Kollmorgen Support Network

AKD

The AKD® Series is a proven perfomer, supporting the largest customer installed base, and offers: Industry leading motion control loops, Extensive motor feedback and drive fieldbus support including EtherCAT, EtherNet/IP, Profinet RT, etc, Plug-and-play with Kollmorgen motors, and WorkBench GUI, acclaimed for customer experience and usability.

Current Firmware Version 1.22.00.000
*Current firmware is available in NB versions. NA versions are only supported for 1.14 and under
Firmware Release Date October 2022
Current Hardware Revision

E, F (AKD-x00306, AKD-x00606, AKD-x01206).

For more information, see Hardware Revision
Current Hardware Release Date 01/01/2014
Part Number Scheme Open the PDF
See the WorkBench article for details about the software used to configure and manage the drives.

AKD Variants & Related Products

Model Description
AKD-Bzzzyy-xx Base AKD
AKD-C|Nzzzyy "AKD C | N" a decentralized drive system consisting of the N drive and C power supply
AKD-Mzzzyy-MC.. "AKD PDMM" offers integrated motion controller and programmable machine control.
AKD-Pzzzyy Position indexer
AKD-Tzzzyy "AKD BASIC" is programmable with BASIC
AKD-xzzz06 120/240 VAC variant
AKD-xzzz07 240/480 VAC variant
AKD-xzzzyy-IC.. variant offers a built-in I/O option board with additional digital and analog I/Os

AKD WebHelp

Following are links to the latest versions of the AKD WebHelp in all supported languages.

Interfaces

Digital/analog I/Os MultiFieldbus Position output (encoder emulation) Software interfaces MultiFeedback
  • 1  programmable analog input
  • 1  programmable analog output
  • 7 programmable digital inputs
  • 2 programmable digital outputs
  • 1 relais output (fault)
  • 1 Enable input
  • 1 STO input
  • Emulation incremental encoder   
  • Ethernet TCP/IP Service channel

AKD Hardware Revision Number

Hardware Revision Firmware Version Date Remarks
A 1.0.0 2009‑11 Starting version
C 1.3.11 2011‑01 STO with certification
  1.5.0 2011‑10 PROFINET RT released
D 1.6.0 2012‑03 Control board revision 9
E 1.13.0 and later 2014‑12 Hardware revision for export classification traceability purposes
F 1.13.0 and later 2020‑10* AKD-x00306-xxxx-xxx (only), Power board update due to component obsolescence, new UL 61800-5-1 standard; resistor added to limit STO inrush current, no change to functionality or certifications.
2020‑12* AKD-x00606-xxxx-xxx (only), Power board update due to component obsolescence, new UL 61800-5-1 standard; resistor added to limit STO inrush current, no change to functionality or certifications.
2021‑10* AKD-x01206-xxxx-xxx (only), Power board update due to component obsolescence, new UL 61800-5-1 standard; resistor added to limit STO inrush current, no change to functionality or certifications.

* Best estimate depending on inventory and UL availability to complete certification updates. About this date, Kollmorgen begins shipping revision F.

Articles FAQs Community Questions
Convert AKD-B Parameter File to AKD-P English
jcoleman02 jcoleman02
Trade Compliance English
Bethany…
AKD to AKD2G Migration FAQ English
Ann Pater
AKD EtherCAT Scaling for Velocity, Acceleration, and Deceleration English
jcoleman02 jcoleman02
AKD EtherCAT Flexible PDO Mapping Size Limitations and Padding English
jcoleman02 jcoleman02
AKD1G vs AKD2G EtherNet/IP Command and Response Assembly Structure English
…
AKD Profinet PN.ACCSCALING Examples English
jcoleman02 jcoleman02
Grounding and Shielding Landing Page (Prevent Noise Issues) English
Ann Pater
Migration from AKD EtherCAT IP mode to AKD2G CSP mode English
jcoleman02 jcoleman02
Why does the connection on my PC say Limited or no connectivity available and display a warning symbol at the local area connection icon in Windows?

Although Windows displays this message and the limited functionality icon for the drive connection, your PC can communicate fully with the drive. This message and the icon are normal for an AKD to PC connection.

Why does the background color of some of the screens in Workbench appear gray?

This is because you are using the Windows classic theme. To get a white background you must change the theme that Windows is using.

To change the theme go to the Control Panel, select Display, select the Themes tab, and choose a new theme, such as "Windows XP".

Why can't workbench find my drive on the network?

See Device not Shown in the Workbench Help for a detailed discussion of this problem.

Why can't I see my AKD drive when I try to connect in Workbench?

If you are communicating through the Ethernet port at connector X11, you might not see your drive in the connect window for any of the following reasons:

  • Poor cable connection. Make certain you have a good connection between your computer and the drive by checking to see if you see a blinking light next to the connector (at each end).
  • Improper rotary switch setting. Make certain that the S1 and S2 rotary switches on the front of the drive are set to 0 (bottom position), unless you are attempting a point to point connection and your computer is set up to connect in this manner.
  • Conflict with another device that is networked to your computer (including your wireless connection). In some cases, turning off your wireless card will fix this. You can turn your wireless card back on after you establish communication with the AKD).
  • Improper TCP/IP settings. Make certain that the TCP/IP settings in the network port that you are communicating through are working properly.
What if I cannot connect to my drive using WorkBench, but I have been advised to download new firmware to the drive to fix the problem?

In most cases, firmware is downloaded using WorkBench without setting the hardware into a specific “download” state. If you need to download firmware, but are unable to connect to WorkBench, use the procedure described in Forcing the drive into firmware download mode in the Workbench help.

The drive is running rough and noisy after autotuning procedure. What can I do?

Autotuning of your application delivered unexpected results while tuning the current feed forward value. Please deactivate "Tune Acceleration FF" in the Workbench Performance Servo Tuner screen and restart the tuning.

How long does it take until foldback is totally recovered?

Up to 500 s depending on the active current. See page Foldback Times.

How long can the drive sustain a constant current above Icont before faulting?

5 seconds with Ipeak. Smaller currents can be sustained for longer periods. See Foldback Times.

How do I view parameter information from Workbench screens?

There are two ways to find out about what parameter is behind a text box in Workbench.

  1. Right click on the text box and select Parameter Info from the menu. A popup appears next to the window selected. Note if you clicked the Help, you get taken to the page in the help system. Pressing F1 also does the same.
  2. Click the “Tell me more about this topic” link at the top of each page.
Feature - Add a Description to Motion Tasks
njandroep
Linear Motor Service mode
Tamim
AKD Drive with Renishaw Linear encoder
randal.…
AKD TwinCAT Position mode problem
11045kjh
AKD Motor driver Output Mapping Issue
11045kjh
Example for AKD with TwinCAT3 PLC/C++ code
11045kjh
Linear Motor Analog Control
Tamim
AKD-P / Hilscher CIFX 50E-RE connection issue
11045kjh
Linear Motor Analog Control
Tamim