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AKD2G-S Installation, Safety 1 | 6 Technical description and data

6.8.2.3 Technical data for AKD2G-Sxx-7V

Technical data for the regenerative circuit depends on the drive type and the mains voltage.
Supply voltages, capacitance, and switch-on voltages are all nominal values.

Brake circuit

AC Supply

AKD2G-Sxx- Rated data

Units

240V 400V/480V

7Vxxy
all types

Switch-on threshold of regenerative circuit

V

380

760

Overvoltage limit

V

420

840

Maximum regenerative duty cycle

%

15*

AKD2G-Sxx- Rated data

Units 240V 400V/480V

7V03S

Internal regen resistor

Ω

33

Continuous power, internal resistor

W

tbd

Peak brake power, internal resistor (0.5s)

kW

tbd

tbd

External regen resistor

Ω

33

Continuous brake power, external resistor

kW

tbd

tbd

Peak brake power, external (1s)

kW

tbd

tbd

Absorption energy in capacitors (+/- 20%)

Ws

tbd

tbd / tbd

DC Bus Capacitance

µF

tbd

7V06S,
7V03D

Internal regen resistor

Ω

33

Continuous power, internal resistor

W

tbd

Peak brake power, internal resistor (0.5s)

kW

tbd

tbd

External regen resistor

Ω

33

Continuous brake power, external resistor

kW

tbd

tbd

Peak brake power, external resistor (1s)

kW

tbd

tbd

Absorption energy in capacitors (+/- 20%)

Ws

tbd

tbd / tbd

DC Bus Capacitance

µF

tbd

7V12S,
7V06D

Internal regen resistor

Ω

33

Continuous power, internal resistor

W

tbd

Peak brake power, internal resistor (0.5s)

kW

tbd

tbd

External regen resistor

Ω

33

Continuous brake power, external resistor

kW

tbd

tbd

Peak brake power, external resistor (1s)

kW

tbd

tbd

Absorption energy in capacitors (+/- 20%)

Ws

tbd

tbd / tbd

DC Bus Capacitance

µF

tbd

* depends on connected regen resistor power.

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Kollmorgen | kdn.kollmorgen.com | Beta, December 2018

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Summary of Contents for AKD2G Series

Page 1: ...ition Beta December 2018 Safety Edition S101 December 2018 Valid for AKD 2G S Hardware Revision A Part Number 907 200003 00 Original Document For safe and proper use follow these instructions Keep the...

Page 2: ...n GmbH Ethernet IP is a registered trademark of ODVA Inc Ethernet IP Communication Stack copyright c 2009 Rockwell Automation HIPERFACE is a registered trademark of Max Stegmann GmbH Windows is a regi...

Page 3: ...tion setup and normal operation 25 4 5 Decommissioning 25 4 6 Maintenance and cleaning 25 4 7 Disassembly 25 4 8 System Repair 26 4 9 Disposal 26 5 Package 27 5 1 Package Supplied 28 5 2 Nameplate 28...

Page 4: ...1 Shielding Concept 56 8 4 2 2 Shielding Busbar 57 8 4 3 Shielding connection to the drive 58 8 4 3 1 Shielding Concept 58 8 4 3 2 Grounding plates and shield connection clamps 59 8 4 3 3 Motor conne...

Page 5: ...ut EEO 91 8 10 3 Master Slave control 93 8 10 3 1 Master Slave using X22 93 8 10 3 2 Master Slave using optional X23 or X41 93 8 11 Motion Bus Interface X11 X12 94 8 12 CAN Bus Interface X13 X14 95 8...

Page 6: ...eral notes 124 10 2 Use as directed 124 10 3 Prohibited use 125 10 4 Abbreviations used for functional safety 125 10 5 Enclosure wiring 126 10 6 Functional Safety Option 1 I O SIL2 PLd 127 10 6 1 Tech...

Page 7: ...Information 138 10 8 1 3 5 Variants Supported 138 10 8 1 4 AXIS SAFE STO REPORTFAULT 139 10 8 1 4 1 Description 139 10 8 1 4 2 Context 139 10 8 1 4 3 Versions 139 10 8 1 4 4 General Information 139 10...

Page 8: ...AKD2G S Installation Safety 1 8 Kollmorgen kdn kollmorgen com Beta December 2018...

Page 9: ...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 AKD2G S Installation Safety 1 2 General Kollmorgen kdn kollmorgen com B...

Page 10: ...aximizing your system performance with the AKD2G The Online Help includes the Parameter and Command Reference Guide which provides information for the parameters and commands used to program the AKD2G...

Page 11: ...ymbol 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...

Page 12: ...c cable connector according to IEC 60874 2 FSoE Fail safe over EtherCAT KAS Kollmorgen Automation Suite KAS IDE Setup software Kollmorgen Automation Suite Integrated Development Environment KDN Kollmo...

Page 13: ...ibility EMC IEC 61131 Programmable controllers IEC 61784 Industrial communication networks Profiles Part 3 12 Functional safety fieldbuses IEC 61491 Electrical equipment of industrial machines Serial...

Page 14: ...roduct Safety 3 1 You should pay attention to this 15 3 2 Shock hazard Protection 17 3 3 Stop Emergency Stop Emergency Off 18 3 4 Warning note labels 20 3 5 Use as Directed 21 3 6 Prohibited Use 22 14...

Page 15: ...t label This number is the link between your product and the manual The product Hardware Revision Number must match the Hardware Revision Number on the cover page of the manual Pay attention to the te...

Page 16: ...n protection measures such as insulation or shielding may not be removed Work on the electrical installation may only be performed by trained and qualified personnel in compliance with the regulations...

Page 17: ...be used provided the requisite regulations are complied with The AKD2G is a 3 phase system with a B6 bridge Therefore RCDs which are sensitive to all currents must be used in order to detect any DC fa...

Page 18: ...Stop Category must be determined by a risk evaluation of the machine Stop function must have priority over assigned start functions The following stop categories are defined Stop Category 0 Shut down...

Page 19: ...ed 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 T...

Page 20: ...ged it must be replaced immediately 3 4 1 Notes placed on the product AKD2G Wait 5 minutes after removing power before servicing 3 4 2 Adhesive label in the package To meet UL place the multi language...

Page 21: ...ical rated cur rent at 120 V and 240 V AKD2G Sxx 7Vxx 3 phase industrial supply networks not more than 200 kA symmetrical rated current at 240 V 400 V and 480 V Connection to other voltage types of su...

Page 22: ...ndards 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 vapor...

Page 23: ...e 24 4 4 Installation setup and normal operation 25 4 5 Decommissioning 25 4 6 Maintenance and cleaning 25 4 7 Disassembly 25 4 8 System Repair 26 4 9 Disposal 26 AKD2G S Installation Safety 1 4 Produ...

Page 24: ...form the shipper and the manufacturer of any damage to the package or product 4 2 Packaging The AKD2G packaging consists of recyclable cardboard with inserts and a label on the out side of the box Mod...

Page 25: ...only be cleaned by the manufacturer Do not immerse or spray the device Avoid that liquid enters the device To clean the device exterior 1 Decommission the device see chapter 4 5 Decommissioning 2 Cas...

Page 26: ...ve system parts If parts of the drive system for example cables must be replaced proceed as follows 1 Decommission the device see chapter 4 5 Decommissioning 2 Exchange the parts 3 Check all connectio...

Page 27: ...5 Package 5 1 Package Supplied 28 5 2 Nameplate 28 5 3 Part Number Scheme 29 AKD2G S Installation Safety 1 5 Package Kollmorgen kdn kollmorgen com Beta December 2018 27...

Page 28: ...ded excepting SubD Feedback 3 RJ25 CAN bus and RJ45 service and fieldbus networks Accessories Sold Separately Accessories must be ordered separately if required EMC filters for mains supply voltage ca...

Page 29: ...0 AKD2G IP20 housing position indexer EtherCAT 240 V to 480 V mains supply 6 A rated current single axis Hardware Revision A dual channel STO SIL2 PLd with additional I O connector X22 uncoated no mat...

Page 30: ...2G Family of Digital Drives 31 6 2 Ambient Conditions Ventilation and Mounting Position 33 6 3 Mechanical Data 33 6 4 Performance Data 34 6 5 Electrical data 35 6 6 LCD Display and Push buttons B1 B2...

Page 31: ...motors and induction machines SIL2 PLd dual channel STO Power section One two or three phase AC supply voltage range 85 to 528 V 47 to 63 Hz Connection to higher AC voltage mains only via isolating tr...

Page 32: ...107 4 safe STO inputs dual channel STO per axis 123 Connector Options IO X22 connector with additional digital inputs and outputs F3 X23 connector for conventional motor feedbacks Resolver SFD Tamaga...

Page 33: ...ording to IEC 61800 2 Drive protection IP 20 according to IEC 60529 Drive EMC immunity Increased immunity according to EN 61800 5 2 Mounting Vertical position in a cabinet with protection of at least...

Page 34: ...d Switching Frequency dynamic kHz 10 4 8 2 Current Loop Update Period s 1 28 Velocity Loop Update Period s 62 5 Position Loop Update Period s 250 Current Loop Bandwidth Hz 3000 Velocity Loop Bandwidth...

Page 35: ...to 240 V 3 x 200 V to 480 V Rated supply input frequency Hz 50 Hz to 60 Hz 5 Permitted switch on off frequency 1 h 30 30 Rated input power 240 V 480V kVA 1 2 2 38 2 64 2 24 4 49 7 65 Rated input curr...

Page 36: ...s 9 18 30 9 18 30 Continuous output power rated input current at 1 x 110 Vac kVA tbd tbd tbd at 1 x 240 Vac kVA tbd tbd tbd at 3 x 110 Vac kVA tbd tbd tbd at 3 x 240 Vac kVA tbd tbd tbd tbd tbd tbd at...

Page 37: ...Rated supply input frequency Hz 50 Hz to 60 Hz 5 Permitted switch on off frequency 1 h 30 Rated input power 240V 480V kVA 2 38 3 82 4 49 7 65 Rated input current at 3 x 110 Vac A 2 9 5 7 Rated input c...

Page 38: ...5s 3 Arms 2x9 2x18 2x9 2x18 Continuous output power rated input current at 1 x 110 Vac kVA tbd tbd at 1 x 240 Vac kVA tbd tbd at 3 x 110 Vac kVA tbd tbd at 3 x 240 Vac kVA tbd tbd tbd tbd at 3 x 400...

Page 39: ...y to boot from an on board recovery image The fallback image includes a set of boot loader operational and control FPGA that implements suf ficient programming support to update missing or corrupt fil...

Page 40: ...ormation the bottom section those for axis 2 Single axis LCD display For single axis drives the top section shows axis 1 information while the section between the center and bottom bars is a data area...

Page 41: ...e features can be started from the drive display using push buttons B1 B2 Supported SD card types SD cards are formatted by the manufacturer The following table outlines the SD card types and AKD2G su...

Page 42: ...bility to connect an external resistor depending on the application requirements External regen resistors are described in the regional Accessories Manual 6 8 2 1 Functional description 1 Individual d...

Page 43: ...bsorption energy in capacitors 20 Ws tbd tbd DC Bus Capacitance F tbd 6V06S 6V03D Internal regen resistor 15 Continuous power internal resistor W tbd Peak brake power internal resistor 0 5s kW tbd Ext...

Page 44: ...esistor kW tbd tbd Peak brake power external 1s kW tbd tbd Absorption energy in capacitors 20 Ws tbd tbd tbd DC Bus Capacitance F tbd 7V06S 7V03D Internal regen resistor 33 Continuous power internal r...

Page 45: ...nical Installation 7 1 Important Notes 46 7 2 Guide to Mechanical Installation 46 7 3 Dimensions 47 AKD2G S Installation Safety 1 7 Mechanical Installation Kollmorgen kdn kollmorgen com Beta December...

Page 46: ...Guide to Mechanical Installation The following tools are required at a minimum to install the AKD2G your specific install ation may require additional tools M5 hexagon socket cap screws ISO 4762 4 mm...

Page 47: ...unting plate Dimensions on the front plate are slightly smaller All dimensions in mm Dimensions in mm A A1 B B1 C D E F G H M P AKD2G Sxx 6V 3 to 12 A 221 232 235 303 76 221 5 36 5 8 11 5 7 78 40 AKD2...

Page 48: ...ion Overview 60 8 6 Power and Logic Voltage Supply X3 X10 70 8 7 DC Bus link X3 75 8 8 External Regen resistor X3 76 8 9 Motor Power Brake and Feedback connection 77 8 10 Electronic Gearing EEO Master...

Page 49: ...heck the combination of drive and motor Compare the rated voltage and current of the units Imple ment the wiring according to the matching connection diagram see 62 and following Make sure that the ma...

Page 50: ...and feedback cables Connect shielding at both ends If required connect the external regen resistor with fusing AKD2G Sxx 6V connect EMC filters shielded lines between filter and drive for second envi...

Page 51: ...e largest feasible sur face area between the unit indicated and the mounting plate in the control cabinet This con nection is for the effective grounding of HF interference and must not be confused wi...

Page 52: ...re capacitance less than 210 pF m phase core shield capacitance less than 120 pF m signal core core capacitance less than 210 pF m signal core shield capacitance BUS Element 45 pF m 800kHz a charact w...

Page 53: ...c to IEC 60204 1 2006 Table 6 Column B2 The brackets show the shielding 4x1 5 4x1 5 2x0 75 10 1A I0rms 13 1A 4x2 5 4x2 5 2x1 0 13 1A I0rms 17 4A 4x4 4x4 0 2x1 0 17 4A I0rms 23A 4x6 4x6 0 2x1 0 23A I0r...

Page 54: ...more than 3 5 mA In accordance with EN 61800 5 1 the PE connection must therefore either be double implemented or a connection cable with 10mm cross section used In order to keep the impedance as low...

Page 55: ...th 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...

Page 56: ...elding busbar For best practice use of shielded cables Kollmorgen recommends a star point shield con nection for example with a shielding busbar 8 4 2 1 Shielding Concept Example with AKD2G Sxx 6Vxx E...

Page 57: ...incers 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 eith...

Page 58: ...drive You can connect cable shielding directly to the drive by using grounding plates shield con nection clamps and a motor connector with strain relief and grounding plate 8 4 3 1 Shielding Concept...

Page 59: ...ables are configured with shield plate Strip the external cable sheath to a length of approx 80 mm taking care not to damage the braided shield Push the braided shield 1 back over the cable and secure...

Page 60: ...ation 8 5 Connection Overview 8 5 1 Connector Position AKD2G Sxx 6V The graphics shows an AKD2G with supply voltage 110 V to 240 V X2 is available with dual axis drives only Optional I O F3 or DX 29 6...

Page 61: ...The graphics shows an AKD2G with supply voltage 240 V to 480 V X2 is available with dual axis drives only Optional I O F3 or DX 29 AKD2G S Installation Safety 1 8 Electrical Installation Kollmorgen kd...

Page 62: ...AKD2G S Installation Safety 1 8 Electrical Installation 8 5 3 Wiring overview single axis drive 62 Kollmorgen kdn kollmorgen com Beta December 2018...

Page 63: ...8 5 4 Wiring overview dual axis drive AKD2G S Installation Safety 1 8 Electrical Installation Kollmorgen kdn kollmorgen com Beta December 2018 63...

Page 64: ...tive earth B BR Motor holding brake B BR Motor holding brake F COM SFD3 or HIPERFACE DSL F COM SFD3 or HIPERFACE DSL 8 5 5 2 X3 Mains regen resistor DC Bus 8 pin pitch 7 62 mm Screw terminals Optional...

Page 65: ...on Node ID to be set by WorkBench Interface Details 95 Pin Signal Description Pin Signal Description 1 n c not used 4 CAN_low CAN bus low signal 2 Shield Chassis 5 CAN_GND CAN bus ground 3 CAN_high CA...

Page 66: ...2 type 1 A9 Digital In DIN 7 Slow isolated sink type EN 61131 2 type 1 A10 Digital In DIN 8 Slow isolated sink type EN 61131 2 type 1 A11 STO A A1 Slow isolated sink fail safe STO axis 1 channel A B1...

Page 67: ...Analog In AIN 2 Analog Input 10 V A19 Analog In AIN 2 A20 Digital In Out DIO 1 RS485 input or output A21 Digital In Out DIO 1 RS485 input or output B12 STO B A2 Slow isolated sink fail safe STO axis...

Page 68: ...SEN SEN SEN 5 SEN SEN SEN SEN SEN SEN SEN SEN SEN SEN 6 COM R1 Ref DAT DAT DAT DAT DAT Zero Zero Zero Zero SD Dir CCW 7 COM R2 Ref DAT DAT DAT DAT DAT Zero Zero Zero Zero SD Dir CCW 8 Thermal control...

Page 69: ...all U Hall U Hall U 2 CLK CLK CLK Hall V Hall V Hall V Stp CW 3 CLK CLK CLK Hall W Hall W Hall W Stp CW 4 SEN SEN SEN SEN SEN SEN SEN SEN SEN 5 SEN SEN SEN SEN SEN SEN SEN SEN SEN 6 COM R1 Ref DAT DAT...

Page 70: ...tages 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 s between phases must not exceed 1000 V Voltage spikes 50 s betwee...

Page 71: ...iate to the application but may cause nuisance trips AC supply single drives line fusing F1 F2 F3 depends on sum current and cabinet requirements Filters for special EMC requirements only 141 FN1 FN2...

Page 72: ...k Kollmorgen for details AC supply single drives automatic circuit breakers Ask Kollmorgen for details AC supply group of drives automatic circuit brakers Ask Kollmorgen for details DC supply single d...

Page 73: ...ctivate phase loss detection Filtering to be provided by the user Two phases AC mains AKD2G Sxx 6V Directly to two phase supply network 120 V 10 to 240 V 10 without neutral line Deactivate phase loss...

Page 74: ...ee phases AC mains all AKD2G Sxx Directly to 3 phase supply network max 240 V 10 respectively 480 V 10 Filtering for AKD2G Sxx 6V to be provided by the user DC Supply all AKD2G Sxx Ask Kollmorgen for...

Page 75: ...V 8 6 2 1 Fusing Use 24 VDC supply manufacturers recommendation for fusing 24 V supply PELV Units Input data single axis Input data dual axis Aux voltage supply PELV VDC 24 V 10 check voltage drop con...

Page 76: ...in Signal Description 5 RBint internal Regen resistor 6 RB external Regen resistor 7 DC RBext external Regen resistor 8 8 1 Fusing and Wiring FB1 FB2 fusing Drive Model Ampere rating 240V Ampere ratin...

Page 77: ...3 or DSL Axis 2 dual cable connection 78 commutation feedback EnDAT HIPERFACE Resolver etc via SFA Axis 1 dual cable connection 80 commutation feedback Resolver SFD EnDAT HIPERFACE BiSS SinCos ComCode...

Page 78: ...X1 X21 X22 X23 Dual axis standard X1 X2 X21 X22 Dual axis with Option DX X1 X2 X21 X22 X23 8 9 2 1 Motor Power Brake and Feedback connectors X1 X2 X1 Feedback 1 X2 Feedback 2 Motor Power 4 pin pitch...

Page 79: ...or data see 51 Cable length maximum 50 m Connector Functionality Pinout Wiring X21 Step Direction CW CCW 86 X22 Step Direction CW CCW Incremental Encoder 87 X23 Several conventional feedback types 88...

Page 80: ...r slave con nection are possible via X21 X22 X23 depending on the drive version and physical restric tions X1 Feedback 1 X2 Feedback 2 Motor Power 4 pin pitch 7 62 mm Motor Brake 2 pin pitch 3 81 mm S...

Page 81: ...tep Direction CW CCW Incremental Encoder 87 X23 Several conventional feedback types 88 Feedback connector X1 X2 X41 Conventional feedback systems can be connected to X1 or X2 via the optional feedback...

Page 82: ...r brake axis 1 X2 Primary motor brake axis 2 No functional Safety Serious injury could result when the load is not properly blocked This function does not ensure functional safety Functional safety e...

Page 83: ...values The drive speed setpoint is internally driven down an adjustable ramp AXIS CS DEC to 0 V With default values the output for the brake is switched on when the speed has reached 5 rpm AXIS CS VTH...

Page 84: ...annot commutate axis 1 Feedback channel Connector Pinout Usable for Feedback 1 X1 85 Axis 1 commutation feedback X41 89 Axis 1 via SFA commutation feedback Feedback 2 X2 85 Axis 2 commutation feedback...

Page 85: ...SFD3 DSL SFA Wiring example SFD3 or HIPERFACE DSL Wiring example conventional Feedback types with SFA Pin Signal Description F COM SFD3 HIPERFACE DSL SFA F COM SFD3 HIPERFACE DSL SFA 5 PE Cable shield...

Page 86: ...nector B pitch 3 5 mm Fast input isolated sink type EN 61131 2 type 1 Input for commutation or position feedback Input for Electronic Gearing 90 Mating connector data see 51 Wiring example X21 Pin Ste...

Page 87: ...t for Electronic Gearing 90 Output for encoder emulation EEO2 91 Mating connector data see 51 Wiring example Input EEO output connection is similar X22 Pin Step Direction CW CCW Incremental Encoder A2...

Page 88: ...in SFD Resol ver BiSS B BiSS C EnDAT 2 1 EnDAT 2 2 Hiper face Sine Cos Sine Cos Hall Incr Enc Incr Enc Hall Hall Smart Abs Step Dir CW CCW 1 Hall U Hall U Hall U 2 CLK CLK CLK CLK Hall V Hall V Hall V...

Page 89: ...f the SFA cable to X1 FB1 EEO3 or X2 FB2 EEO4 X41 Pin SFD Resol ver BiSS B EnDAT 2 1 EnDAT 2 2 Hiper face Sine Cos Sine Cos Hall Incr Enc Incr Enc Hall Hall Smart Abs Step Dir CW CCW 1 Hall U Hall U H...

Page 90: ...ple Keyword to configure the sensor type Feedback 1 EEO3 X1 85 FB1 SELECT X41 89 Feedback 2 EEO4 X2 85 FB2 SELECT X41 89 Feedback 3 EEO1 X23 88 FB3 SELECT Feedback 4 n a X21 86 FB4 SELECT Feedback 5 E...

Page 91: ...3 Technical characteristics X22 EEO2 Pulse outputs on the connector X22 are 2 signals tracks A and B with 90 phase difference i e in quadrature hence the alternative term A quad B output Electrical In...

Page 92: ...egative 14 Track B EEO1 output channel B positive 15 Track B EEO1 output channel B negative Technical characteristics X41 SFA EEO3 EEO4 in process Pulse outputs on the SubD connector X41 are 3 signals...

Page 93: ...s velocity and direction 8 10 3 1 Master Slave using X22 The master is configured for EEO4 91 on X2 the Slave uses X1 for command input 8 10 3 2 Master Slave using optional X23 or X41 The master is co...

Page 94: ...Bob Smith termination 6 Rx Receive 7 Termination Bob Smith termination 8 Termination Bob Smith termination Do not connect the Ethernet line for the PC or PAC with the set up software to the motion bu...

Page 95: ...e used The maximum usable cable length for reliable communication decreases with increasing transmission speed As a guide you can use the following values measured by Kollmorgen however these val ues...

Page 96: ...AKD2G S Installation Safety 1 8 Electrical Installation 8 12 2 CAN Bus Wiring 96 Kollmorgen kdn kollmorgen com Beta December 2018...

Page 97: ...rn it on again 8 12 5 CAN Bus Termination The last bus device on both ends of the CAN Bus system must have termination resistors The AKD2G has built in 132 ohms resistors that can be activated by conn...

Page 98: ...h termination 8 Termination Bob Smith termination Operating position control and motion block parameters can be set up by using the setup software on an ordinary commercial PC 117 Connect the service...

Page 99: ...IN 8 B10 Digital Out DOUT 4 A11 STO A A1 B11 STO B A1 X22 optional for single axis drives standard for dual axis drives Pin Signal Pin Signal A12 STO A A2 dual axis B12 STO B A2 dual axis A13 Digital...

Page 100: ...o 15 mA OFF 5 VDC to 5 VDC max 15 mA galvanic isolation for 60 VDC delay activation de activation about 5 s 500 s Digital outputs Digital Out DOUT 1 to 6 max 30 VDC 100 mA short circuit proof galvanic...

Page 101: ...of full scale or 12 5 mV Common Mode Rejection Ratio 30 dB at 60 Hz Input impedance 13k s Signal to noise ratio referred to full scale AIN CUTOFF 3000 Hz 14 bit AIN CUTOFF 800 Hz 16 bit Analog Input W...

Page 102: ...cteristics Output voltage range referring to AGND 0 to 10 V Resolution 16 Bit and fully monotonic Update rate 4 kHz Unadjusted offset 50 mV Offset drift typ 250 V C Gain or slope tolerance 3 Nonlinear...

Page 103: ...unction the inputs are high or low active Digital input filter can be set in WorkBench to change sensitivity of the inputs see Online Help 8 14 5 1 Digital In 1 and 2 These inputs IEC 61131 2 Type 1 a...

Page 104: ...W Enable Axis 1 l Digital In 4 HW Enable Axis 2 l Digital In 5 12 off Choose the function you require in WorkBench For more information refer to WorkBench Technical characteristics Floating reference...

Page 105: ...Will be damaged if connected to 24V Technical characteristics if configured as input RS485 reference common line is AGND No wire break detection Digital IN OUT 1 2 Selectable DC termination for diffe...

Page 106: ...V signal level Will be damaged if connected to 24V Technical characteristics if configured as input RS485 reference common line is 0V No wire break detection Digital IN OUT 3 4 Selectable DC terminati...

Page 107: ...eady to operate signal Choose the required action in the setup software Messages from pre programmed actions A list of actions is included in the WorkBench If an output is programmed it must be saved...

Page 108: ...outputs are not pro grammed off Technical characteristics The outputs can switch 5 V to 30 V The two channels are isolated from one another and not referred to a common potential Output current max 10...

Page 109: ...on Update rate 250 s 8 14 6 4 Digital In Out 3 to 6 X23 can be used for digital I O The channels can be defined as inputs or outputs For pro gramming refer to WorkBench Technical characteristics if co...

Page 110: ...able with the setup software for more information refer to WorkBench By default the output function is defined as ready to operate output by action keyword Technical characteristics Relay output max 3...

Page 111: ...9 2 Guide to drive setup 113 9 3 Switch On and Switch Off Behavior 119 9 4 Fault and Warning Messages 121 9 5 Troubleshooting the AKD2G 122 AKD2G S Installation Safety 1 9 Setup Kollmorgen kdn kollmo...

Page 112: ...ltage dip or interruption of the supply voltage depending on the parameter setting If parameter AXIS ENDEFAULT is set to 1 then place a warning sign WARNING Possible Automatic Restart or similar to th...

Page 113: ...iring for drive testing as described below 4 Make sure you have on hand the following information about the drive components rated mains supply voltage motor type motor data if the motor type is not l...

Page 114: ...4 System integration MAC Address The unique MAC address is pre defined by the manufacturer see nameplate Service IP Address The AKD2G service port X20 supports auto IP DHCP and static IP addressing T...

Page 115: ...s and 3 Save parameter set to the drive Refer to the WorkBench Online Help for details 9 2 1 7 Enable the axis Hardware 1 Switch 24 V to the STO inputs X21 A11 B11 for axis 1 or X21 A12 B12 for axis 2...

Page 116: ...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...

Page 117: ...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 w...

Page 118: ...tware 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 driv...

Page 119: ...AKEIMM to 1 with vertical axes to apply the motor holding brake 82 immediately after faults or Hardware Dis able Behavior when undervoltage condition is present The behavior in an undervoltage conditi...

Page 120: ...p 9 3 1 Switch on behavior in standard operation The diagram below illustrates the correct functional sequence for switching the drive on 9 3 2 Switch off behavior Chapter in process 120 Kollmorgen kd...

Page 121: ...hort description of the fault or warning You can retrieve faults on a per axis basis with the keyword AXIS FAULTS where is the Axis number Multiple faults may be present when a fault condition is occu...

Page 122: ...incorrectly 8 feedback set up incorrectly 1 apply ENABLE signal 2 set software enable 3 check setpoint cable 4 correct motor phase sequence 5 check brake control 6 check mechanics 7 set motor pole no...

Page 123: ...eral notes 124 10 2 Use as directed 124 10 3 Prohibited use 125 10 4 Abbreviations used for functional safety 125 10 5 Enclosure wiring 126 10 6 Functional Safety Option 1 I O SIL2 PLd 127 10 7 Safety...

Page 124: ...rained personnel after any changes to the installation The expertise of the personnel must be appropriate to the complexity and safety integrity level of the drive system High electrical voltage Risk...

Page 125: ...reviation Meaning A AXIS A or AXIS are placeholders for the axis number Used with keywords AXIS SAFE STO ACTIVATESOURCE or signal names STO A A 53 see page 53 in this document CCF Common cause failure...

Page 126: ...above mean sea level AMSL no restriction 1 000 to 2 000 m AMSL power derating 1 5 100 m Maximum altitude 2000 m AMSL Drive EMC immunity Increased immunity according to EN 61800 5 2 Drive Pollution le...

Page 127: ...data Reference ground is DGND Galvanic isolation for 60 VDC Activation delay about 5 s De activation delay about 500 s Use 24 VDC 15 PELV power supply High level 17 VDC to 30 VDC 5 mA to 6 mA Low lev...

Page 128: ...time of the test pulses should not exceed 10 The hardware fault tolerance is HFT 1 according to IEC 61508 Two faults might lead to loss of the safety functions The systematic capability according to...

Page 129: ...ctive Add a safe mechanical blocking for instance a motor holding brake 10 6 3 1 2 Precondition before activation None 10 6 3 1 3 Activation The digital STO inputs channel A and B must be connected to...

Page 130: ...deactivate STO 2 enable axis 1 Example 2 Axis 1 was enabled STO is activated Messages W9000 and F9000 Restart 1 disable axis 1 2 deactivate STO 3 clear fault 4 enable axis 1 Restart 1 deactivate STO E...

Page 131: ...ms accepted delay between dual channel edges t5 to t6 2 ms STO release delay t6 STO release t6 to t7 Zero if AXIS1 STO REPORTFAULT 0 Until no fault if AXIS1 STO REPORTFAULT 1 t7 Power section released...

Page 132: ...on Check and verify the STO wiring examples 129 The installation must be verified by trained personnel after any changes to the installation The level of experience of the per sonnel must be appropria...

Page 133: ...ws the code of the fault or warning that occurred Safety Faults and Warnings follow the same pattern and are identified by a four digit code 90 XX where 90 is the two digit group code and XX is a two...

Page 134: ...STO if safe to do so 10 7 4 Troubleshooting safety functionality Eliminate errors and faults in compliance with work safety rules Troubleshooting only by qualified and trained staff Problem Possible...

Page 135: ...yword Reference Guide This section describes the keywords used for functional safety 10 8 1 AXISx SAFE STO Parameters 136 AKD2G S Installation Safety 1 10 Functional Safety Kollmorgen kdn kollmorgen c...

Page 136: ...A and AXIS SAFE STO B signals Value Description 1 STO active inputs 0V 0 STO inactive inputs 24V 10 8 1 1 2 Context For full STO information refer to Safe Torque Off 129 10 8 1 1 3 Versions Action Ver...

Page 137: ...ull STO information refer to Safe Torque Off 129 10 8 1 2 3 Versions Action Version Notes Implemented 02 00 00 000 10 8 1 2 4 General Information Type Read Only Units N A Range 0 or 1 Default Value N...

Page 138: ...t STO active axis disabled 10 8 1 3 2 Context For full STO information refer to Safe Torque Off 129 10 8 1 3 3 Versions Action Version Notes Implemented 02 00 00 000 10 8 1 3 4 General Information Typ...

Page 139: ...not indicated warning is still present 10 8 1 4 2 Context For full STO information refer to Safe Torque Off 129 10 8 1 4 3 Versions Action Version Notes Implemented 02 00 00 000 10 8 1 4 4 General Inf...

Page 140: ...Functional Safety UL are in process 11 1 Conformance with UL cUL 141 11 2 Conformance with CE 141 11 3 Conformance with RoHS 141 11 4 Conformance with REACH 141 11 5 Functional Safety approval 141 11...

Page 141: ...Safety of AKD2G is not approved nor certified Do not use this functionality in applications with functional safety request Kollmorgen offers 3 levels of functional safety implementation for AKD2G Safe...

Page 142: ...AKD2G S Installation Safety 1 11 Approvals 142 Kollmorgen kdn kollmorgen com Beta December 2018...

Page 143: ...39 Disposal 26 Document Revisions 145 DSL 78 Dynamic Braking 42 E EAC 141 Emergency Off 18 Emergency Stop Function 18 Emulated Encoder Connector 90 Emulated Encoder Output 91 Enclosure FS 126 F Factu...

Page 144: ...fety 123 Product Safety 14 Safety Faults 133 Safety Instructions Drive Setup 112 Electrical Installation 49 General 15 Mechanical Installation 46 Safety Properties FS1 128 Safety Warnings 133 SD Card...

Page 145: ...13 Record of document revisions Revision Remarks Beta 12 2018 Beta edition AKD2G S Installation Safety 1 13 Record of document revisions Kollmorgen kdn kollmorgen com Beta December 2018 145...

Page 146: ...for answers get downloads and suggest improve ments North America KOLLMORGEN 201 West Rock Road Radford VA 24141 USA Web www kollmorgen com Mail support kollmorgen com Tel 1 540 633 3545 Fax 1 540 639...

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