AKD EtherCAT | 3 Installation and Setup
3.1 Important Instructions
DANGER
High Voltage up to 900 V.
There is a danger of serious personal injury or death by electrical shock
or electrical arcing. Capacitors can still have dangerous voltages present
up to 7 minutes after switching off the supply power. Control and power
connections can still be live, even if the motor is not rotating.
l
Never remove electrical connections to the drive while it is live.
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Wait at least seven minutes after disconnecting the drive from the
main supply power before touching potentially live sections of the
equipment (e.g. contacts) or undoing any connections.
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To be sure, measure the voltage in the DC bus link and wait until it
has fallen below 50 V.
WARNING
Automatic Restart
Risk of death or serious injury for humans working in the machine. Drives
with EtherCAT are remote-controlled machines. They can start to move at
any time without previous warning. The drive might restart automatically
after power on, voltage dip or interruption of the supply voltage, depend-
ing on the parameter setting.
l
Place a warning sign ("WARNING: Possible Automatic Start" or
similar) to the machine.
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Ensure, that power on is not possible, while humans are in a
dangerous zone of the machine.
Install the drive as described in the
Installation Manual
. The wiring for the analog setpoint
input and the positioning interface, as shown in the wiring diagram in the
Installation Manual
,
is not required. Never break any of the electrical connections to the drive while it is live. This
action can result in destruction of the electronics.
The drive's status must be monitored by the PLC to acknowledge critical situations. Wire the
FAULT contact in series into the emergency stop circuit of the installation. The emergency
stop circuit must operate the supply contactor.
It is permissible to use the setup software to alter the settings of the drive. Any other alter-
ations will invalidate the warranty. Because of the internal representation of the position-con-
trol parameters, the position controller can only be operated if the final limit speed of the drive
does not exceed:
rotary
linear
at sinusoidal² commutation: 7500 rpm
at sinusoidal² commutation: 4 m/s
at trapezoidal commutation: 12000 rpm. at trapezoidal commutation: 6.25 m/s
All the data on resolution, step size, positioning accuracy etc. refer to calculatory values.
Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account. If the
final limit speed of the motor must be altered, then all the parameters that were previously
entered for position control and motion blocks must be adapted.
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Kollmorgen | kdn.kollmorgen.com | October 2017
