KOLLMORGEN AKD ®- N servo drive

Feedback interface (X5): 17 pin M23 connector (only for DF/DS models), supporting SFD, EnDat 2.1/2.2, BiSS, HIPERFACE and other feedback types, transmitting power (+5V/0V), clock (CLK ±), data (DAT ±) and other signals, with a maximum cable length of 5m.

Digital I/O interface (X3): 8-pin M12 connector, including 3 digital inputs (2 high-speed inputs, update rate 2 μ s); 1 standard input, update rate of 250 μ s), 1 digital output (maximum 30VDC/100mA), DS/DT models additionally include 2 STO status outputs.

Optional interface (X6): 4-pin M12 connector, DF/DG model for three-level fieldbus (transceiver ±), DS/DT model for local STO input (± 24V, current 80mA).

Cable requirements: Kollmorgen original cables must be used, with the following key models:

Hybrid cable: CCNCN1-0250 (3 × 2.5mm ²+4 × 0.25mm ², maximum length 40m) is used from AKD-C to AKD-N, and CCNNN1-0250 (maximum length 25m) is used for AKD-N cascading.

Motor cable: CCJNAz-0150 (4 × 1.5mm ²+2 × 0.75mm ²+2 × 0.34mm ², maximum length 5m) is used for hybrid connection, and CMxNAz-0150 (power)+CFyNAz-0020 (feedback) is used for dual cable connection.

STO cable: Phoenix SAC 4P-M12MS (4 × 0.34mm ², maximum length 30m) is used for DS/DT models.

Installation and commissioning process

（1） Mechanical installation

Installation preparation: Ensure that the installation surface is made of conductive material (such as aluminum cold plate), and the size of the cold plate needs to meet the requirements (AKD-N00307 needs 350 × 350 × 10mm, AKD-N01207 needs 480 × 400 × 84mm finned heat sink). The surface flatness error should be ≤ 0.1mm, and a thermal conductive film (model 849-373000-04 for 003/006 model, 849-374001-04 for 012 model) needs to be pasted.

Installation steps:

Fix the driver on the cold plate with 4 M5 hex screws (torque 0.7~0.8Nm), ensuring that there is a heat dissipation space of ≥ 50mm around.

If using the optional heat sink (50mm high), four M4 × 16 screws (torque 0.2~0.25Nm) are needed to secure the heat sink to the bottom of the drive.

Check the installation firmness to avoid loose wiring caused by vibration.

（2） Electrical wiring

Wiring sequence: It is recommended to follow the sequence of "X2 (mixed output) → X1 (mixed input) → X4 (motor) → X5 (feedback) → X3 (I/O) → X6 (optional)" to avoid live operation.

Key wiring specifications:

Power and grounding: PE wires need to be double connected or cables with a cross-sectional area greater than 10mm ² should be used. The cold plate should be reliably connected to the system grounding grid (impedance ≤ 0.1 Ω).

Motor wiring: The U/V/W phase sequence should be consistent with the motor nameplate, and the polarity of the brake wire (± BR) should be confirmed (reverse connection can cause brake failure). The shielding layer of the mixed cable should be grounded through a plug.

Feedback wiring: EnDat/BiSS feedback needs to distinguish between clock and data lines to avoid reverse wiring; The DF/DS model with single cable connection needs to plug AKD-N-JUMP-X5 connector (short circuit Pin4/Pin5) into X5 to ensure feedback power supply.

STO wiring: The local STO input needs to be connected to a PELV level 24V power supply (such as a safety controller output), and the cable needs to be wired separately, away from power cables, to avoid interference.

System topology limitations:

AKD-C single string can connect up to 8 AKD-Ns, MKD-C single string can connect up to 14 (hardware revision C), and the total cable length of a single string is ≤ 100m.

Single string total current: AKD-C two string total ≤ 17A, MKD-C single string ≤ 16A; total power: AKD-C two string total ≤ 11kW, MKD-C single string ≤ 10kW, axis coincidence coefficient needs to be calculated to avoid overload.

（3） System debugging

Preliminary preparation:

Install the WorkBench software (downloaded from DVD or official website) and connect the X18 interface between the PC and AKD-C/MKD-C using an Ethernet cable.

Connect the 24V logic power supply of the system (no main power supply required), confirm that the Ethernet indicator light of AKD-C/MKD-C is on, and that the PC can recognize the driver (distinguished by MAC address or name).

Basic configuration (via Setup Wizard):

Select the driver and configure the IP address (default associated with CAN node address, can be manually modified).

Select the motor model (Kollmorgen motor automatically loads parameters, third-party motors require manual input of rated current, inductance, and other parameters).

Configure feedback type (such as EnDat 2.2), set gear ratio (6091h) and feed in constant (6092h).

Perform motor identification and automatic tuning, optimize current loop and speed loop parameters.

Security function testing:

Global STO test: Send an STO signal through the X16 terminal of AKD-C/MKD-C to confirm that the driver torque is cut off and the motor slides freely.

Local STO test (DS/DT models): Disconnect the STO enable signal (0V) of X6 to confirm that the driver cannot be enabled; After restoring 24V, the driver can start normally.

Functional verification:

Enable the driver (hardware enabled+software enabled), send jog commands through WorkBench, and confirm that the motor direction and speed meet expectations.