Kollmorgen AKD-N series Installation Manual Download Page 1

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AKD

Near Servo Drive

Installation Manual

Edition: J, February 2018

Valid for AKD-N, Hardware Revision B

Part Number 903-200018-00

Original Document

Keep all manuals as a product component during the life span of the product. Pass all manuals to
future users and owners of the product.

Summary of Contents for AKD-N series

Page 1: ...Edition J February 2018 Valid for AKD N Hardware Revision B Part Number 903 200018 00 Original Document Keep all manuals as a product component during the life span of the product Pass all manuals to...

Page 2: ...ted technology licensed by Beckhoff Automation GmbH HIPERFACE is a registered trademark of Max Stegmann GmbH SpeedTec is a registered trademark of TE Connectivity Ltd Windows is a registered trademark...

Page 3: ...ives 21 5 3 Conformance with EC Machinery Directive Functional Safety 21 5 4 Conformance with EAC 22 5 5 Conformance with RoHS 22 5 6 Conformance with REACH 22 6 Package 23 6 1 Package Supplied 24 6 2...

Page 4: ...ings 52 8 3 1 Dimensions AKD N preferred mounting 52 8 3 2 Dimensions AKD N with optional heat sink preferred mounting 53 9 Electrical Installation 54 9 1 Important Notes 55 9 2 Guide to Electrical In...

Page 5: ...Test 75 10 3 1 Unpacking mounting and wiring 75 10 3 2 Set IP address 75 10 3 3 Confirm connections 75 10 3 4 Install and start WorkBench 76 10 3 5 Enable the drive using the setup wizard 76 10 4 Fau...

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

Page 7: ...bout this Manual 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 9 AKD N Installation 2 General Kollmorgen kdn kollmorgen com F...

Page 8: ...cludes 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 your system in Ethe...

Page 9: ...from electricity and its effects Warning of danger from hot surface Warning of danger from suspended loads Warning of danger from automatic start 2 5 Abbreviations Used Abbreviation Meaning 53 see pag...

Page 10: ...Installation 3 Safety 3 Safety 3 1 You should pay attention to this 11 3 2 Use as Directed 13 3 3 Prohibited Use 13 3 4 Warning notes placed on the product 14 10 Kollmorgen kdn kollmorgen com February...

Page 11: ...the cover page of the manual Pay attention to the technical data Adhere to the technical data and the specifications on connection conditions If permissible voltage values or current values are exceed...

Page 12: ...ouching potentially live sections of the equipment such as contacts or remov ing any connections Capacitors can have dangerous voltages present up to 7 minutes after switching off the sup ply power Al...

Page 13: ...xN1 series of hybrid cables for connecting AKD N and AKD C devices Power supply AKD N series drives must be powered by AKD C intelligent power supplies with DC voltage from 55 VDC up to 800 VDC Motor...

Page 14: ...urns During operation the heat sink of the drive may reach temperatures above 80 C 176 F Before touching the device check the temperature and wait until it has cooled below 40 C 104 F If these signs a...

Page 15: ...16 4 2 Transport 16 4 3 Storage 16 4 4 Decommissioning 17 4 5 Maintenance and cleaning 17 4 6 Disassemble 17 4 7 System Repair 18 4 8 Disposal 18 AKD N Installation 4 Handling Kollmorgen kdn kollmorg...

Page 16: ...relative humidity no con densation class 2K3 The drives contain electrostatically sensitive components that can be damaged by incorrect handling Electrostatically discharge yourself before touching th...

Page 17: ...ecommissioning 2 Casing Clean with isopropanol or similar cleaning solution Caution Highly Flammable Risk of injury by explosion and fire Observe the safety notes given on the cleaning liquid package...

Page 18: ...of other drive system parts If parts of the drive system for example cables must be replaced proceed as follows 1 Decommission the device see chapter 4 4 Decommissioning 2 Exchange the parts 3 Check...

Page 19: ...C Low Voltage and EMC Directives 21 5 3 Conformance with EC Machinery Directive Functional Safety 21 5 4 Conformance with EAC 22 5 5 Conformance with RoHS 22 5 6 Conformance with REACH 22 AKD N Instal...

Page 20: ...hstand 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 phase...

Page 21: ...al category industrial environment For noise emission the AKD Nzzz07 meet the requirement to a product of the Category C2 motor cable up to 5 m These devices can cause high frequency interferences in...

Page 22: ...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 23: ...6 Package 6 1 Package Supplied 24 6 2 Nameplate 24 6 3 Part Number Scheme 25 AKD N Installation 6 Package Kollmorgen kdn kollmorgen com February 2018 23...

Page 24: ...cessories must be ordered separately if required refer to your regional accessories manual Heatsink 50 mm for AKD N003 006 Heatsink 50 mm for AKD N012 Heat conducting film Motor cable feedback cable H...

Page 25: ...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 26: ...ta 28 7 4 Performance Data 28 7 5 Ambient Conditions Ventilation and Mounting Position 29 7 6 Inputs Outputs 29 7 7 Connectors 30 7 8 Cable Requirements 31 7 9 Cable length definition 32 7 10 Dynamic...

Page 27: ...ACE 1Vp p Sin Cos encoders incremental encoders support onboard Safe Torque Off STO according to IEC 62061 SIL 2 onboard Use with synchronous servomotors linear motors and induction machines Power sec...

Page 28: ...unmounted kW 0 8 0 7 0 3 Peak output current for 5 s 3 Arms 9 18 30 Peak output power for 5 s kW 3 9 7 8 15 6 Motor inductance min mH 6 3 3 2 2 5 Motor inductance max mH 600 300 250 Thermal dissipati...

Page 29: ...500x500x10 mm AKD N01207 heat sink 480x400x84 mm 31 fins The drive operates to full ratings if the mounting surface for the cold plate is between 10 C and 85 C and the surrounding air temperature is...

Page 30: ...Hybrid Connector female 7 poles 4 x 0 34mm 22 awg 3 x 2 5 mm 14 awg 0 5 A 18 A 30 V 850 V Digital I O X3 Connector female 8 poles 8 x 0 34 mm 22 awg 2 A 30 V Motor Hybrid X4 Connector female 8 poles...

Page 31: ...Single Drive STO switch Phoenix SAC 4P M12MS 4 x 0 34 mm AKD N AKM Motor AKD N DB DG DT X4 Motor Power with brake and Hiperface DSL feedback hybrid CCJNAz 015 4 x 1 5 mm 2 x 0 75 mm 2 x 0 34 mm AKD N...

Page 32: ...e Length m Max Length m CCNCN1 AKD C to AKD N hybrid 3 6 12 24 36 40 CCNNN1 AKD N to AKD N hybrid 0 25 0 5 2 0 steps 0 25m 2 5 3 0 25 steps 0 5m 25 CCJNAz AKD N DG DT to Motor hybrid 0 2 0 3 1 0 steps...

Page 33: ...pacitor voltage up enough the AKD C activates the regen circuit to start dumping the returned energy in the regen resistor also called regenerative or brake resistor The AKD C has an internal regen re...

Page 34: ...does not indicate the real voltage level Always measure the voltage in the DC bus link at connector X14 at AKD C and wait until the voltage is below 50 V before handling any component in the decentra...

Page 35: ...drops below threshold CS VTHRESH or timeout occurs during a stop procedure the brake is applied Set parameter MOTOR BRAKEIMM to 1 with vertical axes to apply the motor holding brake immediately after...

Page 36: ...n a suspended load is not properly blocked Functional safety e g with hanging load vertical axes requires an additional mechanical brake which must be safely operated for example by a safety control A...

Page 37: ...able axis immediately if velocity drops below threshold CS VTHRESH or timeout occurs brake is applied Category 0 stop according to IEC 60204 42 DRV DISMODE 2 Use controlled stop to disable drive if ve...

Page 38: ...ccording to IEC 60204 The hardware enable input disables the AKD N power stage immediately If velocity drops below threshold CS VTHRESH or timeout occurs the motor holding brake is applied Set paramet...

Page 39: ...a table describing the specific beha vior of each fault The follwing pages show examples for the possible fault behaviors Switch off behavior for faults that cause an immediate power stage disable Th...

Page 40: ...and data Switch off behavior for faults that cause dynamic braking This is a category 0 stop according to IEC 60204 If velocity drops below threshold CS VTHRESH or timeout occurs brake is applied 40 K...

Page 41: ...controlled stop This is a category 1 stop according to IEC 60204 If velocity drops below threshold CS VTHRESH or timeout occurs brake is applied AKD N Installation 7 Technical description and data Kol...

Page 42: ...Status of this drive nevertheless is monitored in the string STO Status 7 14 2 Local STO control via digital input on AKD N DS DT Option DS and DT on the AKD N offer local STO Enable functionality Th...

Page 43: ...than Kollmorgen is not allowed Changing cables or connectors is not allowed Do not use STO Status signals for functional safety 7 14 6 Response Time Global STO The delay from falling edge at global S...

Page 44: ...rical separation from the power output If access to the motor power terminals is necessary disconnected the drive from AKD C consider the discharging time of the DC Bus link If the safety function STO...

Page 45: ...Status outputs As per IEC61131 2 type 1 Max 30 VDC 100 mA Galvanic isolation for 250 VDC 24 VDC Power supply PELV acc to EN 60204 1 Output 24 VDC 10 Wiring diagram local STO Enable M12 A coded X6 Pin...

Page 46: ...the connected motor slows down without control Use the following functional sequence when the STO function is used 1 Brake the drive in a controlled manner speed setpoint 0 V 2 When speed 0 rpm disabl...

Page 47: ...d Method 1 Stop all drives in the string with setpoint 0 V disable the string 2 Activate the global STO function for example by opening protective screen voltage at AKD C X16 6 or X16 8 0V 3 The corre...

Page 48: ...plication examples refer to the Decentralized System Projecting Guide 7 14 11 4 OSSD test pulses Safety controllers usually check their outputs periodically during the normal operation These test proc...

Page 49: ...8 Mechanical Installation 8 1 Important Notes 50 8 2 Temperature Management 51 8 3 Mechanical Drawings 52 AKD N Installation 8 Mechanical Installation Kollmorgen kdn kollmorgen com February 2018 49...

Page 50: ...es of the AKD N Protect the drive from impermissible stresses In particular do not let any components become bent or any insulation distances altered during transport and handling Avoid contact with e...

Page 51: ...pply voltage AKD N 03 A cold plate 350 mm x 350 mm x 10 mm AKD N 06 A cold plate 500 mm x 500 mm x 10 mm AKD N 12 A heat sink 480 mm x 400 mm x 84 mm 31 fins For a rough overview the three level ratin...

Page 52: ...mounting clamps part of delivery Four M5 hexagon socket screws to ISO 4762 use 4 mm T handle Allen key Heat conducting film AKD N003 006 order code 849 373001 04 Heat conducting film AKD N012 order co...

Page 53: ...t screws to ISO 4762 part of delivery use 3 mm T handle Allen key Heat conducting film AKD N003 006 order code 849 373001 04 Heat conducting film AKD N012 order code 849 374001 04 Heat sink 50 mm opti...

Page 54: ...9 3 System Topology of a Decentralized Servo System 57 9 4 Wiring 58 9 5 Connection Overview 59 9 6 Hybrid Connection X1 X2 64 9 7 I O Connection X3 64 9 8 Motor Power Connection X4 67 9 9 Motor Brake...

Page 55: ...to the AKD N while it is live Wait at least 7 minutes after disconnecting the AKD C from all power supply sources before touching potentially live sections of the equip ment e g contacts or undoing a...

Page 56: ...er on the drive To ensure simple handling observe the connector mounting sequence X2 X1 X4 X5 X3 X6 Connect the hybrid power cable between AKD C X20 or X21 and AKD N X1 max length 40 m Connect the hyb...

Page 57: ...ecentralized Sys tem Projecting Guide Sum of output current of string 1 and string 2 17 A calculate coincidence factor of the axes Standby Power Standby power is limited to 260 W at 24 V for both stri...

Page 58: ...must not be used other than for protective earth PE wiring When installing or replacing cables use only standardized com ponents which complies to the specifications in chapter 7 8 Cable Requirements...

Page 59: ...9 5 Connection Overview 9 5 1 Connector assignment AKD Nzzz07 DB 9 5 2 Connector assignment AKD Nzzz07 DG DT AKD N Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com February 2018 59...

Page 60: ...AKD N Installation 9 Electrical Installation 9 5 3 Connector assignment AKD Nzzz07 DF DS 60 Kollmorgen kdn kollmorgen com February 2018...

Page 61: ...9 5 4 Connection diagram AKD Nzzz07 DB AKD N Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com February 2018 61...

Page 62: ...AKD N Installation 9 Electrical Installation 9 5 5 Connection diagram AKD Nzzz07 DG DT 62 Kollmorgen kdn kollmorgen com February 2018...

Page 63: ...9 5 6 Connection diagram AKD Nzzz07 DF DS AKD N Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com February 2018 63...

Page 64: ...AL IN 2 Programmable 3 STO Status STO Status local STO Status 4 STO Status STO Status local STO Status 5 Digital Input 3 DIGITAL IN 3 Programmable 6 Digital Common DCOM3 Common line for pins 1 2 5 7 D...

Page 65: ...ly fast and are therefore suitable for latch functions for example Technical characteristics Floating reference common line is DCOM3 Sink or Source type sensors possible High 15 to 30 V 2 to 15 mA Low...

Page 66: ...programmed functions can be found in the setup software If an out put is to be assigned to a pre programmed function then the parameter set must be saved in the drive By default the output is not pro...

Page 67: ...vers in the motor winding Only install motors with insulation class F acc to IEC60085 or above Only install Kollmorgen cables that meet the requirements 31 9 8 1 Connector X4 AKD Nzzz07 all variants h...

Page 68: ...ould result when a suspended load is not properly blocked Functional safety requires and additional external mechanical brake operated by a safety controller Add a safe mechanical blocking for instanc...

Page 69: ...combined in one hybrid cable can be connected to X4 of all AKD Nzzz07 vari ants AKD Nzzz07 DS DF with single cable connection For sufficient voltage supply of the feed back system connected to X4 a sp...

Page 70: ...Hall W Hall W 4 1 5 1 6 COM DAT DAT DAT DAT DAT Zero Zero 7 COM DAT DAT DAT DAT DAT Zero Zero 8 Thermal control 9 Thermal control 10 5 V 5 V 5 V 5 V 5 V 8 to 9 V 5 V 5 V 11 0 V 0 V 0 V 0 V 0 V 0 V 0...

Page 71: ...Pinout AKD Nzzz07 DS DT An additional digital input STO Enable releases the power output stage of the drive as long as a 24 V signal is applied to this input The local STO Enable input is galvanically...

Page 72: ...D N Installation 10 Setup 10 Setup 10 1 Important Notes 73 10 2 Setup software WorkBench 74 10 3 Initial System Test 75 10 4 Fault and Warning Messages 77 72 Kollmorgen kdn kollmorgen com February 201...

Page 73: ...against restart WARNING Automatic Restart Risk of death or serious injury for humans working in the machine The drive might restart automatically after power on voltage dip or interruption of the sup...

Page 74: ...lt if you use unchecked data After loading a set of data you must therefore always check all parameters before enabling the drive For most applications you can use a PC and WorkBench the drive setup s...

Page 75: ...re to the AKD C connector X18 See AKD C Installation Manual for more information 10 3 2 Set IP address The Node address can be set with the WorkBench setup software or via the used fieldbus 10 3 3 Con...

Page 76: ...on to the drive has been established the AKD Overview screen appears Your drive appears in the navigation area on the left of the screen Right click on your drive name and select Setup Wizard from the...

Page 77: ...string several drives might show warnings or faults All actual faults and warnings can be monitored with the WorkBench setup software via the AKD C service interface or with the used motion controller...

Page 78: ...AKD N Installation 10 Setup 78 Kollmorgen kdn kollmorgen com February 2018...

Page 79: ...on 29 F Fault messages 77 Feedback 69 G General 7 Grounding 56 H Humidity in operation 29 Storage 16 Transport 16 Hybrid Connection 64 I I O Connection 64 Initial Drive Test 75 Inputs Basic Data 29 Pr...

Page 80: ...O 42 Global STO 42 Local STO 42 Response Time 43 Storage 16 Switch on switch off behavior 35 Symbols used 9 T Temperature in operation 29 Storage 16 Transport 16 Transport 16 U UL Markings 20 Use as d...

Page 81: ...tion examples corrected input power in kVA output power in kW LVD 2014 35 EG EMCD 2014 30 EG F 09 2016 Standard for vibration class corrected 12A and DG DT versions added warning notes updated project...

Page 82: ...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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