Kollmorgen MKD-C Series Product Safety Manual Download Page 21 | Manualshive

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1.9 Troubleshooting the MKD System

Drive problems occur for a variety of reasons, depending on the conditions in your applic-
ation. The causes of faults in multi-axis systems can be very complex. If you cannot resolve
a fault, Kollmorgen customer support can give you further assistance.

Eliminate errors and faults in compliance with work safety rules. Troubleshooting only by
qualified and trained staff.

Details on the removal of faults can be found in the WorkBench online help.

MKD Product Safety Guide | 1 English

Kollmorgen | kdn.kollmorgen.com | January 2019

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Summary of Contents for MKD-C Series

Page 1: ...Part Number 904 200024 99 English Deutsch Fran ais Italiano Portugu s Espa ol Original language is English All other content is translated from the genuine English content For safe and proper use fol...

Page 2: ...reils Ce document est la propri t intellectuelle de Kollmorgen Tous droits r serv s Sans autorisation crite de l entreprise Kollmorgen aucune partie de cet ouvrage n a le droit d tre ni reproduite par...

Page 3: ...11 1 3 8 System Repair 12 1 3 9 Disposal 12 1 4 Technical description and general data 13 1 4 1 Package Supplied 13 1 4 2 Part Number Scheme 14 1 4 3 Ambient Conditions in normal operation 15 1 4 4 E...

Page 4: ...Guide which provides documentation for the para meters and commands used to program the system EtherCAT Communication describes how to use the system in EtherCAT applications These documents can be fo...

Page 5: ...ided could result in minor or moderate injury Indicates situations which if not avoided could result in prop erty damage This symbol indicates important notes Warning of a danger general The type of d...

Page 6: ...ach other This number is the link between your product and the manual The product Hardware Revision Number must match the Hard ware Revision Number on the cover page of the manual Pay attention to the...

Page 7: ...e RCD or monitoring RCM device is used for protection in case of direct or indirect contact only an RCD or RCM of Type B is allowed on the supply side of MKD C Lethal voltages The equipment produces h...

Page 8: ...ssembling MKD modules must only be operated in environments suitable for the ambient conditions defined on 15 Wiring Use only Kollmorgen cables for connecting the system components Power supply MKD C...

Page 9: ...entially explosive areas environments with corrosive and or electrically conductive acids alkaline solutions oils vapors dusts ships or offshore applications Wiring the system with hybrid cables from...

Page 10: ...isible damage Inform the shipper and the manufacturer of any damage to the package or product 1 3 2 Packaging The MKD packaging consists of recyclable cardboard with inserts and a label on the outside...

Page 11: ...of the unit can 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 1 3 5 Deco...

Page 12: ...m parts If parts of the drive system for example cables must be replaced proceed as follows 1 Decommission the device see chapter 1 3 5 Decommissioning 2 Exchange the parts 3 Check all connections for...

Page 13: ...KD Product Safety Guide DVD containing the setup software WorkBench and all product documentation in digital format Mating connectors MKD C X12 X13 X14 X15 X16 X25 One MKD N DC Bus link cover Two conn...

Page 14: ...ode coding for customer specials not relevant for functional safety 1 4 2 2 MKD N modules Available drive modules Current rating Current rating Single Axis Axis 1 Axis 2 Dual Axes Axis 1 Axis 2 MKD N0...

Page 15: ...high temperature in the control cabinet Make sure sufficient forced ventilation is supplied within the control cabinet 1 4 4 Electrical Data Electrical data 53 1 4 5 System limits Length String 2 3 M...

Page 16: ...ted across the drive system MKD C connector X16 global STO String 2 3 inputs of the system powered by this MKD C MKD N connector X26 local STO axis 1 and axis 2 if built in input of the drive module A...

Page 17: ...or shield the magnetic fields 1 6 2 Guide to Mechanical Installation For details refer to the MKD Installation Manual The following tools are required at a min imum to install the MKD C and MKD N mod...

Page 18: ...as fallen below 50 V Since the leakage current to PE is more than 3 5 mA in compliance with IEC61800 5 1 the PE connection must either be doubled or a connecting cable with a cross section 10 mm must...

Page 19: ...by trained and qualified per sonnel in compliance with the regulations for safety at work and only with switched off mains supply and secured against restart WARNING Automatic Restart Risk of death o...

Page 20: ...WorkBench Online Help for information 1 8 2 2 Confirm connections Switch on 24 VDC logic power for the system mains supply voltage is not needed for com munications Confirm that the green link LED 1...

Page 21: ...e very complex If you cannot resolve a fault Kollmorgen customer support can give you further assistance Eliminate errors and faults in compliance with work safety rules Troubleshooting only by qualif...

Page 22: ...MKD Product Safety Guide 1 English 22 Kollmorgen kdn kollmorgen com January 2019...

Page 23: ...montage 31 2 3 8 System Reparatur 32 2 3 9 Entsorgung 32 2 4 Technische Beschreibung und allgemeine Daten 33 2 4 1 Lieferumfang 33 2 4 2 Typenschl ssel 34 2 4 3 Umgebungsbedingungen im normalen Betrie...

Page 24: ...en zu Para metern und Befehlen die zum Programmieren des Systems benutzt werden EtherCAT Communication beschreibt die Verwendung des Systems in EtherCAT Appli kationen Diese Dokumente finden Sie auf d...

Page 25: ...icht ver mieden wird zu leichten Verletzungen f hren kann Dieses Symbol weist auf eine Situation hin die wenn sie nicht vermieden wird zu Besch digung von Sachen f hren kann Dieses Symbol weist auf wi...

Page 26: ...t und dem Handbuch Diese Revisionsnummer muss mit der Hardware Revisionsnummer auf der Betriebsanleitung bereinstimmen Technische Daten beachten Halten Sie die technischen Daten und die Angaben zu den...

Page 27: ...erstrom berwachungsger t RCM verwendet wird ist auf der Strom versorgungsseite des MKD C nur ein RCD oder RCM vom Typ B zul ssig T dliche Spannung Die Ger te erzeugen hohe elektrische Spannungen bis z...

Page 28: ...chr nken betrieben werden die sich f r die definierten Umgebungsbedingungen eignen 35 Verdrahtung Verwenden Sie nur Kollmorgen Leitungen zur Verbindung der Systemkomponenten Spannungsversorgung MKD C...

Page 29: ...en S uren alkalischen L sungen len D mpfen und Staub Schiffe oder Offshore Anwendungen Verdrahtung des Systems mit Hybridkabeln anderer Hersteller als Kollmorgen ist nicht erlaubt Ver ndern von Kollmo...

Page 30: ...den Infor mieren Sie den Spediteur und den Hersteller ber Sch den an der Verpackung oder Produkt 2 3 2 Verpackung Die MKD Verpackung besteht aus recyclingf higem Karton mit Eins tzen und einem Auf kle...

Page 31: ...gereinigt werden Das Ger t nicht in Fl ssigkeiten tauchen oder bespr hen Vermeiden Sie dass Fl ssigkeit in das Ger t eindringt So reinigen Sie das Ger t von au en 1 Nehmen Sie das Ger t au er Betrieb...

Page 32: ...triebssystems ausgetauscht werden m ssen zum Beispiel Kabel gehen Sie wie folgt vor 1 Nehmen Sie das Ger t au er Betrieb siehe Kapitel 2 3 5 Au er Betrieb nehmen 2 Tauschen Sie die Teile aus 3 Pr fen...

Page 33: ...ckter MKD Product Safety Guide DVD mit der Setup Software WorkBench und der gesamten Produktdokumentation in elektronischer Form Gegenstecker MKD C X12 X13 X14 X15 X16 X25 Eine MKD N Zwischenkreis Abd...

Page 34: ...g Kodierung von kundenspezifische Besonderheiten nicht Safety relevant 2 4 2 2 MKD N Module Verf gbare Antriebsmodule Strombemessung Strombemessung Einachsig Achse 1 Achse 2 Zweiachsig Achse 1 Achse 2...

Page 35: ...e eine ausreichende Zwangs bel ftung im Schaltschrank sicher 2 4 4 Elektrische Daten Elektrische Daten 53 2 4 5 Systemgrenzen L nge Strang 2 3 Maximal 100 m Gesamtkabell nge pro Strang Anzahl der MKD...

Page 36: ...Ber cksichtigung des gesamten Antriebs systems berechnet werden MKD C Stecker X16 globale STO Strang 2 3 Eing nge f r das vom MKD C versorgte System MKD N Stecker X26 lokaler STO Achse 1 und wenn vorh...

Page 37: ...e Magnet felder ab 2 6 2 Anleitung f r die mechanische Installation Einzelheiten siehe MKD Installation Manual Halten Sie die folgenden Werkzeuge zur Mon tage der MKD C und MKD N Module bereit Ihre sp...

Page 38: ...in bereinstimmung mit der Norm EN61800 5 1 der PE Anschluss entweder gedoppelt oder ein Anschlusskabel mit einem Querschnitt von 10 mm verwendet werden Abweichende Ma nahmen sind in ber einstimmung m...

Page 39: ...tssicherheit und nur bei ausgeschalteter und gegen Wiedereinschalten gesicherter elektrischer Versorgung zul ssig WARNUNG Automatischer Wiederanlauf Es besteht die Gefahr von t dlichen oder schweren V...

Page 40: ...rbindungen berpr fen Schalten Sie die 24 VDC Logikversorgung des Systems f r die Kommunikation wird keine Leistungsversorgung ben tigt Stellen Sie sicher dass sowohl am MKD C Stecker als auch am PC St...

Page 41: ...nicht beheben k nnen kann Ihnen der Kollmorgen Kun dendienst weitere Unterst tzung bieten Beseitigen Sie auftretende Fehler und St rungen unter Beachtung der Arbeitssicherheit Feh lerbeseitigung nur d...

Page 42: ...MKD Product Safety Guide 2 Deutsch 42 Kollmorgen kdn kollmorgen com January 2019...

Page 43: ...3 Fran ais Translation in process MKD Product Safety Guide 3 Fran ais Kollmorgen kdn kollmorgen com January 2019 43...

Page 44: ...MKD Product Safety Guide 3 Fran ais 44 Kollmorgen kdn kollmorgen com January 2019...

Page 45: ...4 Italiano Translation in process MKD Product Safety Guide 4 Italiano Kollmorgen kdn kollmorgen com January 2019 45...

Page 46: ...MKD Product Safety Guide 4 Italiano 46 Kollmorgen kdn kollmorgen com January 2019...

Page 47: ...5 Portugu s Translation in process MKD Product Safety Guide 5 Portugu s Kollmorgen kdn kollmorgen com January 2019 47...

Page 48: ...MKD Product Safety Guide 5 Portugu s 48 Kollmorgen kdn kollmorgen com January 2019...

Page 49: ...6 Espa ol Translation in process MKD Product Safety Guide 6 Espa ol Kollmorgen kdn kollmorgen com January 2019 49...

Page 50: ...MKD Product Safety Guide 6 Espa ol 50 Kollmorgen kdn kollmorgen com January 2019...

Page 51: ...7 Translation in process MKD Product Safety Guide 7 Kollmorgen kdn kollmorgen com January 2019 51...

Page 52: ...Connection Overview 57 8 3 2 Connection diagrams 61 8 3 3 Fusing 64 8 3 4 Connector pin assignments 65 8 4 Fault and Warning Messages 74 8 5 Approvals 77 8 5 1 Conformance with UL cUL 77 8 5 2 Confor...

Page 53: ...or 1 s 3 at 565 VDC A 159 at 680 VDC A 132 Continuous output power kVA 30 Output power per string continuous kVA 10 peak for 1 s kVA 30 Peak total output power 1s D 0 25 kVA 90 Technical data for rege...

Page 54: ...d tbd Efficiency factor tbd tbd tbd tbd Motor holding brake current A max 1 6 max 1 6 max 2 2 max 2 2 8 1 3 MKD N dual axis Electrical data Units MKD N0606 MKD N1206 MKD N1212 Rated supply voltage VDC...

Page 55: ...8 2 Dimensions and Mounting 8 2 1 Dimension Drawing MKD Product Safety Guide 8 Appendix Kollmorgen kdn kollmorgen com January 2019 55...

Page 56: ...ppendix 8 2 2 Mounting Example Mounting material Three M5 hexagon socket screws to ISO 4762 4 mm T handle Allen key Cabinet example Width 600 mm String 1 with 6 drive modules 10 axes 56 Kollmorgen kdn...

Page 57: ...ections Detailed interface descriptions see MKD Installation Manual 8 3 1 Connection Overview 8 3 1 1 Connector Position MKD C MKD Product Safety Guide 8 Appendix Kollmorgen kdn kollmorgen com January...

Page 58: ...MKD Product Safety Guide 8 Appendix 8 3 1 2 Connector Position MKD N 6A 12A 58 Kollmorgen kdn kollmorgen com January 2019...

Page 59: ...8 3 1 3 Connector Position MKD N 24A MKD Product Safety Guide 8 Appendix Kollmorgen kdn kollmorgen com January 2019 59...

Page 60: ...MKD Product Safety Guide 8 Appendix 8 3 1 4 Connector Position MKD N 48A 60 Kollmorgen kdn kollmorgen com January 2019...

Page 61: ...8 3 2 Connection diagrams 8 3 2 1 MKD C MKD Product Safety Guide 8 Appendix Kollmorgen kdn kollmorgen com January 2019 61...

Page 62: ...MKD Product Safety Guide 8 Appendix 8 3 2 2 MKD N 6A 12A 62 Kollmorgen kdn kollmorgen com January 2019...

Page 63: ...8 3 2 3 MKD N 24A 48A MKD Product Safety Guide 8 Appendix Kollmorgen kdn kollmorgen com January 2019 63...

Page 64: ...xample Mersen AJT 60 60A example Siba type gS gG D02 63A External 24 VDC supply fusing FA1 40 A Time Delay example Mersen TR40R 40A example Mersen D02GG40V40 10 40A Ampere rating for operation with fu...

Page 65: ...ion to jumper the contact pins 1 and 2 8 3 4 2 X10 X11 MKD C EtherCAT Fieldbus In Out MKD C top RJ45 with built in green and yellow LEDs X10 IN port X11 OUT port Pin Signal Pin Signal 1 Transmit 5 n c...

Page 66: ...iption 1 Relay Out Relay contact normally open 24 VDC 1A 2 Relay Out Relay contact normally open 24 VDC 1A 3 STO Status String 2 Global STO Status for String 2 4 STO Status String 2 Global STO Status...

Page 67: ...2 STO String 3 Global STO Enable String 3 3 STO String 3 Global STO Enable String 3 4 STO String 3 Global STO Enable String 3 5 STO String 3 Global STO Enable String 3 6 GND Ground 8 3 4 8 X18 MKD C S...

Page 68: ...g 2 X21B for String 3 Pin Signal Description 1 Rx Receive 2 Rx Receive 3 Tx Transmit 6 Tx Transmit 8 3 4 11 X22 MKD C String 1 Communication MKD C front RJ45 with built in green and yellow LEDs Pin Si...

Page 69: ...lated sink type EN 61131 2 type 1 4 DCOM Ground for digital I O 5 Digital Out Slow isolated sink type EN 61131 2 type 1 6 Digital Out Slow isolated sink type EN 61131 2 type 1 7 STO Status Out Local S...

Page 70: ...voltage unused 2 STO Local STO Enable 3 STO Local STO Enable 4 STO Local STO Enable 5 STO Local STO Enable 6 GND Ground 8 3 4 16 X27 X28 MKD N String Communication MKD N front RJ45 with built in green...

Page 71: ...R Motor holding brake 8 3 4 18 X29A MKD N 24A or 48A Motor Power MKD N bottom 4 pin pitch 7 62 mm Motor power Motor brake With shield plate Pin Signal Description 1 U Motor phase U 2 V Motor phase V 3...

Page 72: ...15 pin female Mating connector male Input for conventional primary feedback X32A for Axis 1 X32B for Axis 2 if applicable Pin SFD BiSS B BiSS C EnDAT 2 1 EnDAT 2 2 Sine Cos Hall Incr Enc Hall 1 Hall...

Page 73: ...connector female Input for secondary feedback X33A for Axis 1 X33B for Axis 2 if applicable Pin Sine Cos Incr Enc 1 A A 2 A A 3 0 V 0 V 4 B B 5 B B 6 Shield Shield 7 Zero Zero 8 Zero Zero 9 5 V 5 V MK...

Page 74: ...nvalid F106 Non volatile memory data might occur when downloading firmware F125 Fieldbus synchronization frames lost F136 Firmware and FPGA versions are not compatible F201 Internal RAM failed F202 Ex...

Page 75: ...F565 Number of connected nodes on string 2 has decreased F567 Number of connected nodes on string 3 has decreased F568 String 1 current over peak limit F569 String 2 current over peak limit F571 Stri...

Page 76: ...packet not received on string 1 F629 Front door packet not received on string 2 F630 FPGA cyclic read fault F632 Front door packet not received on string 3 F702 Fieldbus communication lost F706 Fieldb...

Page 77: ...t to a product of the category C2 motor cable up to 10 m With a motor cable length of 10 m or more the system meets the requirement to the category C3 These devices can cause high frequency interferen...

Page 78: ...assification of environmental conditions IEC 61000 Electromagnetic compatibility EMC IEC 61131 Programmable controllers IEC 61491 Electrical equipment of industrial machines Serial data link for real...

Page 79: ...9 Record of document revisions Revision Remarks A 01 2019 First edition MKD Product Safety Guide 9 Record of document revisions Kollmorgen kdn kollmorgen com January 2019 79...

Page 80: ...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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