Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 8 Using AKD PDMM in a Vertical Axis
8 Using AKD PDMM in a Vertical Axis
For firmware versions 1-06 and later.
The drive should be configured to execute a controlled stop action in the event of a disable command
(DRV.DISMODE = 2 or 3). This allows the motor to stop and the brake to be applied before the drive stops
holding up the axis and removes power. With a vertical axis application where the motor is equipped with
a brake that is controlled by AKD PDMM, it is recommended to set up the axis to immediately apply the
brake in the event of the drive disabling for any reason. By setting MOTOR.BRAKEIMM (pg 378) = 1
(default is 0=off) the brake will be applied immediately in the event of the drive disabling.
Drive disabling can occur as a result of:
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Hardware Enable removed
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Software Enable removed
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Safe Torque Off (STO) activated
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Fault Condition
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Controlled Stop Input – any input configured as (DINx.MODE = 13 controlled stop)
For a digital input initiated controlled stop (A fault that results in controlled stop. See
Fault and Warning Messages (pg 135)), or a software disable that is configured for a con-
trolled stop (see DRV.DISMODE (pg 273)), the brake will be applied at the end of the
controlled stop.
It is still important to setup the brake delays. This can be done in the brake screen in EWV
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. These brake
delays are used to delay the disabling of the power stage when motion is stopped and the drive is dis-
abled. This is only pertinent for Controlled Stop and Software Disable of the drive. This prevents a slight
drop of the load between the disable and the brake engagement. In other cases (Fault, Hardware Enable,
STO) hardware disconnection prevents AKD PDMM from delaying the disable.
There is an advanced setting for the Hardware Disable. A programmable delay is available on the HW Ena-
ble input so the drive can hold the load before the disable. With a vertical load some movement could
occur when the drive is disabled with a hardware input because the power stage was disabled imme-
diately, before the brake could apply. DRV.HWENDELAY (pg 285) is available which will delay the dis-
abling of the power stage. During this delay time, the drive will apply the brake immediately and
simultaneously attempt to follow normal disable procedures. The value is limited to a maximum of 167
ms. During this time, the drive will attempt to bring the load velocity to 0 RPM. If DRV.HWENDELAY = 0,
the feature is off (this is default).
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