Kollmorgen AKD-C Installation Manual Download Page 37

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7.14.2 Switch-off process, standard operation

Hardware Enable input disables all AKD-N power stages immediately. Refer to the

AKD-N

Installation Manual

for drive switch-off behaviour depending on different operational situ-

ations and parameter settings.

The control functions Stop, Emergency Stop and Emergency Off are defined by IEC 60204.
Notes for safety aspects of these functions can be found in ISO 13849 and IEC 62061.

AKD-C Installation | 7 Technical description and data

Kollmorgen | kdn.kollmorgen.com | February 2018

Summary of Contents for AKD-C

Page 1: ...al Edition H February 2018 Valid for AKD C Hardware Revision A Part Number 903 200019 00 Original Document Keep all manuals as a product component during the life span of the product Pass all manuals...

Page 2: ...is a registered trademark and patented technology licensed by Beckhoff Automation GmbH HIPERFACE is a registered trademark of Max Stegmann GmbH SpeedTec is a registered trademark of TE Connectivity L...

Page 3: ...EC Low Voltage and EMC Directives 23 5 3 Conformance with EC Machinery Directive Functional Safety 23 5 4 Conformance with EAC 24 5 5 Conformance with RoHS 24 5 6 Conformance with REACH 24 6 Package 2...

Page 4: ...nsion Drawing 49 8 3 Mounting Example 50 9 Electrical Installation 51 9 1 Important Notes 52 9 2 Guide to Electrical Installation 53 9 3 EMI Noise Reduction 54 9 3 1 Recommendations for EMI noise redu...

Page 5: ...9 11 4 EtherCAT 77 9 12 Service Interface X18 78 9 12 1 Pinout 78 9 12 2 Service Bus Protocols 78 9 12 3 Possible Network Configurations 78 9 13 Push button B1 79 9 14 Rotary Switches S1 Setting IP a...

Page 6: ...AKD C Installation 6 Kollmorgen kdn kollmorgen com February 2018...

Page 7: ...anual 8 2 2 Using the PDF Format 8 2 3 Notes for the Printed Edition paper version 8 2 4 Symbols Used 9 2 5 Abbreviations Used 10 2 6 Standards Used 11 AKD C Installation 2 General Kollmorgen kdn koll...

Page 8: ...The Online Help includes the Para meter and Command Reference Guide which provides documentation for the parameters and commands used to program the drive EtherCAT Communication describes how to use y...

Page 9: ...in prop erty damage This symbol indicates important notes Warning of a danger general The type of danger is specified by the text next to the symbol Warning of danger from electricity and its effects...

Page 10: ...ment Environment LED Light emitting diode LSB Low significant byte or bit MSB Main significant byte or bit NI Zero pulse OSSD Output signals Switching Device PC Personal computer PE Protective earth P...

Page 11: ...EMC IEC 61131 Programmable controllers IEC 61491 Electrical equipment of industrial machines Serial data link for real time com munications between controls and drives IEC 61508 Functional safety of e...

Page 12: ...Installation 3 Safety 3 Safety 3 1 You should pay attention to this 13 3 2 Use as Directed 15 3 3 Prohibited Use 16 3 4 Warning notes placed on the product 16 12 Kollmorgen kdn kollmorgen com February...

Page 13: ...product see product label This number is the link between your product and the manual The product Hardware Revision Number must match the Hardware Revision Number on the cover page of the manual Pay...

Page 14: ...n Keep all covers closed During operation AKD C may have uncovered live sections according to their level of enclosure protection Lethal danger exists at live parts of the device Built in protection m...

Page 15: ...es of group installations and of DC powered drives AKD has not been evaluated by Kollmorgen UL or T V for group installations nor are rat ings defined for DC input voltage Group installations must be...

Page 16: ...the following environments is also prohibited potentially explosive areas environments with corrosive and or electrically conductive acids alkaline solutions oils vapors dusts ships or offshore appli...

Page 17: ...18 4 2 Transport 18 4 3 Storage 18 4 4 Decommissioning 18 4 5 Maintenance and cleaning 19 4 6 Disassemble 19 4 7 System Repair 19 4 8 Disposal 20 AKD C Installation 4 Handling Kollmorgen kdn kollmorg...

Page 18: ...k the unit for visible damage Inform the shipper and the manufacturer of any damage to the package or product 4 3 Storage Store the AKD C in accordance with IEC 61800 2 as follows Store only in the ma...

Page 19: ...e 4 7 System Repair Only professional staff who are qualified in electrical engineering are allowed to exchange parts of the drive system CAUTION Automatic Start During replacement work a combination...

Page 20: ...costs are the responsibility of the sender Send the devices in the original packaging to the manufacturer address North America South America KOLLMORGEN 201 West Rock Road Radford VA 24141 USA KOLLMO...

Page 21: ...C Low Voltage and EMC Directives 23 5 3 Conformance with EC Machinery Directive Functional Safety 23 5 4 Conformance with EAC 24 5 5 Conformance with RoHS 24 5 6 Conformance with REACH 24 AKD C Instal...

Page 22: ...thstand voltage peak of 2 kV Pour utilisation au Canada Suppression de surtension transitoire doit tre install sur le c t de la ligne de ce mat riel et doit tre valu 277 V phase terre 480 V entre phas...

Page 23: ...environmental category industrial environment For noise emission the AKD C01007 meet the requirement to a product of the Category C2 These devices can cause high frequency interferences in non industr...

Page 24: ...of the European Union on the restriction of the use of certain haz ardous substances in electrical and electronic equipment RoHS became operative as from the 3rd of January 2013 Following substances n...

Page 25: ...6 Package 6 1 Package Supplied 26 6 2 Nameplate 26 6 3 Part Number Scheme 27 AKD C Installation 6 Package Kollmorgen kdn kollmorgen com February 2018 25...

Page 26: ...ng X2 of the last AKD N in the strings Accessories Sold Separately Accessories must be ordered separately if required refer to your regional accessories manual Hybrid cables for connection to first AK...

Page 27: ...only not for the order process because not all combinations of features are possible always Customization code includes language version of printed material and not safety relevant customer specials...

Page 28: ...n and Mounting Position 31 7 6 Grounding System 32 7 7 Signal Inputs Outputs 32 7 8 Connectors 33 7 9 Recommended Tightening Torques 33 7 10 Cable Requirements 33 7 11 Cable Length Definition 34 7 12...

Page 29: ...oltage supply Regen circuit for all connected AKD N Built in regen resistor external regen resistor or capacitor module if required Integrated safety Appropriate insulation creepage distances and elec...

Page 30: ...d DC bus link voltage Bus Turn on Delay 3ph 1 sec V 565 to 680 Standby DC power voltage V 55 10 Continuous total output current A 17 Peak total output current for 1 s 3 A 34 Continuous output power at...

Page 31: ...07 25A example Bussmann FWP 25A14F example Siba type aR 25A Cartridge fuse holders example Bussmann CH Series class J 3 poles CH14J3 7 5 Ambient Conditions Ventilation and Mounting Position Storage 18...

Page 32: ...o 30 VDC 2 mA to 15 mA OFF 3 VDC to 5 VDC 1 mA update rate 250 s galvanic isolation for 250 VDC Digital output as per IEC61131 2 type 1 max 30 VDC 100 mA short circuit proof galvanic isolation for 250...

Page 33: ...lbs values 7 10 Cable Requirements The table below describes the recommended interface cross sections and cable require ments in accordance with IEC 60204 For information on the chemical mechanical an...

Page 34: ...is 100 m For system topology information refer to 56 Cable Type Cable usage Available Length m Max Length m CCNCN1 X20 X21 AKD C to AKD N hybrid 3 6 12 24 36 40 Ethernet Cable X10 X11 AKD C to AKD C...

Page 35: ...cted to X14 External regen resistors are described in the regional Accessories Manual 7 13 1 Functional description When the amount of returned energy builds the bus capacitor voltage up enough the AK...

Page 36: ...tion and data 7 14 Switch On and Switch Off Behavior 7 14 1 Switch on behavior in standard operation The diagram below illustrates the correct functional sequence for switching the System on 36 Kollmo...

Page 37: ...switch off behaviour depending on different operational situ ations and parameter settings The control functions Stop Emergency Stop and Emergency Off are defined by IEC 60204 Notes for safety aspect...

Page 38: ...k of electrical shock The STO function does not provide an electrical separation from the power output If access to the motor power terminals is necessary disconnected the drive from mains supply cons...

Page 39: ...7 15 4 Safety characteristic data The systems are described with the following characteristic data Structure STO ISO 13849 1 MTTFd IEC 62061 PFH 1 h SFF TM Years AKD C 1 x AKD N global PL d CAT 3 100...

Page 40: ...al is applied to this input If the STO input goes open circuit then power will no longer be supplied to the connected motors and the drives will lose all torque and coast to a stop In case of using an...

Page 41: ...uctive part can be excluded when permanently connected fixed and protected against external damage e g by cable duct ing armouring or within separate multicore cables or within the IP54 electrical enc...

Page 42: ...mA per AKD N tolerated OSSD pulse duration 300 s STO Status outputs as per IEC61131 2 type 1 max 30 VDC 100 mA galvanic isolation for 250 VDC STO 24 VDC supply PELV acc to EN 60204 1 Output 24 VDC 10...

Page 43: ...e input is 0V or if the communication with one of the connected drives is lost or if no drive is connected to the string or if the local fieldbus doesn t work Possible states of the drives connected t...

Page 44: ...nents of the drive First Method 1 Stop drives in the string with setpoint 0 V Keep drives enabled DANGER Do not enter hazardous area 2 Activate the global STO function for example by opening protectiv...

Page 45: ...the Decentralized System Projecting Guide 7 15 9 4 OSSD test pulses Safety controllers usually check their outputs periodically during the normal operation These test procedures create pulses to the...

Page 46: ...stem with a B6 bridge Therefore RCDs which are sensitive to all currents must be used in order to detect any DC fault current Rated residual currents in the RCDs 10 to 30 mA Protection against indirec...

Page 47: ...8 Mechanical Installation 8 1 Important Notes 48 8 2 Dimension Drawing 49 8 3 Mounting Example 50 AKD C Installation 8 Mechanical Installation Kollmorgen kdn kollmorgen com February 2018 47...

Page 48: ...le stresses In particular do not let any components become bent or any insulation distances altered during transport and handling Avoid contact with electronic components and contacts The device will...

Page 49: ...8 2 Dimension Drawing AKD C Installation 8 Mechanical Installation Kollmorgen kdn kollmorgen com February 2018 49...

Page 50: ...AKD C Installation 8 Mechanical Installation 8 3 Mounting Example Mounting material Four M5 hexagon socket screws to ISO 4762 4 mm T handle Allen key 50 Kollmorgen kdn kollmorgen com February 2018...

Page 51: ...iring 58 9 6 Connection Overview 59 9 7 Electrical Supply Connection 61 9 8 DC Bus link X14 64 9 9 Drive String Connection 70 9 10 I O Connection 73 9 11 Motion Bus Interface X10 X11 77 9 12 Service I...

Page 52: ...to the drive while it is live Wait at least 7 minutes after disconnecting the drive from the main sup ply power before touching potentially live sections of the equipment e g contacts or undoing any...

Page 53: ...red AKD N drives to string 1 or string 2 Connect the Enable input and the digital output if required Connect the STO inputs and STO status outputs for the used strings 38 Connect the auxiliary supply...

Page 54: ...AKD C panel Electrically con ductive panels such as aluminum or galvanized steel are preferred For painted and other coated metal panels remove all coating behind the drive Ensure good ground connecti...

Page 55: ...pprox 100 mm taking care not to damage the braided shield Push the braided shield 1 back over the cable and secure with a rubber sleeve 2 or shrink sleeve Shorten all the wires apart from the protecti...

Page 56: ...rve total power current restrictions described in the Decent ralized System Projecting Guide Number of AKD C limited by fieldbus protocol Sum of output current of string 1 and string 2 17 A use coinci...

Page 57: ...9 4 3 Example for several AKD C AKD C Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com February 2018 57...

Page 58: ...or green with one or more yellow stripes must not be used other than for protective earth PE wiring When installing or replacing cables use only standardized components which complies to the specifica...

Page 59: ...9 6 Connection Overview 9 6 1 Connector assignment AKD C Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com February 2018 59...

Page 60: ...AKD C Installation 9 Electrical Installation 9 6 2 Connection diagram 60 Kollmorgen kdn kollmorgen com February 2018...

Page 61: ...page illustrates all the possible connection variations for different electrical supply net works An isolating transformer is required for 120V 240V networks to get a minimum voltage of 400V 10 AKD C...

Page 62: ...2 9 7 2 1 Three phase connection Directly to 3 phase supply network supply networks 61 Fusing such as fusible cut outs to be provided by the user 31 Pin Signal Description 1 L1 Line 1 2 L2 Line 2 3 L3...

Page 63: ...ly split into a control supply to power the AKD C electronics and a supply voltage to power the connected AKD N drives in case of switched off AC mains power Standby power is limited to 260 W at 24 V...

Page 64: ...s are different Only devices with mains supply from the same mains identical mains phases and voltage may be connected by the DC bus link Use unshielded single cores with a maximum length of 200 mm Us...

Page 65: ...ical data on the brake circuit 35 Fusing such as fusible cut outs to be provided by the user 31 The brake circuit RB RB is short circuit proof Observe the prohibition of continuous oper ational short...

Page 66: ...ery back the 24 V supply separately KCM E Expansion module for both applications Expansion modules are available in two capacitance classes The KCM modules may only be connected to AKD with 400 480 V...

Page 67: ...ction cable X1 and PE line Discharge aids plug in bridge are removed Proceed as instructed below 1 Switch on the line voltage after the AKD C has finished the 24V boot process 2 Enable the AKD and ope...

Page 68: ...in the switching cabinet Set AKDundervoltage limit VBUS UVTHRESH to a value significantly below 470V DC otherwise AKD will switch off before KCM P provides energy to the DC bus link KCM E assembled an...

Page 69: ...modules to self discharge If you cannot wait for the duration of the self discharge time you must force the modules to discharge Follow the procedure described below when forcing the modules to dis ch...

Page 70: ...k Systemtechnik GmbH Fabrikstra e 10 71570 Oppenweiler Germany Phone 49 0 7191 482 0 Website www murrplastik de E Mail info murrplastik de Solution for rotary tables If AKD N must be mounted on a rota...

Page 71: ...9 9 1 String assignment AKD C Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com February 2018 71...

Page 72: ...e the AKD C to communicate with all connected AKD N via a four line bus medium This connector is configured with the Koll morgen CCNCN1 cable 33 These ports may not be directly connected to standard E...

Page 73: ...g 1 76 X16 2 STO Status for DC Power String 2 STO Status 2 Status of STO for string 2 X16 3 STO 24 VDC STO 24 V 24 VDC for STO signals X16 4 STO GND STO GND GND for STO 24 V X16 5 STO GND STO GND GND...

Page 74: ...ble is mandatory The output stage of the AKD N drives which are connected to the AKD C are enabled by applying the ENABLE signal Terminal X15 3 Enable is possible only if the input STO Enable 1 or 2 v...

Page 75: ...be found in the setup software If the output is to be assigned to a pre programmed function then the parameter set must be saved in the AKD C Technical characteristics As per IEC61131 2 type 1 Floatin...

Page 76: ...lose max 10 ms Time to open max 10 ms All faults cause the FAULT contact to open and the AKD N output stages to be switched off if a fault occurs the internal hardware ready signal is inhibited no pow...

Page 77: ...t 4 5 n c n c 6 Receive Transmit 7 8 n c n c 9 11 2 Bus Protocols Protocol Type Connectivity Option EtherCAT Motion bus EC 9 11 3 Network configuration 9 11 4 EtherCAT AKD C01007 CBEC can be connected...

Page 78: ...AKD C the green LED on the RJ45 connector and on your PC or network switch are both illuminated If both lights are illuminated then you have a good electrical con nection The X18 service port of an AK...

Page 79: ...9 254 x x 1 to 9 Prepared for Static IP Address Currently out of function The PC subnet mask must be set to 255 255 255 0 or 255 255 255 128 Dynamic IP addressing DHCP and Auto IP With S1 set to 0 the...

Page 80: ...10 Setup 10 Setup 10 1 Important Notes 81 10 2 Setup software WorkBench 82 10 3 Initial System Test 85 10 4 Fault and Warning Messages 87 10 5 Troubleshooting the AKD C 88 80 Kollmorgen kdn kollmorgen...

Page 81: ...work and only with switched off mains supply and secured against restart WARNING Automatic Start Risk of death or serious injury for humans working in the machine The drive might restart automatically...

Page 82: ...set up with the help of this soft ware and during this procedure the drive system can be controlled directly by the service functions Only professional personnel who have the relevant expertise 13 are...

Page 83: ...SFD EnDAT 2 2 2 1 and BiSS are plug and play compatible Motor nameplate data is stored in the feedback device and read by the drive automatically at startup Non plug and play Kollmorgen motors are sto...

Page 84: ...software WorkBench Click it and follow the instructions Autostart function deactivated Insert the DVD into a free data drive Click Start task bar then Run Enter the program call x index htm x correct...

Page 85: ...C Installation Manual for more information 10 3 2 Set IP address The AKD C node address can be set with the rotary switch 79 with the WorkBench setup software or via the fieldbus 10 3 3 Confirm connec...

Page 86: ...tablished all AKD N connected to this device are listed Select one of these drives and the AKD Overview screen appears Your drive appears in the navigation area on the left of the screen Right click o...

Page 87: ...I for the entire list of faults Eliminate errors and faults in compliance with work safety rules Troubleshooting only by qualified and trained staff More information about fault messages causes remedy...

Page 88: ...unication fault F626 Power Board FPGA not configured F627 Control Board Watchdog fault F628 Data package on string 1 not received by AKD C or AKD N F629 Data package on string 2 not received by AKD C...

Page 89: ...CAT 77 F Fault messages 87 FAULT relay 76 Fieldbus String interface 72 Fusing 31 G Global STO 38 grommets 70 Grounding 53 H Humidity in operation 31 Storage 18 Transport 18 I I O Connection 73 Initial...

Page 90: ...18 Standards used 11 STO 38 STO Response Time 39 STO signals 76 Storage 18 Supply networks 61 Switch on switch off behavior 36 Symbols used 9 T Temperature in operation 31 Storage 18 Transport 18 Tig...

Page 91: ...rrected notes for slip rings and IP67 grommets static IP addressing removed Package supplied extended Use as Directed DC supply grouping notes KSM notes removed output power in kVA LVD 2014 35 EG EMCD...

Page 92: ...the knowledge base for answers get downloads and suggest improvements North America KOLLMORGEN 201 West Rock Road Radford VA 24141 USA Web www kollmorgen com Mail support kollmorgen com Tel 1 540 633...

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