Kollmorgen AKD series Installation Manual Download Page 4

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7.12 Cable and Wire Requirements

7.12.1 General

7.12.2 Cable cross sections and requirements

7.13 Dynamic Braking

7.13.1 Regen circuit

7.13.2 Functional description

7.13.3 Technical data for AKD-xzzz06

7.13.4 Technical data for AKD-xzzz07

7.14 Switch-On and Switch-Off Behavior

7.14.1 Switch-on behavior in standard operation

7.14.2 Switch-off behavior

7.14.2.1 Switch-off behavior using the DRV.DIS command

7.14.2.2 Switch-off behavior using a digital input (controlled stop)

7.14.2.3 Switch-off behavior using HW Enable input (uncontrolled stop)

7.14.2.4 Switch-off behavior in the event of a fault

7.15 Stop / Emergency Stop / Emergency Off

7.15.1 Stop

7.15.2 Emergency Stop

7.15.3 Emergency Off

7.16 Safe Torque Off (STO)

7.16.1 Safety characteristic data

7.16.2 Safety instructions

7.16.3 Use as directed

7.16.4 Prohibited use

7.16.5 Technical data and pinout

7.16.6 Enclosure, wiring

7.16.7 OSSD test pulses

7.16.8 Functional description

7.16.8.1 Signal diagram (sequence)

7.16.8.2 Wiring examples

7.16.8.3 Functional test

7.17 Shock-hazard Protection

7.17.1 Leakage current

7.17.2 Residual current protective device (RCD)

7.17.3 Isolating transformers

8 Mechanical Installation

8.1 Important Notes

8.2 Guide to Mechanical Installation

8.3 Mechanical Drawings Standard Width

8.3.1 Control cabinet layout AKD-xzzz06, standard width

8.3.2 Control cabinet layout AKD-xzzz07, standard width

8.3.3 Dimensions AKD-xzzz06, standard width

8.3.4 Dimensions AKD-xzzz07, standard width

8.4 Mechanical Drawings Extended Width

8.4.1 Control cabinet layout, example with AKD-M00306

8.4.2 Control cabinet layout, example with AKD-M00307

8.4.3 Dimensions AKD-xzzz06, extended width

8.4.4 Dimensions AKD-xzzz07, extended width

9 Electrical Installation

9.1 Important Notes

9.2 Guide to electrical installation

9.3 Wiring

9.4 Components of a servosystem

9.5 Connection Overview AKD-B, AKD-P, AKD-T

AKD Installation | Table of Contents

Kollmorgen | kdn.kollmorgen.com | October 2017

Summary of Contents for AKD series

Page 1: ...ASIC Hardware Revision E Valid for AKD BASIC I O Hardware Revision EA Valid for AKD PDMM Hardware Revision EB Part Number 903 200003 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 ...

Page 2: ...ark of Kollmorgen Corporation EnDat is a registered trademark of Dr Johannes Heidenhain GmbH EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Ethernet IP is a registered trademark of ODVA Inc Ethernet IP Communication Stack copyright c 2009 Rockwell Automation sercos is a registered trademark of sercos international e V HIPERFACE is a registered trade...

Page 3: ...andards for the Machine Builder 27 5 2 2 Conformance with RoHS 27 5 2 3 Conformance with REACH 27 5 3 Safe Torque Off STO approval 28 5 4 Conformance with EAC 28 6 Package 29 6 1 Package Supplied 30 6 2 Nameplate 30 6 3 Part Number Scheme 31 7 Technical description and data 32 7 1 The AKD Family of Digital Drives 33 7 2 Ambient Conditions Ventilation and Mounting Position 35 7 3 Mechanical Data 35...

Page 4: ...ing 59 7 16 7 OSSD test pulses 59 7 16 8 Functional description 60 7 16 8 1 Signal diagram sequence 61 7 16 8 2 Wiring examples 62 7 16 8 3 Functional test 64 7 17 Shock hazard Protection 66 7 17 1 Leakage current 66 7 17 2 Residual current protective device RCD 66 7 17 3 Isolating transformers 66 8 Mechanical Installation 67 8 1 Important Notes 68 8 2 Guide to Mechanical Installation 68 8 3 Mecha...

Page 5: ...2 with shielding connection 102 9 8 Electrical Supply Connection 103 9 8 1 Connection to various mains supply networks AKD xzzz06 120V to 240V 103 9 8 2 Connection to various mains supply networks AKD xzzz07 240V to 480V 104 9 8 3 24 V auxiliary supply X1 105 9 8 3 1 AKD x003 to 024 connector X1 105 9 8 3 2 AKD x048 connector X1 105 9 8 4 Mains supply connection X3 X4 106 9 8 4 1 Three phase conne...

Page 6: ...at 2 2 input 5 V X9 141 9 13 3 Pulse Direction signal connection 142 9 13 3 1 Pulse Direction input 5 V X9 142 9 13 3 2 Pulse Direction Input 5 V to 24 V X7 142 9 13 4 CW CCW signal connection 143 9 13 4 1 CW CCW input 5 V X9 143 9 13 4 2 CW CCW input 24 V X7 143 9 13 5 Emulated Encoder Output EEO 144 9 13 6 Master Slave control 145 9 14 I O Connection 146 9 14 1 Overview 146 9 14 1 1 I O connecto...

Page 7: ...r CAN Bus 178 9 20 4 CAN Bus Termination 178 9 20 5 CAN Bus Cable 178 9 20 6 CAN Bus Wiring 179 9 21 Motion Bus Interface X5 X6 X11 180 9 21 1 Pinout X5 X6 X11 180 9 21 2 Bus Protocols X5 X6 X11 180 9 21 3 EtherCAT 181 9 21 3 1 EtherCAT activation with AKD CC models 181 9 21 4 SynqNet 182 9 21 5 PROFINET 182 9 21 6 Ethernet IP 182 9 21 7 sercos III 183 10 Setup 184 10 1 Important Notes 185 10 2 Se...

Page 8: ...3 7 3 Set IP address 196 10 3 7 4 Confirm connections 196 10 3 7 5 Install and start KAS IDE 197 10 3 7 6 Set drive IP address in KAS IDE 198 10 3 7 7 Starting new project 199 10 4 Fault and Warning Messages 202 10 4 1 Fault and warning messages AKD 202 10 4 2 Additional fault messages AKD T 207 10 4 3 Additional error and alarm messages AKD M 208 10 4 3 1 Alarms 208 10 4 3 2 Errors 209 10 5 Troub...

Page 9: ... 2 1 About this Installation Manual 10 2 2 Using the PDF Format 10 2 3 Symbols Used 11 2 4 Abbreviations Used 12 2 5 Referred Standards 13 AKD Installation 2 General Kollmorgen kdn kollmorgen com October 2017 9 ...

Page 10: ...ribes how to use your drive in CANopen applications EtherCAT Communication describes how to use your drive in EtherCAT applications Ethernet IP Communication describes how to use your drive in Ethernet IP applications sercos III Communication describes how to use your drive in sercos applications PROFINET RT Communication describes how to use your drive in PROFINET RT applications SynqNet Communic...

Page 11: ...d could result 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 Warning of danger from hot surface Warning of danger from suspended loads Warning of danger from automatic start Drawing symbols Symbol Description Symbol Description Signal ground Diod...

Page 12: ...up software Kollmorgen Automation Suite Integrated Devel opment Environment used for AKD PDMM drives LED Light emitting diode LSB Low significant byte or bit MSB Main significant byte or bit NI Zero pulse PC Personal computer PE Protective earth PLC Programmable logic control PWM Pulse width modulation RAM Random access memory volatile memory RBrake RB Regen resistor also called a brake resistor R...

Page 13: ...ctromagnetic compatibility 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 electrical electronic programmable electronic safety related systems IEC 61800 Adjustable speed electrical power drive systems IEC 62061 Functional safety of electrical elect...

Page 14: ... Installation 3 Safety 3 Safety 3 1 You should pay attention to this 15 3 2 Use as Directed 17 3 3 Prohibited Use 18 3 4 Warning notes placed on the product 18 14 Kollmorgen kdn kollmorgen com October 2017 ...

Page 15: ...f the product see product label This number is the link between your product and the manual it must match the Hardware Revision Number on the cover page of the manual Pay attention to the technical data Adhere to the technical data and the specifications on connection conditions rating plate and documentation If permissible voltage values or current values are exceeded the drives can be damaged Un...

Page 16: ...ccording to their level of enclos ure protection Lethal danger exists at live parts of the device Built in protection measures such as insu lation or shielding may not be removed Work on the electrical installation may only be per formed by trained and qualified personnel in compliance with the regulations for safety at work and only with switched off mains supply and secured against restart Never...

Page 17: ... other voltage types of supply networks is possible with an additional isolating transformer 103 AKD x04807 In case of mains voltage asymmetry 3 a mains choke 3L0 24 50 2 must be used Periodic overvoltages between phases L1 L2 L3 and the housing of the drive must not exceed 1000 V peak In accordance with IEC 61800 voltage spikes 50 µs between phases must not exceed 1000 V Voltage spikes 50 µs betw...

Page 18: ...ipment damage The drive may not be used with a machine that does not comply with appropriate national directives or standards The use of the drive in the fol lowing environments is also prohibited potentially explosive areas environments with corrosive and or electrically conductive acids alkaline solutions oils vapors dusts ships or offshore applications 3 4 Warning notes placed on the product AK...

Page 19: ...ort 20 4 2 Packaging 20 4 3 Storage 20 4 4 Decommissioning 21 4 5 Maintenance and cleaning 21 4 6 Disassemble 21 4 7 System Repair 22 4 8 Disposal 22 AKD Installation 4 Handling Kollmorgen kdn kollmorgen com October 2017 19 ...

Page 20: ...ith inserts and a label on the outside of the box Model Package Dimensions mm HxWxL Total Weight AKD B P T kg Total Weight AKD M kg up to AKD x00606 113 x 250 x 222 1 7 1 9 AKD x01206 158 x 394 x 292 3 4 3 6 AKD x02406 158 x 394 x 292 5 5 2 AKD x00307 and AKD x00607 158 x 394 x 292 4 3 4 5 AKD x01207 158 x 394 x 292 4 3 4 5 AKD x02407 158 x 394 x 292 6 7 6 9 AKD x04807 390 x 600 x 400 15 3 15 5 4 ...

Page 21: ...g 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 Wait at least 30 minutes after cleaning before putting the device back into oper ation 3 Protective grill on fan Clean with a dry brush 4 6 Disassemble Only professional staff who are qualified in electrical engineering ar...

Page 22: ...ge 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 all connections for correct fastening 4 Setup the system as described in this manual 4 8 Disposal To dispose the unit properly contact a certified electronic scrap disposal merchant In accordance wi...

Page 23: ...pprovals 5 1 Conformance with UL cUL 24 5 2 Conformance with CE 26 5 3 Safe Torque Off STO approval 28 5 4 Conformance with EAC 28 AKD Installation 5 Approvals Kollmorgen kdn kollmorgen com October 2017 23 ...

Page 24: ...ivalentes applicables This product is suitable for use on a circuit cap able of delivering not more than 200 000 rms sym metrical amperes 240 V AKD xzzz06 480 V AKD xzzz07 volts maximum when protected by fuses Ce produit est conçu pour une utilisation sur un circuit capable de fournir 200 000 ampères symétriques rms maximum pour 240 V AKD xzzz06 480 V AKD xzzz07 maximum s il dispose de fusibles ou...

Page 25: ...nts for the field wiring connectors Le tableau suivant indique les spécifications de couple pour les connecteurs de câblage sur site Model Modèle Mains Con nector Con necteur secteur Motor Phase Connector Connecteur de phase moteur 24 VDC Input Con nector Connecteur d entrée 24Vcc AKD x00306 5 7 in lbs 5 7 in lbs 4 in lbs AKD x00606 5 7 in lbs 5 7 in lbs 4 in lbs AKD x01206 5 7 in lbs 7 in lbs 4 i...

Page 26: ...14 30 EC EMC Directive Used harmonized standard EN 61800 3 2004 These devices can cause high frequency interferences in non industrial environments and may require measures for interference suppression such as additional external EMC filters AKD xzzz06 AKD xzzz06 drives do not have integrated EMC filters With external EMC filters for noise emission the AKD xzzz06 meet the noise immunity requiremen...

Page 27: ...e machine plant is responsible for ensuring that it meets the limits required by the EMC regulations Advice on the correct installation for EMC such as shield ing grounding treatment of connectors and cable layout is shown in this manual The machine plant manufacturer must check whether other standards or EC Directives must be applied to the machine plant Kollmorgen only guarantees the conformance...

Page 28: ...otally described for safety technics with the characteristic data Device Operation Mode ISO 13849 1 IEC 62061 PFH 1 h TM Years SFF AKD x003 024 single channel PL d CAT 3 SIL 2 1 50E 07 20 100 AKD x048 single channel PL d CAT 2 SIL 2 1 88E 07 20 89 dual channel PL d CAT 3 SIL 2 5 64E 09 20 87 dual channel with periodical testing PL e CAT 4 SIL 3 5 64E 09 20 87 5 4 Conformance with EAC EAC is the ab...

Page 29: ...6 Package 6 1 Package Supplied 30 6 2 Nameplate 30 6 3 Part Number Scheme 31 AKD Installation 6 Package Kollmorgen kdn kollmorgen com October 2017 29 ...

Page 30: ...n the package Accessories Sold Separately Accessories must be ordered separately if required refer to your regional accessories manual EMC filters for 24 V and mains supply voltage categories C2 or C3 External regen resistor Motor cable Assembled motor cables are available for all regions Feedback cable Assembled feedback cables are available for all regions Motor choke for motor cables longer tha...

Page 31: ...ersion of printed material and customer spe cials Connectivity Options The drive models with connectivity option CC are fitted with both the EtherCAT X5 and X6 and CANopen X12 and X13 fieldbus connectors A software para meter DRV TYPE allows you to select what features the drive supports you cannot use EtherCAT and CANopen at the same time AKD Installation 6 Package Kollmorgen kdn kollmorgen com O...

Page 32: ...Electrical Data AKD xzzz06 37 7 6 Electrical Data AKD xzzz07 38 7 7 Performance Data 39 7 8 Recommended Tightening Torques 39 7 9 Grounding System 39 7 10 Fusing 40 7 11 Connectors 41 7 12 Cable and Wire Requirements 42 7 13 Dynamic Braking 43 7 14 Switch On and Switch Off Behavior 46 7 15 Stop Emergency Stop Emergency Off 53 7 16 Safe Torque Off STO 55 7 17 Shock hazard Protection 66 32 Kollmorge...

Page 33: ...onboard TCP IP service channel onboard SFD Hiperface DSL Tamagawa Smart Abs Resolver Comcoder 1Vp p Sin Cos encoders incremental encoders support onboard Support for ENDAT 2 1 2 2 BiSS or HIPERFACE protocols onboard Encoder emulation onboard and support for second feedback Safe Torque Off STO according to IEC 62061 SIL 2 onboard Use with Synchronous servomotors linear motors and induction machines...

Page 34: ...0 ns Adjustable digital velocity controller 62 5 µs Software option position controller 250 µs Inputs Outputs 1 programmable analog input 150 1 programmable analog output 151 7 programmable digital inputs 152 2 programmable digital outputs 159 1 Enable input 152 1 STO input 55 additional digital inputs and outputs depending on variants for example AKD PDMM Option Cards Integrated option cards affe...

Page 35: ...t Make sure sufficient forced ventilation is supplied within the control cabinet 7 3 Mechanical Data Mechanical data Units AKD x00306 AKD x00606 AKD x01206 AKD x02406 Weight standard width kg 1 1 2 3 7 Weight extended width kg 1 3 2 2 4 Height without connectors mm 168 196 248 Height with connector mm 200 225 280 Standard Width front back mm 54 59 72 78 4 96 100 Extended Width front back mm 84 89 ...

Page 36: ...DC max 20mA resolution 16 bit and full monotonic update rate 4 kHz nonlinearity 0 1 of full scale offset drift max 250µV C short circuit protected to AGND output impedance 110 Ohms Digital inputs ON 3 5 VDC to 30 VDC 2 mA to 15 mA OFF 2 VDC to 2 VDC max 15 mA galvanic isolation for 250 VDC Digital outputs max 30 VDC 100 mA short circuit proof galvanic isolation for 250 VDC Relay outputs max 30 VDC...

Page 37: ...ated input current at 1x120 V VA 312 5 625 1250 at 1x240 V VA 625 1250 2500 at 3x120 V VA 312 5 625 1250 at 3x240 V VA 625 1250 2500 5000 Peak output power for 1 s at 1x120 V kVA 0 937 1 875 3 125 at 1x240 V kVA 1 875 3 750 6 250 at 3x120 V kVA 0 937 1 875 3 125 at 3x240 V kVA 1 875 3 750 6 250 10 Technical data for regen circuit 43 Motor inductance min at 120 V mH 1 3 0 6 0 5 0 3 at 240 V mH 2 5 ...

Page 38: ... output power rated input current at 3x240 V kVA 0 6 1 25 2 5 5 10 at 3x400 V kVA 1 2 4 2 8 3 16 6 at 3x480 V kVA 1 2 2 5 5 10 20 Peak output power for 1 s at 3x240 V kVA 1 8 3 75 6 25 10 20 at 3x400 V kVA 3 6 75 10 4 16 7 33 at 3x480 V kVA 3 6 7 5 12 5 20 40 Technical data for regen circuit 43 Motor inductance min at 240 V mH 3 2 1 6 1 3 0 6 0 3 at 400 V mH 5 3 2 6 2 1 1 0 5 at 480 V mH 6 3 3 2 2...

Page 39: ...Torque Nm see 25 for in lbs values Connector up to AKD x00606 AKD x01206 AKD x02406 AKD x00307 to AKD x02407 AKD x04807 X1 0 2 to 0 25 0 2 to 0 25 0 2 to 0 25 0 2 to 0 25 X2 0 5 to 0 6 0 7 to 0 8 0 7 to 0 8 0 7 to 0 8 X3 0 5 to 0 6 0 5 to 0 6 0 7 to 0 8 0 7 to 0 8 X4 0 7 to 0 8 0 7 to 0 8 X7 X8 X21 X22 X23 X24 X35 X36 0 2 to 0 25 0 2 to 0 25 0 2 to 0 25 0 2 to 0 25 X14 1 7 to 1 8 1 7 to 1 8 X15 X1...

Page 40: ...T30 HSJ30 AKD x00307 6A Time Delay LPJ6SP DFJ6 AJT6 HSJ6 AKD x00607 10A Time Delay LPJ10SP DFJ10 AJT10 HSJ10 AKD x01207 15A Time Delay LPJ15SP DFJ15 AJT15 HSJ15 AKD x02407 30A Time Delay LPJ30SP DFJ30 AJT30 HSJ30 AKD x04807 60A Time Delay LPJ60SP DFJ60 AJT60 HSJ60 7 10 2 External 24 V supply fusing Drive Model Max Ampere rating Example class J Bussmann Example class J Ferraz Shawmut all AKD 8A Tim...

Page 41: ...ower Regen X3 12 A Terminal Connector 8 poles 2 5 mm 14 awg 16 A 320 V Regen X3 24 A Terminal Connector 4 poles 10 mm 8 awg 30 A 1000 V Power X4 24 A Terminal Connector 4 poles 10 mm 8 awg 30 A 1000 V AKD xzzz07 types 240V to 480V Mains Voltage Supply Connector Type Max Cross Section1 Current 2 Voltage 3 24V STO X1 03 to 24A Terminal Connector 3 poles 1 5 mm 16 awg 8 A 160 V 24V STO X1 48A Termina...

Page 42: ...g AKD x048 16 mm 6 awg 600 V minimum 75 C DC bus link regen resistor AKD x006 1 5 mm 16 awg AKD x012 to 24 2 5 mm 14 awg AKD x048 4 mm 12 awg 1000 V minimum 75 C shielded for lengths 0 20 m Motor cables without choke max 25 m up to AKD x006 1 5 mm 16 awg AKD x012 2 5 mm 14 awg AKD x024 4 mm 12 awg AKD x048 16 mm 6 awg 600 V minimum 75 C shielded capacitance 150 pF m Motor cables with choke 25 50 m...

Page 43: ...02407 With internal resistor plus the ability to connect an external resistor depending on the applic ation requirements External regen resistors are described in the regional AKD Accessories Manual 7 13 2 Functional description When the amount of returned energy builds the bus capacitor voltage up enough the drive activates the brake chopper to start dumping the returned energy in the regen resis...

Page 44: ...y in capacitors 20 Ws 60 20 DC Bus Capacitance µF 940 AKD x00606 External regen resistor Ohm 33 Maximum continuous regen power external resistor kW 1 5 Peak regen power external resistor 1s kW 5 4 Absorption energy in capacitors 20 Ws 60 20 DC Bus Capacitance µF 940 AKD x01206 Internal regen resistor Ohm 15 Continuous power internal resistor W 100 Peak regen power internal resistor 0 5s kW 11 7 Ex...

Page 45: ...stor kW 1 5 3 Peak regen power external resistor 1s kW 5 4 21 4 Absorption energy in capacitors 20 Ws 5 35 20 DC Bus Capacitance µF 235 AKD x01207 Internal regen resistor Ohm 33 Continuous power internal resistor W 100 Peak regen power internal resistor 0 5s kW 5 4 21 4 External regen resistor Ohm 33 Continuous regen power external resistor kW 3 6 Peak regen power external resistor 1s kW 5 4 21 4 ...

Page 46: ...TOR BRAKEIMM to 1 with vertical axes to apply the motor holding brake 118 immediately after faults or Hardware Disable Behavior when undervoltage condition is present The behavior in an undervoltage condition depends on the VBUS UVMODE setting VBUS UVMODE DC Bus Undervoltage Mode Consult the WorkBench Online Helpfor configuring the parameter 0 The drive will report a F502 undervoltage fault any ti...

Page 47: ...am below illustrates the correct functional sequence for switching the drive on Fault F602 occurs when STO 55 does not have current when HW enable becomes act ive AKD Installation 7 Technical description and data Kollmorgen kdn kollmorgen com October 2017 47 ...

Page 48: ...mmands Sometimes this enable signal is called Software Enable SW Enable DRV DISMODE DRV DISMODE controls the behavior of the drv dis command issued through WorkBench or terminal or fieldbus Consult the WorkBench Online Helpfor configuring 0 Disable axis immediately if velocity drops below threshold CS VTHRESH or timeout occurs brake is applied Category 0 stop according to IEC 60204 53 2 Use contro...

Page 49: ...hreshold CS VTHRESH or timeout occurs brake is applied 118 7 14 2 3 Switch off behavior using HW Enable input uncontrolled stop This is a category 0 stop according to IEC 60204 53 The hardware enable input disables the power stage immediately If velocity drops below threshold CS VTHRESH or timeout occurs the motor holding brake is applied 118 Set parameter MOTOR BRAKEIMM to 1 with vertical axes to...

Page 50: ... Remedies section of the WorkBench Online Helpfor 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 This is a category 0 stop according to IEC 60204 53 If velocity drops below threshold CS VTHRESH or timeout occurs the motor holding brake is applied 118...

Page 51: ...namic braking This is a category 0 stop according to IEC 60204 53 If velocity drops below threshold CS VTHRESH or timeout occurs brake is applied 118 AKD Installation 7 Technical description and data Kollmorgen kdn kollmorgen com October 2017 51 ...

Page 52: ...data Switch off behavior for faults that cause a controlled stop This is a category 1 stop according to IEC 60204 53 If velocity drops below threshold CS VTHRESH or timeout occurs brake is applied 118 52 Kollmorgen kdn kollmorgen com October 2017 ...

Page 53: ...valuation of the machine Stop function must have priority over assigned start functions The following stop categories are defined Stop Category 0 Shut down by immediate switching off the energy supply to the drive machinery this is an uncontrolled shut down With the approved safety function STO 55 the drive can be stopped using its internal electronics IEC 62061 SIL2 Stop Category 1 A controlled s...

Page 54: ...that could cause dangerous situations must be switched off as fast as possible without causing any further hazards Stop Category 0 or must be controlled in such a way that any movement that causes danger is stopped as fast as possible Stop Category 1 The reset must not initiate a restart 7 15 3 Emergency Off The Emergency Off function is used to switch off the electrical power supply of the machin...

Page 55: ...mpatible with IEC 61131 2 You can thus achieve a category 0 stop 53 by using the STO inputs without switching a mains contactor 7 16 1 Safety characteristic data The subsystems AKD are described with the following characteristic data AKD x003 up to AKD x024 Function Operation mode ISO 13849 1 IEC 62061 PFH 1 h TM Years SFF STO single channel PL d CAT 3 SIL 2 1 50E 07 20 100 AKD x048 Function Opera...

Page 56: ...If access to the motor power terminals is necessary disconnected the drive from mains supply consider the discharging time of the DC Bus link In case of single channel control If the safety function STO is automatically activated by a control system then make sure that the output of the control is monitored for possible mal function The monitoring can be used to prevent a faulty output from uninte...

Page 57: ... Prohibited use The STO function must not be used if the drive is to be made inactive for Cleaning maintenance and repair operations long inoperative periods In such cases the entire system should be disconnected from the supply and secured main switch Emergency Off situations In an Emergency Off situation the main contactor is switched off by the Emergency Off button 7 16 5 Technical data and pin...

Page 58: ...n time 10 ms Galvanic isolation for 250 VDC Reference ground is STO GND As per EN61131 2 type 1 Max 30 VDC PELV max 100mA PELV acc to EN 60204 1 Galvanic isolation for 250 VDC Pin Description Pin Description 1 24 VDC Auxiliary voltage 5 STO Status 1 2 24V Supply GND 6 STO Enable 1 3 STO 24 VDC supply voltage 7 STO Status 2 4 STO GND 8 STO Enable 2 58 Kollmorgen kdn kollmorgen com October 2017 ...

Page 59: ...ge for example by laying the cable in a duct placed in different sheathed cables or protected individually by grounding connection 7 16 7 OSSD test pulses Safety controllers usually check their outputs periodically during the normal operation These test procedures create pulses to the STO Enable input Test pulses with T1 300 µs and T2 200 ms will not have any influence to the safety rel evant STO ...

Page 60: ... function is engaged during operation by separating input STO from 24 V the motor slows down without control and the drive displays the fault F602 SIL2 PLd Dual Channel Control with AKD x048 only With the dual channel control of the STO SIL2 PLd safety function the switch off paths STO Enable1 and STO Enable2 are switched separately by two outputs of a safety switch ing device e g safety relay STO...

Page 61: ...isable the drive Enable 0 V 3 Activate the STO function STO 0 V Dual channel AKD x048 The diagram below shows how to use the dual channel STO function for a safe drive stop and fault free operation of the drive 1 Brake the drive in a controlled manner speed setpoint 0 V 2 When speed 0 rpm disable the drive Enable 0 V 3 Activate the STO function STO Enable 1 0 V and STO Enable 2 0 V AKD Installatio...

Page 62: ... Enable input of an AKD x003 to 024 device to SIL2 PLd Review the enclosure and wiring instructions 59 Single channel SIL2 PLd with AKD x048 The sample application below shows door guarding and emergency stop controlled by Koll morgen KSM safety module to switch the STO Enable input of an AKD x048 device to SIL2 PLd STO Status signals need not to be used Review the enclosure and wiring instruction...

Page 63: ...tructions 59 Dual channel SIL3 PLe with AKD x048 only The sample application below shows door guarding and emergency stop controlled by Koll morgen KSM safety module to switch the STO Enable inputs of an AKD x048 device to SIL3 PLe The safe switching of the pulse inhibitor must be tested periodically by analyzing the STO Status in the safety control Review the enclosure and wiring instructions 59 ...

Page 64: ... To achieve PLe SIL CL3 the safe switching of the pulse inhibitor must be tested peri odically by analyzing the feedback signal from a safety control at the start of a system at the restart after triggering a protective device at least every 8 hours by the operator The inputs STO ENABLE 1 and STO ENABLE 2 are switched in turns according to a defined test sequence The switching state of the pulse i...

Page 65: ...digital input 1st switch off path STO ENABLE 2 digital input 2nd switch off path STO STATUS 1 digital output switching state of 1st pulse inhibitor STO STATUS 2 digital output switching state of 2nd pulse inhibitor T1 T5 Test sequence Start Start of test sequence End End of test sequence AKD Installation 7 Technical description and data Kollmorgen kdn kollmorgen com October 2017 65 ...

Page 66: ...f the engine cable Use low capacity cables 42 7 17 2 Residual current protective device RCD In conformity with IEC 60364 4 41 Regulations for installation and IEC 60204 Electrical equipment of machinery residual current protective devices RCDs can be used provided the requisite regulations are complied with The AKD is a 3 phase system with a B6 bridge Therefore RCDs which are sensitive to all curr...

Page 67: ...Important Notes 68 8 2 Guide to Mechanical Installation 68 8 3 Mechanical Drawings Standard Width 69 8 4 Mechanical Drawings Extended Width 73 AKD Installation 8 Mechanical Installation Kollmorgen kdn kollmorgen com October 2017 67 ...

Page 68: ...mum to install the AKD your specific installation may require additional tools M4 hexagon socket cap screws ISO 4762 3 mm T handle Allen key No 2 Phillips head screwdriver Small slotted screwdriver Dimensions and mounting hole positions depend on the drive variant Drive Variant Housing AKD B P T Standard width 69 AKD T IC M MC M M1 Extended width 73 Install the drive unit as follows 1 Prepare the ...

Page 69: ...tandard Width 8 3 1 Control cabinet layout AKD xzzz06 standard width Material M4 hexagon socket screws to ISO 4762 3 mm T handle Allen key AKD Installation 8 Mechanical Installation Kollmorgen kdn kollmorgen com October 2017 69 ...

Page 70: ...stallation 8 Mechanical Installation 8 3 2 Control cabinet layout AKD xzzz07 standard width Material M4 hexagon socket screws to ISO 4762 3 mm T handle Allen key 70 Kollmorgen kdn kollmorgen com October 2017 ...

Page 71: ...8 3 3 Dimensions AKD xzzz06 standard width AKD Installation 8 Mechanical Installation Kollmorgen kdn kollmorgen com October 2017 71 ...

Page 72: ...AKD Installation 8 Mechanical Installation 8 3 4 Dimensions AKD xzzz07 standard width 72 Kollmorgen kdn kollmorgen com October 2017 ...

Page 73: ...Extended Width 8 4 1 Control cabinet layout example with AKD M00306 Material M4 hexagon socket screws to ISO 4762 3 mm T handle Allen key AKD Installation 8 Mechanical Installation Kollmorgen kdn kollmorgen com October 2017 73 ...

Page 74: ...nstallation 8 Mechanical Installation 8 4 2 Control cabinet layout example with AKD M00307 Material M4 hexagon socket screws to ISO 4762 3 mm T handle Allen key 74 Kollmorgen kdn kollmorgen com October 2017 ...

Page 75: ...8 4 3 Dimensions AKD xzzz06 extended width AKD Installation 8 Mechanical Installation Kollmorgen kdn kollmorgen com October 2017 75 ...

Page 76: ...AKD Installation 8 Mechanical Installation 8 4 4 Dimensions AKD xzzz07 extended width 76 Kollmorgen kdn kollmorgen com October 2017 ...

Page 77: ...8 9 10 Motor Power Connection X2 116 9 11 Motor Brake Connection X2 X15 X16 118 9 12 Feedback Connection X10 X9 X7 121 9 13 Electronic gearing Master slave operation X9 X7 138 9 14 I O Connection 146 9 15 LED display 165 9 16 Rotary Switches S1 S2 RS1 166 9 17 Push buttons B1 B2 B3 167 9 18 SD Card Slot 169 9 19 Service Interface X11 X32 171 9 20 CAN Bus Interface X12 X13 175 9 21 Motion Bus Inter...

Page 78: ...mains voltage unsuitable motor or wrong wiring will damage the drive Check the combination of drive and motor Compare the rated voltage and current of the units Imple ment the wiring according to the connection diagram 84 and following Make sure that the maximum permissible rated voltage at the terminals L1 L2 L3 or DC DC is not exceeded by more than 10 even in the most unfavorable circumstances s...

Page 79: ...og input source if required Connect the feedback device Connect the hardware option Connect the motor cable Connect shielding at both ends Use a motor choke if cable 25m Connect motor holding brake connect shielding at both ends If required connect the external regen resistor with fusing Connect the auxiliary supply maximum permissible voltage values see electrical data 37 or 38 Connect the mains ...

Page 80: ...he drive Wires with color 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 com ponents which complies to the specifications in chapter 7 12 Cable and Wire Require ments The ground symbol which you will find in all the wiring diagrams indicates that you must take care to provide an electrically...

Page 81: ...hielded Electrical ground is drawn with dash dotted lines Optional devices are connected with dashed lines to the drive The required accessories are described in the accessories manual AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 81 ...

Page 82: ...z07 Cables drawn bold are shielded Electrical ground is drawn with dash dotted lines Optional devices are connected with dashed lines to the drive The required accessories are described in the accessories manual 82 Kollmorgen kdn kollmorgen com October 2017 ...

Page 83: ... Overview AKD B AKD P AKD T 9 5 1 Connector assignment AKD x00306 AKD x00606 The I O option is available for AKD T drives only AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 83 ...

Page 84: ...AKD Installation 9 Electrical Installation 9 5 2 Connection diagram AKD x00306 AKD x00606 The I O option is available for AKD T drives only 84 Kollmorgen kdn kollmorgen com October 2017 ...

Page 85: ...9 5 3 Connector assignment AKD x01206 The I O option is available for AKD T drives only AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 85 ...

Page 86: ...AKD Installation 9 Electrical Installation 9 5 4 Connection diagram AKD x01206 The I O option is available for AKD T drives only 86 Kollmorgen kdn kollmorgen com October 2017 ...

Page 87: ...9 5 5 Connector assignment AKD x02406 and AKD x00307 to 02407 The I O option is available for AKD T drives only AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 87 ...

Page 88: ...AKD Installation 9 Electrical Installation 9 5 6 Connection diagram AKD x02406 and AKD x00307 to 02407 The I O option is available for AKD T drives only 88 Kollmorgen kdn kollmorgen com October 2017 ...

Page 89: ...9 5 7 Connector assignment AKD x04807 AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 89 ...

Page 90: ...AKD Installation 9 Electrical Installation 9 5 8 Connection diagram AKD x04807 90 Kollmorgen kdn kollmorgen com October 2017 ...

Page 91: ...9 6 Connection Overview AKD M 9 6 1 Connector assignment AKD M00306 AKD M00606 AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 91 ...

Page 92: ...AKD Installation 9 Electrical Installation 9 6 2 Connection diagram AKD M00306 AKD M00606 92 Kollmorgen kdn kollmorgen com October 2017 ...

Page 93: ...9 6 3 Connector assignment AKD M01206 AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 93 ...

Page 94: ...AKD Installation 9 Electrical Installation 9 6 4 Connection diagram AKD M01206 94 Kollmorgen kdn kollmorgen com October 2017 ...

Page 95: ...9 6 5 Connector assignment AKD M02406 AKD M00307 to AKD M02407 AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 95 ...

Page 96: ...AKD Installation 9 Electrical Installation 9 6 6 Connection diagram AKD M02406 AKD M00307 to AKD M02407 96 Kollmorgen kdn kollmorgen com October 2017 ...

Page 97: ...9 6 7 Connector assignment AKD M04807 AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 97 ...

Page 98: ...AKD Installation 9 Electrical Installation 9 6 8 Connection diagram AKD M04807 98 Kollmorgen kdn kollmorgen com October 2017 ...

Page 99: ...e with metalized connector housings or shield connection clamps wherever pos sible For cables entering a cabinet connect shields on all 360 of the cable Never connect a simple pigtail For more information on shielding concepts 100 With separate mains filter maintain separation of leads entering and exiting the mains filter line power filter Locate the filter as close as possible to the point where...

Page 100: ...lding busbar EMC filtering must be done externally by the user if necessary which requires the use of shielded cables Kollmorgen recommends a star point shield connection for example with a shielding busbar 9 7 2 1 Shielding Concept 100 Kollmorgen kdn kollmorgen com October 2017 ...

Page 101: ...il spring Use pincers 2 Squeeze together the coil spring and the supporting plate and push the busbar through the opening in the holder 3 Mount the busbar with the shield clamps fitted on the assembly plate Use either metal spacer bushes or screws with nuts and accessories to maintain a spacing of 50 mm Earth the busbar using a single conductor with a cross section of at least 2 5 mm 4 Strip the e...

Page 102: ...otor connector X2 with shielding connection Alternative connection for the motor power connection by mating connector with strain relief Strip the external cable sheath to a length of approx 120 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 protective earth PE wir...

Page 103: ...on to various mains supply networks AKD xzzz06 120V to 240V An isolating transformer is required for 400 to 480 V networks to get a maximum voltage of 240 V 10 AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 103 ...

Page 104: ...al Installation 9 8 2 Connection to various mains supply networks AKD xzzz07 240V to 480V An isolating transformer is required for 120V networks to get a minimum voltage of 240 V 10 104 Kollmorgen kdn kollmorgen com October 2017 ...

Page 105: ...liary voltage 2 GND 24V Supply GND 3 STO STO enable Safe Torque Off 9 8 3 2 AKD x048 connector X1 Pin Signal Description 1 24 V 24 VDC Auxiliary voltage 2 GND 24V Supply GND 3 STO 24V STO 24 VDC Auxiliary voltage 4 STO GND STO Supply GND 5 STO Status 1 Safe Torque Off status channel 1 6 STO Enable 1 Safe Torque Off enable channel 1 7 STO Status 2 Safe Torque Off status channel 2 8 STO Enable 2 Saf...

Page 106: ...tional isolating transformer 103 Periodic overvoltages between phases L1 L2 L3 and the housing of the drive must not exceed 1000 V peak In accordance with IEC 61800 voltage spikes 50 µs between phases must not exceed 1000 V Voltage spikes 50 µs between a phase and the housing must not exceed 2000 V AKD x00306 to AKD x00606 X3 Pin Signal Description 4 L1 Line 1 5 L2 Line 2 6 L3 Line 3 7 PE Protecti...

Page 107: ...hase connection AKD x00306 to AKD x01206 only Directly to single phase supply network 120 V 10 to 240 V 10 with neutral line or Directly to two phase supply network 120 V 10 to 240 V 10 without neutral line Supply networks 103 Leave L3 open circuit Filtering to be provided by the user Fusing such as fusible cut outs to be provided by the user 40 AKD Installation 9 Electrical Installation Kollmorge...

Page 108: ... x048 drives Use 16 mm unshielded single cores with a max length of 30 mm use 16 mm shielded cables for longer lengths The drives can be destroyed if DC bus link voltages are different Only drives with mains supply from the same mains identical mains supply voltage may be connected by the DC bus link DC bus link connection of AKD x048 to other drives than AKD x048 is not allowed The phase lost mai...

Page 109: ...age by current peaks completely 9 9 2 DC Bus topology with busbar This wiring does not require Y connectors If a device fails due to a short circuit only its DC Bus fuses 40 are tripped and the rest of the network continues uninterrupted The solid busbars can conduct significantly larger currents because the compensating current does not flow through the connector as above For this reason almost a...

Page 110: ...110V to 400V gRL gS 400V to 480V aR AKD x024 15A 50A AKD x00306 to AKD x00606 X3 Pin Signal Description 1 RB External Regen Resistor negative 3 RB External Regen Resistor positive AKD x1206 X3 Pin Signal Description 1 Rbint Internal Regen Resistor positive 2 RB External Regen Resistor negative 4 RB External Regen Resistor positive AKD x02406 AKD x 00307 to 02407 X3 Pin Signal Description 2 RB Exte...

Page 111: ...10 to 16 A min 2 5 mm BAS U 3000 10 FPS 20 16 to 20 A min 4 mm BAS U 6000 10 FPS 25 20 to 25 A min 4 mm AKD x04807 Pin Signal Description 1 PE Protective Earth 2 RB External Regen Resistor negative 3 DC External Regen Resistor positive AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 111 ...

Page 112: ...ry 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 rated voltage Mounting installation and setup instructions can be found in the Instructions Manual of the KCM Mod ules DANGER High DC Voltage up to 900 V There is a danger of serious personal injury or...

Page 113: ...ring braking must be connected KCM E assembled and connected to the KCM S with connection cable X1 and PE line Discharge aids plug in bridge are removed Proceed as instructed below 1 Switch on the line voltage after the drive has finished the 24V boot process 2 Enable the AKD and operate the motion profile that causes the brake chopper to respond 3 The KCM S determines the chopper threshold and be...

Page 114: ...n the switching cabinet Set AKD undervoltage 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 and connected to the KCM P with connection cable X1 and PE line Discharge aids plug in bridge are removed Proceed as instructed below 1 Switch on the line voltage after the drive has finished the 24V bo...

Page 115: ...our for the 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 charge For your own safety proceed as follows when forcing the modules to discharge 1 Switch off disconnect the line voltage 2 Discharge the modules KCM S P Insert the plug in bridge in the ...

Page 116: ...l motor database With motors from other manufacturers the data from the nameplate must be entered to the referring fields in the motor view of the Kollmorgen setup software WorkBench The dynamic voltage rise can lead to a reduction in the motor operating life and on unsuit able motors to flashovers in the motor winding Only install motors with insulation class F acc to IEC60085 or above Only insta...

Page 117: ...e earth motor housing 4 U Motor phase U 5 V Motor phase V 6 W Motor phase W 9 10 2 AKD x048 power connector X2 Cable length maximum 25 m Pin Signal Description 1 U Motor phase U 2 V Motor phase V 3 W Motor phase W 4 PE Protective earth motor housing AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 117 ...

Page 118: ... be safely operated for example by a safety control The Hardware Enable connector X8 pin 4 does not initiate a con trolled stop but switches off the power stage immediately Set parameter MOTOR BRAKEIMM to 1 with vertical axes to apply the brake immediately after faults or Hardware Disable 9 11 1 AKD x003 to 024 bBrake connector X2 Pin Signal Description 1 BR Motor holding brake negative 2 BR Motor...

Page 119: ...rent is 2 A Use X15 for 24 VDC 10 supply input and X16 to connect the motor holding brake X15 Signal Description 1 24V 24V supply voltage brake 2 GND GND brake X16 Signal Description 1 BR Motor holding brake positive 2 BR Motor holding brake negative AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 119 ...

Page 120: ...adjusted with parameters values in the diagram are default values The speed setpoint of the drive is internally driven down an adjustable ramp CS DEC to 0 V With default values the output for the brake is switched on when the speed has reached 120 rpm CS VTHRESH for at least 6 ms CS TO The rise tbrH and fall tbrL times of the holding brake that is built into the motor are different for the various...

Page 121: ...nt connection diagram in each case Feedback Types Wiring Connector FB1 SELECT FB2 MODE FB3 MODE Resolver 124 X10 40 SFD 125 X10 41 SFD3 126 X10 45 Encoder Hiperface DSL 127 X10 46 SinCos Encoder BiSS B analog 128 X10 32 Encoder BiSS C digital 129 X10 34 SinCos Encoder ENDAT 2 1 130 X10 30 Encoder ENDAT 2 2 131 X10 31 Encoder ENDAT 2 2 132 X9 X8 0 Encoder ENDAT 2 2 141 X9 0 SinCos Encoder Hiperface...

Page 122: ...l W 4 SEN SEN SEN SEN SEN SEN SEN SEN SEN 5 SEN SEN SEN SEN SEN SEN SEN SEN SEN 6 COM COM R1 Ref DAT DAT DAT DAT DAT Zero Zero SD 7 COM COM R2 Ref DAT DAT DAT DAT DAT Zero Zero SD 8 Thermal control 9 Thermal control 10 5 V 8 to 9 V 5 V 5 V 5 V 5 V 8 to 9 V 5 V 5 V 5 V 5 V 11 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V 0 V 12 S1 SIN A A SIN A A 13 S3 SIN A A SIN A A 14 S2 COS B B COS B B 15 S4 COS B B ...

Page 123: ...irection CCW B DATA 5 Direction CCW B DATA 6 Shield Shield Shield Shield 7 Zero 8 Zero 9 5 V supply output 5V supply output 9 12 3 Feedback connector X7 Pin Pulse Direction CW CCW Incremental Encoder 9 Pulse CW Channel A 10 Direction CCW Channel B 1 Common Common Common AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 123 ...

Page 124: ...he Resolver cable and evaluated in the drive If no thermal control is in the motor the cable must short pins 8 and 9 If cable lengths of more than 100 m are planned please contact customer support Type FBTYPE Description Resolver 40 Accuracy 14 bit 0 022 resolution 16 bit 0 006 The pin assignment shown on the Resolver end relates to Kollmorgen motors 124 Kollmorgen kdn kollmorgen com October 2017 ...

Page 125: ...t needed For typical cable this means remote sensing is not needed up to 25 m Kollmorgen cables are rated up to 50 m with no remote sensing Type FBTYPE Up Remarks Smart Feedback Device SFD 41 5 1 V 5 accuracy 14 bit 0 022 resolution 24 bit 2 x 10E 5 The pin assignment shown on the SFD end relates to Kollmorgen motors AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October ...

Page 126: ...llmorgen SFD3 feedback sys tem SFD3 can be used with the special Kollmorgen cable Maximum cable length is up to 25 m Type FBTYPE Up Remarks SFD3 45 8 to 9 V from FW 1 11 with Kollmorgen Cables only The pin assignment shown on the SFD3 end relates to Kollmorgen motors 126 Kollmorgen kdn kollmorgen com October 2017 ...

Page 127: ...be used with the special Kollmorgen cable Maximum cable length is up to 25 m Type FBTYPE Up Remarks Hiperface DSL 46 8 to 9 V from FW 1 9 with Kollmorgen Cables only The pin assignment shown on the DSL end relates to Kollmorgen motors AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 127 ...

Page 128: ... The thermal control in the motor is connected via the encoder cable and evaluated in the drive If cable lengths of more than 50 m are planned please consult customer support Type FBTYPE Up Frequency Limit BiSS Mode B Analog 32 5 1 V 5 1 MHz 250 kHz for encoders that require ter mination resistors The pin assignment shown on the encoder end relates to Kollmorgen motors 128 Kollmorgen kdn kollmorge...

Page 129: ...m The thermal control in the motor is connected via the encoder cable and evaluated in the drive If cable lengths of more than 25 m are planned please consult customer support Type FBTYPE Up Frequency Limit BiSS Mode C 34 5 1 V 5 1 MHz The pin assignment shown on the encoder end relates to Kollmorgen motors AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 129 ...

Page 130: ...The thermal control in the motor is connected via the encoder cable and evaluated in the drive All signals are connected using our pre assembled encoder connection cable If cable lengths of more than 50 m are planned consult customer support Type FBTYPE Frequency Limit ENDAT 2 1 30 1 MHz 250 kHz for encoders that require termination resistors The pin assignment shown on the encoder end relates to ...

Page 131: ...ncoder cable and evaluated in the drive All signals are connected using our pre assembled encoder connection cable If cable lengths of more than 50 m are planned please consult customer support Type FBTYPE Frequency Limit Description ENDAT 2 2 31 2 5 MHz Adjust on screen page FEEDBACK The pin assignment shown on the encoder end relates to Kollmorgen motors AKD Installation 9 Electrical Installatio...

Page 132: ...ted in the related WorkBench screen If the set limit is exceeded then warning n256 is created If cable lengths of more than 50 m are planned please consult customer support Type FB3 MODE Frequency Limit Description ENDAT 2 2 0 2 5 MHz Adjust on screen page FEEDBACK For use as primary motor feedback set parameters DRV EMUEMODE PL FBSOURCE IL FBSOURCE VL FBSOURCE The pin assignment shown on the enco...

Page 133: ...are connected using our pre assembled encoder connection cable If cable lengths of more than 50 m are planned please consult customer support Type FBTYPE Frequency Limit Description Hiperface 33 1 MHz 250 kHz for encoders that require ter mination resistors Connecting pin 4 and 5 together causes Up to be 8 to 9 V The pin assignment shown on the encoder end relates to Kollmorgen motors AKD Installa...

Page 134: ... as a complete feedback system when combined with an additional Hall encoder All signals are connected to X10 and evaluated there If cable lengths of more than 25 m are planned please consult customer support Type FBTYPE Up Frequency Limit SinCos 1 V p p with Hall 20 5 1 V 5 1 MHz 250 kHz for encoders that require termination resistors SinCos 1 V p p Wake Shake 21 5 1 V 5 134 Kollmorgen kdn kollmo...

Page 135: ...re assembled comcoder connection cable The thermal control in the motor is connected via the encoder cable and evaluated in the drive If cable lengths of more than 25 m are planned please consult customer support Type FBTYPE Frequency Limit Incremental Encoder Hall Switches Comcoder 10 2 5 MHz Incremental Encoder Wake Shake 11 2 5 MHz The pin assignment shown on the encoder end relates to Kollmorg...

Page 136: ...pe FBTYPE Up Frequency Limit Hall Only 12 5 1 V 5 1 MHz Logic for Kollmorgen motor connection AKD KBM S TBM S VLM H IC ICH IL ID Pin Signal Color Name Color Name Color Name Color Pin Name X2 4 U Blue U Red A Red U Red 1 A X2 5 V Brown V White B White V White 2 B X2 6 W Violet W Black C Black W Black 3 C X10 1 Hall U Yellow H3 Yellow H CA Green Hall U Brown SubD9 4 S3 X10 2 Hall V Brown H1 Brown H ...

Page 137: ... thermal control is in the motor the cable must short pins 8 and 9 The Sense signal is optional and can be omitted if the encoder cable is short and no significant voltage drop is on the cable The voltage drop depends on the cable length and gage and the encoder current consumption If cable lengths of more than 25 m are planned please consult customer support Type FBTYPE Up Frequency Limit S48 17 ...

Page 138: ... TTL level signals Input modes X9 Output mode Pulse Direction 5 V Emulated Encoder Output A quad B 5 V CW CCW 5 V Incremental Encoder A quad B 5 V Encoder with EnDat 2 2 5 V Connector X7 DIGITAL IN 1 2 can be configured as an input for 24 V signals Input modes X7 DIGITAL IN 1 2 Output mode Pulse Direction 24 V CW CCW 24 V Incremental Encoder A quad B 24 V 9 13 1 Technical characteristics and pinou...

Page 139: ...upply output Maximum cable length of an external incremental encoder using X9 is dependant on cable voltage drop and external encoder power requirements See the calculation example in the WorkBench Online Help chapter Electronic Gearing 9 13 1 3 Connector X9 Output Technical characteristics Electrical Interface RS 485 Max signal channel output frequency 3 MHz The pulses per revolution value are se...

Page 140: ... gearing or camming input Parameter setting FB2 MODE 0 FB2 SOURCE 1 Don t use for primary motor feedback connection Connection Diagram 9 13 2 2 Incremental encoder input 24 V X7 A 24 V A quad B encoder can be connected to the digital inputs 1 and 2 and used as a com mander encoder dual loop feedback gearing or camming input Parameter setting FB2 MODE 0 FB2 SOURCE 2 Don t use for primary motor feed...

Page 141: ...onnected to this input and used as a commander encoder dual loop feedback gearing or camming input Parameter setting FB3 MODE 0 DRV EMUEMODE 11 Can be used as primary motor feedback connection 132 Connection Diagram AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 141 ...

Page 142: ...epper controller Speed profile and signal diagram 9 13 3 1 Pulse Direction input 5 V X9 Connection to 5 V signal level stepper motor controllers 9 13 3 2 Pulse Direction Input 5 V to 24 V X7 Connection industry standard 5V logic stepper motor controllers with Pulse Direction or Step Direction outputs Note that the X7 opto inputs can work with 5V up to 24V logic and so these inputs can be driven by...

Page 143: ...onnected to a third party controller which delivers 5 V CW CCW signals 9 13 4 2 CW CCW input 24 V X7 The drive can be connected to a third party controller which delivers 24 V CW CCW signals AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 143 ...

Page 144: ...s on the SubD connector X9 are 3 signals A B and Index with 90 phase difference i e in quadrature hence the alternative term A quad B output with a zero pulse The resolution before multiplication can be set by the DRV EMUERES parameter Use the DRV EMUEZOFFSET parameter to adjust save the zero pulse position within one mech anical turn The drivers operate from an internal supply voltage tv max 30ns...

Page 145: ... master The slave drives use the master s encoder output signals as command input and follow these commands velocity and direction Master Slave Connection Diagram example for 5V signal level X9 AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 145 ...

Page 146: ...7 10 Digital Input 1 DIGITAL IN 1 Programmable fast X8 1 Fault Relay Output Fault Relay Output Fault Relay Output 160 X8 2 Fault Relay Output Fault Relay Output Fault Relay Output X8 3 Digital Common X8 DCOM8 Common line for X8 pins 4 5 6 152 X8 4 Digital Input 8 DIGITAL IN 8 Output stage enable not programmable X8 5 Digital Input 6 DIGITAL IN 6 Programmable X8 6 Digital Input 5 DIGITAL IN 5 Progr...

Page 147: ...X21 6 Digital Input 25 DIGITAL IN 25 Programmable X21 7 Digital Input 26 DIGITAL IN 26 Programmable X21 8 Digital Common X21 5_7 DCOM21 5_7 Common line for X21 pins 5 6 7 X22 1 Digital Input 27 DIGITAL IN 27 Programmable 154 X22 2 Digital Input 28 DIGITAL IN 28 Programmable X22 3 Digital Input 29 DIGITAL IN 29 Programmable X22 4 Digital Common X22 1_3 DCOM22 1_3 Common line for X22 pins 1 2 3 X22 ...

Page 148: ...3 13 Relay Output 25 DIGITAL OUT 25 Programmable relay 163 X23 14 Relay Output 25 DIGITAL OUT 25 Programmable relay X24 1 Analog Input 2 Analog In2 Programmable 150 X24 2 Analog Input 2 Analog In2 Programmable X24 3 Analog Ground AGND Programmable X24 4 reserved n c n c X24 5 Digital Output 26 DIGITAL OUT 26 Programmable 161 X24 6 Digital Output 26 DIGITAL OUT 26 Programmable X24 7 Digital Output ...

Page 149: ...36 1 Digital Common X36 DCOM36 Common line for X36 pins 2 3 4 157 X36 2 Digital Input 24 DIGITAL IN 24 Programmable X36 3 Digital Input 25 DIGITAL IN 25 Programmable X36 4 Digital Input 26 DIGITAL IN 26 Programmable X36 5 n c n c X36 6 n c n c X36 7 Digital Output 22 DIGITAL OUT22 Programmable 164 X36 8 Digital Output 22 DIGITAL OUT22 Programmable Digital common lines for X35 and X36 are not commo...

Page 150: ...pe tolerance 3 Nonlinearity 0 1 of full scale or 12 5 mV Common Mode Rejection Ratio 30 dB at 60 Hz Input impedance 13k Ohms Signal to noise ratio referred to full scale AIN CUTOFF 3000 Hz 14 bit AIN CUTOFF 800 Hz 16 bit Analog Input Wiring Diagram Application examples for set point input Analog In reduced sensitivity input for setting up jog operation pre control override Defining the direction o...

Page 151: ...t voltage range referring to AGND 10 V Resolution 16 Bit and fully monotonic Update rate 4 kHz Unadjusted offset 50 mV Offset drift typ 250 µV C Gain or slope tolerance 3 Nonlinearity 0 1 of full scale or 20 mV Output impedance 110 ohms Specification complies with IEC 61131 2 Table 11 3 dB Bandwidth 8 kHz Maximum output current 20 mA Capacitive load any value but response speed limited by max Iout...

Page 152: ...t is fixed to the ENABLE function If an input is programmed it must be saved to the drive Depending on the selected function the inputs are high or low active Digital input filter can be set in WorkBench to change sensitivity of the inputs see Online Help The inputs can be used with switched 24 V sink type or switched GND source type See diagrams below for typical examples of digital input wiring ...

Page 153: ...A Update rate firmware reads hardware input state every 250 µs High accuracy latch motor feedback position or interpolated time is latched or captured within 2 µs of input signal transition with digital input filter set to 40 ns The AKD capture engine is polled every 62 5 µs 16 kHz by the firmware For KAS applications example AKD PDMM the latch position information is updated in the Ethercat PDO T...

Page 154: ... wiring of Hardware Enable is mandatory The output stage of the drive is enabled by applying the ENABLE signal Terminal X8 4 act ive high Enable is possible only if input STO has a 24 V signal 55 In the disabled state low signal the connected motor has no torque A software enable by means of the setup software is also required AND link although this can also be permanently enabled with WorkBench 9...

Page 155: ...Digital Input Wiring Diagram Sink type connection example AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 155 ...

Page 156: ...AKD Installation 9 Electrical Installation Digital Input Wiring Diagram Source type connection example 156 Kollmorgen kdn kollmorgen com October 2017 ...

Page 157: ...n refer to the setup software Depending on the selected function the inputs are high or low active Technical characteristics Choose the function you require in KAS IDE Floating reference common line is DCOM35 or DCOM36 Sink or Source type sensors possible High 3 5 to 30 V 2 to 15 mA Low 2 to 2 V 15 mA Update rate Software 250 µs The inputs can be used with switched 24 V sink type or switched GND s...

Page 158: ...AKD Installation 9 Electrical Installation Digital Input Wiring Diagram Source type connection example 158 Kollmorgen kdn kollmorgen com October 2017 ...

Page 159: ...nd in the setup software If an output is to be assigned to a pre programmed function then the parameter set must be saved in the drive Technical characteristics 24 V IO power supply at terminals X7 8 and X7 6 20 VDC to 30 VDC All digital outputs are floating DIGITAL OUT 1 2 terminals X7 7 8 and X7 5 6 max 100 mA Can be wired as active low or active high see examples below Update rate 250 µs Wiring...

Page 160: ...no fault and the drive is enabled The signal is not influenced by the enable signal the I t limit or the regen threshold Technical characteristics FAULT Relay output max 30 VDC or 42 VAC 1 A Time to close max 10 ms Time to open max 10 ms All faults cause the FAULT contact to open and the output stage to be switched off if the FAULT contact is open the output stage is inhibited no power output List...

Page 161: ...t here A list of these pre programmed functions can be found in the setup software If an output is to be assigned to a pre programmed function then the parameter set must be saved in the drive Technical characteristics 24 V IO power supply 20 VDC to 30 VDC floating max 100 mA Can be wired as active low or active high see examples below Update rate 250 µs Wiring diagram X23 AKD Installation 9 Elect...

Page 162: ...AKD Installation 9 Electrical Installation Wiring diagram X24 162 Kollmorgen kdn kollmorgen com October 2017 ...

Page 163: ... in the drive can be output here A list of these pre programmed functions can be found in the setup software If an output is to be assigned to a pre pro grammed function then the parameter set must be saved in the drive Technical characteristics Relay output max 30 VDC or 42 VAC 1 A Time to close max 10 ms Time to open max 10 ms Wiring diagram AKD Installation 9 Electrical Installation Kollmorgen ...

Page 164: ...ctions stored in the drive can be output here A list of these pre pro grammed functions can be found in the setup software If an output is to be assigned to a pre programmed function then the parameter set must be saved in the drive Technical characteristics 24 V IO power supply at terminals X35 8 and X36 8 20 VDC to 30 VDC All digital outputs are floating max 100 mA Can be wired as active low or ...

Page 165: ...th F warnings are coded with n The one digit LED indicates the PDMM messages of the AKD PDMM Error messages are coded with E warnings alarms are coded with A Status of applic ation programs are indicated as well With push but tons B2 and B3 a menu with several functions can be started 168 See WorkBench Onlinehelp for details Display Codes overview Status o0 o1 o2 Normal operation operation mode 0 ...

Page 166: ...nd on again AKD with I O option card only 1 0 Load data 24 V is ON and AKD is disabled Press B1 for 5s for loading data from the SD card to the drive details see 169 1 1 Save data 24 V is ON and AKD is disabled Press B1 for 5s for save data from the drive to the SD card details see 169 AKD T only 1 2 Stop program 24 V is ON Press B1 for 5s for stopping the BASIC pro gram 1 3 Restart pro gram 24 V ...

Page 167: ...es S1 to 8 and S2 to 9 Press B1 for 3 sec to switch over from CAN to EtherCAT or reverse Load data from SD card B1 Drives with I O option card only Set rotary switches S1 to 1 and S2 to 0 Press B1 for 5s for loading data from the SD card to the drive Save data to SD card B1 Drives with I O option card only Set rotary switches S1 to 1 and S2 to 1 Press B1 for 5s for save data from the drive to the ...

Page 168: ... cycle through the menu items The menu items will dis played on the 7 segment LED repeatedly for 10 s and can be selected py pressing B2 Select Menu Item B2 Press while the required menu item is displayed to perform action Application is running available menu items IP address stop application confirm No application is running available menu items IP address start application confirm reset to defa...

Page 169: ...ber is displayed in the display with E followed by four digits Error codes 202 Supported SD card types SD cards are preformatted by the manufacturer The following table outlines the SD card types and AKD support SD Type File System Capacity Supported SD SDSC FAT16 1MB to 2GB YES SDHC FAT32 4GB to 32GB YES SDXC exFAT Microsoft 32GB to 2TB NO Features If an SD card is plugged into the SD slot and th...

Page 170: ...s the fault number is displayed in the one digit dis play with E followed by two digits Error codes 208 Supported SD card types SD cards are preformatted by the manufacturer The following table outlines the SD card types and AKD PDMM support SD Type File System Capacity Supported SD SDSC FAT16 1MB to 2GB YES SDHC FAT32 4GB to 32GB YES SDXC exFAT Microsoft 32GB to 2TB NO Features If an SD card is p...

Page 171: ...some cases crossover cables will also work Confirm that the link LED on the AKD the green LED on the RJ45 connector and on your PC or network Hub Switch are both illuminated If both lights are illuminated then you have a good electrical connection 9 19 1 Pinout X11 X32 Pin Signal Pin Signal 1 Transmit 5 n c 2 Transmit 6 Receive 3 Receive 7 n c 4 n c 8 n c 9 19 2 Service Bus Protocols X11 X32 Proto...

Page 172: ...et to 255 255 255 0 or 255 255 255 128 When connecting the AKD directly to a PC use static IP addressing not 00 Static IP addressing When connecting the drive directly to a PC static IP addressing must be used Set rotary switches S1 and S2 to a number different from 00 see table above Dynamic IP addressing DHCP and Auto IP With S1 and S2 both set to 0 the drive is in DHCP mode The drive will acqui...

Page 173: ...P the drive will boot up on an IP Address that may be unreachable with the host computer s settings If the IP address prevents communication the IP settings can be reset to default by the fol lowing procedure Set both rotary switches to 0 Hold down button B1 top side of drive for 5 seconds The display will flash 0 0 0 0 and then attempt to discover an address by DHCP Without removing logic power f...

Page 174: ...tic IP Address The IP address is 192 168 0 10n where n is the number from the rotary switch This setting generates addresses in a range from 192 168 0 102 to 192 168 0 109 Example if RS1 is set to 5 the IP address is 192 168 0 105 The PC subnet mask must be set to 255 255 255 0 or 255 255 255 128 Static IP addressing When connecting the drive directly to a PC static IP addressing must be used Set ...

Page 175: ...he Kollmorgen AKI HMI s are compatible with a Kollmorgen Modbus Master driver The subnet mask of the AKD is 255 255 255 0 The first three octets of the drive s IP address must be the same as the first three octets of the HMI s IP address The last octet must be different Confirm that the link LED on the AKD the green LED on the RJ45 connector and on your Master or Switch are both illuminated If bot...

Page 176: ... of the Drive The following steps are needed for changing the fieldbus type from EtherCAT to CAN with the rotary switches 1 Set the rotary switches on the front side of the AKD to the value of 89 Set S1 to 8 and S2 to 9 2 Press the button B1 for about 3 seconds starts DRV NVSAVE The seven segment display shows Cn during the process of changing DRV TYPE to CAN Do not switch off the 24 V power suppl...

Page 177: ...or the auto baud mechanism is used always For reliable auto baud detection it is recommended to use suitable cabling of the CAN Bus two terminators GND connection etc The drive needs to be disabled if auto baud is in use For setting the baud rate with rotary switches follow the procedure below 1 Disable the drive 2 Set the rotary switches to either 90 to 94 see above table Set S1 to 9 and S2 to ei...

Page 178: ...connecting pins 1 and 6 An optional termination plug is available for AKD P AKD CAN TERM The optional termination plug is an RJ 12 connector with an enclosed wire jumper between pins 1 6 The termination plug should be inserted into the X13 connector of the last drive in the CAN network Remove the termination connector if the AKD is not the last CAN Bus device and use X13 for connecting the next CA...

Page 179: ...9 20 6 CAN Bus Wiring AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 179 ...

Page 180: ...erface X5 X6 The set up Ethernet cable must be connected to X11 or X32 9 21 1 Pinout X5 X6 X11 Pin Signal X5 Signal X6 Signal X11 1 Transmit Receive Transmit 2 Transmit Receive Transmit 3 Receive Transmit Receive 4 5 n c n c n c 6 Receive Transmit Receive 7 8 n c n c n c 9 21 2 Bus Protocols X5 X6 X11 Protocol Type Connectivity Option Connector EtherCAT Motion bus EC or CC X5 X6 SynqNet Motion bus...

Page 181: ...d 1 by software connect the PC to the AKD and change the parameter DRV TYPE in the WorkBench terminal screen see DRV TYPE parameter documentation or 2 by hardware with the rotary switches S1 S2 at the front and the button B1 on the top side of the Drive The following steps are needed for changing the fieldbus type from CAN to EtherCAT with the rotary switches 1 Set the rotary switches on the front...

Page 182: ...er or Switch are both illuminated If both lights are illuminated then you have a good elec trical connection The subnet mask of the AKD is 255 255 255 0 The first three octets of the drive s IP address must be the same as the first three octets of the HMI s IP address The last octet must be dif ferent PROFINET RT and WorkBench can operate simultaneously if a switch is used 9 21 6 Ethernet IP AKD w...

Page 183: ...munication status is indicated by the built in connector LEDs Available from firmware revision 1 11 the protocol works with Hypertherm masters only Connector LED Name Function X5 LED1 IN port Link ON active OFF not active LED2 RUN ON running OFF not running X6 LED3 OUT port Link ON active OFF not active LED4 AKD Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com October 2017 183 ...

Page 184: ...ion 10 Setup 10 Setup 10 1 Important Notes 185 10 2 SetupAKD B AKD P AKD T 186 10 3 Setup AKD M 192 10 4 Fault and Warning Messages 202 10 5 Troubleshooting the AKD 210 184 Kollmorgen kdn kollmorgen com October 2017 ...

Page 185: ...ply voltage depending on the parameter setting If parameter DRV ENDEFAULT is set to 1 then place a warning sign WARNING Possible Automatic Restart or similar to the machine Ensure that power on is not possible while humans are in a dan gerous zone of the machine CAUTION High Temperatur Risk of minor burns The heat sink of the drive can reach temperatures up to 80 C in operation Check the heat sink...

Page 186: ...e operating parameters for the AKD series of drives The attached drive can be set up with the help of this software and during this procedure the drive can be controlled directly by the service functions Only professional personnel who have the relevant expertise 15 are permitted to carry out online parameter setting for a drive that is running Sets of data that have been stored on data media are ...

Page 187: ...cks 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 stored in WorkBench and can be loaded with one click using the Motor screen in the WorkBench software An extensive online help with integrated description of all variables and functions supports you ...

Page 188: ...setup software WorkBench Click it and follow the instructions Autostart function deactivated Insert the DVD into a free drive Click Start task bar then Run Enter the program call x index htm x correct DVD drive letter Click OK and proceed as described above Connection to the Ethernet interface of the PC Connect the interface cable to an Ethernet interface on your PC or to a Hub Switch and to the s...

Page 189: ...nts rated mains supply voltage motor type motor data if the motor type is not listed in the motor database feedback unit built into the motor type poles lines protocol moment of inertia of the load 10 2 7 2 Minimum wiring for drive test without load This wiring diagram is for general illustration only and does not fulfill any requirements for EMC safety or functionality of your application When co...

Page 190: ...ive is in a fault condition Confirm that the link LEDs on the drive green LED on the RJ45 connector and on your PC are both illuminated If both LEDs are illuminated then you have a working electrical con nection While the PC is connecting your statusbar will show the following acquiring icon Wait for this icon to change to the limited functionality icon this process can take up to one minute Altho...

Page 191: ...for example 192 168 0 25 2 Enter the drive IP address Once the IP address has been determined manually enter the drive IP address into the Specify Address box in WorkBench Then click Next to con nect 10 2 7 7 Enable the drive using the setup wizard Once a connection to the drive has been established the AKD Overview screen appears Your drive appears in the navigation area on the left of the screen...

Page 192: ...e as directed The setup software is intended to be used for altering and saving the operating parameters for the AKD PDMM series of drives The attached drive can be set up with the help of this soft ware and during this procedure the drive can be controlled directly by the service functions Only professional personnel who have the relevant expertise 15 are permitted to carry out online parameter s...

Page 193: ...t out the data sets Most standard feedbacks 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 stored in KAS IDE and can be loaded with one click using the Motor screen in the KAS IDE software An extensive online help with integrated description of all v...

Page 194: ...oftware KAS IDE Click it and follow the instructions Autostart function deactivated Insert the DVD into a free drive Click Start task bar then Run Enter the program call x index htm x correct DVD drive letter Click OK and proceed as described above Connection to the Ethernet interface of the PC Connect the interface cable to an Ethernet interface on your PC or to a Hub Switch and to the service in...

Page 195: ...ated mains supply voltage motor type motor data if the motor type is not listed in the motor database feedback unit built into the motor type poles lines protocol moment of inertia of the load 10 3 7 2 Minimum wiring for drive test without load This wiring diagram is for general illustration only and does not fulfill any requirements for EMC safety or functionality of your application When connect...

Page 196: ... Operational program not running o Operational program running Confirm that the link LEDs on the drive green LED on the RJ45 connector X32 and on your PC are both illuminated If both LEDs are illuminated then you have a working electrical con nection While the PC is connecting your statusbar will show the following acquiring icon Wait for this icon to change to the limited functionality icon this ...

Page 197: ...n the IP address of the AKD PDMM set the Controller Type to PDMM and click OK To connect to the PDMM download and run the project use the following controls Double click on EtherCAT in the project view to open the EtherCAT devices view Click on scan devices in the upper right corner and the KAS IDE will automatically identify and add your drive If multiple drives are detected a drive can be unique...

Page 198: ... the menu with button B2 and selecting IP by pressing B2 again The display shows the digits and dots of the IP address in sequence for example 192 168 0 105 2 The IP address of the AKD PDMM is setup in the project file inside the KAS IDE To see the IP address open a project or create a new project Right click on the Project Explorer Project view Controller item and select Properties 3 Type in the ...

Page 199: ...cluding the drive in the AKD PDMM itself and the Remote I O can be configured by the KAS IDE Add the drives to the project click on the EtherCAT item and scan for devices 1 Mapp the detected drives to axis of your application 2 All detected items are automatically added to your project AKD Installation 10 Setup Kollmorgen kdn kollmorgen com October 2017 199 ...

Page 200: ...Click on the drive in the project tree to configure 1 then click on the Online Configuration button 2 In the work space a set of screens opens up that enable you to completely configure the drive Additionally the setup wizard will take you through a set of steps to perform the configuration 200 Kollmorgen kdn kollmorgen com October 2017 ...

Page 201: ...To perform basic motion without running a project the Service Motion screen can be used AKD Installation 10 Setup Kollmorgen kdn kollmorgen com October 2017 201 ...

Page 202: ...kBench Fault Screen or read the status of DRV FAULTS through the controller or HMI 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 remedy and clearing faults can be found in the WorkBench online help and in KDN Code Message Warning 24V power X1 overload or 5V X9 ...

Page 203: ...168 Invalid bit combination in the motion task control word n169 1 1 profile cannot be triggered on the fly n170 Customer profile table is not initialized n171 Motion task activation is currently pending n174 Homing maximum distance exceeded n179 Teaching of cogging compensation stopped before finishing n180 Cogging compensation not active Axis needs to be homed first F201 Internal RAM failed F202...

Page 204: ...n from predicted trajectory fault F439 n439 Following error magnitude F450 Following error presentation F451 n451 Tamagawa encoder battery F452 Extended multiturn not supported with this feedback F453 to F459 Tamagawa encoder communication F460 Tamagawa encoder over speed F461 Tamagawa encoder counting Error F462 Tamagawa encoder counting overflow F463 Tamagawa encoder overheat F464 Tamagawa encod...

Page 205: ...tor overload F504 to F518 Internal supply voltage fault F519 Regen short circuit F521 n521 Regen over power F523 Bus over voltage FPGA F524 n524 Drive foldback F525 Output over current F526 Current sensor short circuit F527 Iu conversor digital analógico atual preso F528 Iv conversor digital analógico atual preso F529 Iu current offset limit exceeded F530 Iv current offset limit exceeded F531 Powe...

Page 206: ...ult F626 Power Board FPGA not configured F627 Control Board Watchdog fault F630 FPGA cyclic read fault F631 Issue command timed out F701 Fieldbus runtime F702 n702 Fieldbus communication lost F703 Emergency timeout occurred while axis should disable F706 n706 Fieldbus cyclic setpoints missing 206 Kollmorgen kdn kollmorgen com October 2017 ...

Page 207: ...y F804 No interrupt handler defined F805 Interrupt error F806 Max string length exceeded F807 String overflow F808 Array out of bounds F809 Feature not supported F810 Internal firmware hardware error F812 Parameter not supported F813 Parameter access error F814 Data not found F815 Data invalid F816 Data too high F817 Data too low F818 Param type out of range F819 Data not divisible by 2 F820 Inval...

Page 208: ... error or alarm occurs it is displayed to the one digit display you can identify the error in the table below and follow the recommendations to fix the problem clear the display and resume machine operation Active errors and alarms can be cleared with the controller command ClearCtrlErrors Note non clearable errors will remain 10 4 3 1 Alarms Alarm Description A01 High temperature exceeded A02 Low...

Page 209: ... Out of NVRAM space for retained variables E14 Reset to Factory Defaults failed E15 Cannot read write files from to a SD card E16 Not enough space available on the SD card E20 Runtime plug in process thread or application failed to start E21 Runtime plug in process or thread failed to respond during operation E22 Fatal error in PLC program application stopped E23 CPU is overloaded E24 PLC applicat...

Page 210: ...ce check brake control check mechanics set motor pole no set up feedback correctly Motor oscillates gain is too high speed controller feedback cable shielding broken AGND not wired up reduce VL KP speed controller replace feedback cable join AGND to CNC GND Drive reports following error Irms or Ipeak set too low current or velocity limits apply accel decel ramp is too long verify motor drive sizin...

Page 211: ...ulation interface 144 Digital inputs all Variants 152 I O option 154 M Variant 157 Dimensions Extended Width 75 Standard Width 71 Disassemble 21 Disposal 22 Document Revisions 215 DSL 127 Dynamic Braking 43 E EAC 28 Emergency Off 53 Emergency Stop Function 53 Emulated Encoder Connector 138 Emulated Encoder Output 144 ENABLE 154 Enclosure protection 35 EnDat 2 1 encoder interface 130 EnDat 2 2 enco...

Page 212: ...nalog 151 Basic Data 36 Digital all Variants 159 Digital M Variant 164 Digital I O option 161 Fault Relay 160 Relay I O option 163 P Package supplied 30 Packaging 20 Part number scheme 31 PC connection 171 Pollution level 35 PROFINET 182 Prohibited Use General 18 STO 57 Pulse Direction interface 142 Pushbuttons 167 R Re forming 185 REACH 27 Referred Standards 13 Regen circuit 43 Regen resistor int...

Page 213: ...used 11 SynqNet 182 System components overview 81 T Temperature in operation 35 Storage 20 Transport 20 Tightening torques connectors 39 Transport 20 Trouble Shooting 210 U UL Markings 24 Use as directed Drive 17 KAS IDE Setup Software 192 STO 57 WorkBench Setup Software 186 V Ventilation Ambient Conditions 35 Mechanical Installation 68 Vibrations 35 W Warnings 202 Wiring 80 AKD Installation 11 In...

Page 214: ... AKD Installation 11 Index 214 Kollmorgen kdn kollmorgen com October 2017 ...

Page 215: ...dded SFD3 feedback added sincos frequency limit automatic restart notes P 05 2014 KCM X4 and Ready contacts added KCM switch on sequence AKD M M1 added Up Down renamed to CW CCW primary feedback on X7 X9 ISO warning symbols R 08 2014 Thermal sensor drawing design and pinout updated for all feedbacks NB hint Tamagawa DC Bus link information added DC Bus fusing T 12 2014 48A drive information includ...

Page 216: ...h the knowledge base for answers get downloads and suggest improvements North America KOLLMORGEN 203A West Rock Road Radford VA 24141 USA Web www kollmorgen com Mail support kollmorgen com Tel 1 540 633 3545 Fax 1 540 639 4162 Europa KOLLMORGEN Europe GmbH Pempelfurtstraße 1 40880 Ratingen Germany Web www kollmorgen com Mail technik kollmorgen com Tel 49 2102 9394 0 Fax 49 2102 9394 3155 South Ame...

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