
• Disable and Clear Faults:
  • Click this button to clear the fault.
  • Click the Enable button to enable the drive again.
  • See Clearing Faults.

Figure 1: AKD Toolbar

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• • Depending on the number of Kollmorgen AKD Series Servo Drives physically present in the EtherCAT network, the KAS-IDE might slow down when getting data.
  • The KAS Runtime is not concerned with this limitation.

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• To stop all the Kollmorgen AKD Series Servo Drives views 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) enable status.

Figure 2: AKD Status Bar

For the SW and HW enable status indicators, the color code is:

• Green when it is OK (i.e., everything is ready to do motion).
• Red in case of errors / faults.
• Grey for all other cases (e.g., when SW or HW is not enabled, the status is not green because a motion could not happen, and not red because it is not an error).

See Also