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AKD-C Installation | 9 Electrical Installation

9.4 System Topology of a Decentralized Servo System

9.4.1 System limits

String length:

maximum 100 m total cable length per string

Number of AKD-N:

maximum 8 per string, total maximum 16
observe total power/current restrictions described in the

Decent-

ralized System Projecting Guide

Number of AKD-C:

limited by fieldbus protocol

Sum of output current of
string 1 and string 2:

17 A, use coincidence factor of the axes for optimization

Standby total power:

Total standby power is limited to 260 W at 24 V.

Service Interface X18

Ethernet TCP/IP, 100 Mbit/s

9.4.2 Example for one AKD-C

Kollmorgen | kdn.kollmorgen.com | February 2018

Содержание AKD-C

Страница 1: ...al Edition H February 2018 Valid for AKD C Hardware Revision A Part Number 903 200019 00 Original Document Keep all manuals as a product component during the life span of the product Pass all manuals...

Страница 2: ...is a registered trademark and patented technology licensed by Beckhoff Automation GmbH HIPERFACE is a registered trademark of Max Stegmann GmbH SpeedTec is a registered trademark of TE Connectivity L...

Страница 3: ...EC Low Voltage and EMC Directives 23 5 3 Conformance with EC Machinery Directive Functional Safety 23 5 4 Conformance with EAC 24 5 5 Conformance with RoHS 24 5 6 Conformance with REACH 24 6 Package 2...

Страница 4: ...nsion Drawing 49 8 3 Mounting Example 50 9 Electrical Installation 51 9 1 Important Notes 52 9 2 Guide to Electrical Installation 53 9 3 EMI Noise Reduction 54 9 3 1 Recommendations for EMI noise redu...

Страница 5: ...9 11 4 EtherCAT 77 9 12 Service Interface X18 78 9 12 1 Pinout 78 9 12 2 Service Bus Protocols 78 9 12 3 Possible Network Configurations 78 9 13 Push button B1 79 9 14 Rotary Switches S1 Setting IP a...

Страница 6: ...AKD C Installation 6 Kollmorgen kdn kollmorgen com February 2018...

Страница 7: ...anual 8 2 2 Using the PDF Format 8 2 3 Notes for the Printed Edition paper version 8 2 4 Symbols Used 9 2 5 Abbreviations Used 10 2 6 Standards Used 11 AKD C Installation 2 General Kollmorgen kdn koll...

Страница 8: ...The Online Help includes the Para meter and Command Reference Guide which provides documentation for the parameters and commands used to program the drive EtherCAT Communication describes how to use y...

Страница 9: ...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...

Страница 10: ...ment Environment LED Light emitting diode LSB Low significant byte or bit MSB Main significant byte or bit NI Zero pulse OSSD Output signals Switching Device PC Personal computer PE Protective earth P...

Страница 11: ...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 e...

Страница 12: ...Installation 3 Safety 3 Safety 3 1 You should pay attention to this 13 3 2 Use as Directed 15 3 3 Prohibited Use 16 3 4 Warning notes placed on the product 16 12 Kollmorgen kdn kollmorgen com February...

Страница 13: ...product see product 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...

Страница 14: ...n Keep all covers closed During operation AKD C may have uncovered live sections according to their level of enclosure protection Lethal danger exists at live parts of the device Built in protection m...

Страница 15: ...es of group installations and of DC powered drives AKD has not been evaluated by Kollmorgen UL or T V for group installations nor are rat ings defined for DC input voltage Group installations must be...

Страница 16: ...the following environments is also prohibited potentially explosive areas environments with corrosive and or electrically conductive acids alkaline solutions oils vapors dusts ships or offshore appli...

Страница 17: ...18 4 2 Transport 18 4 3 Storage 18 4 4 Decommissioning 18 4 5 Maintenance and cleaning 19 4 6 Disassemble 19 4 7 System Repair 19 4 8 Disposal 20 AKD C Installation 4 Handling Kollmorgen kdn kollmorg...

Страница 18: ...k the unit for visible damage Inform the shipper and the manufacturer of any damage to the package or product 4 3 Storage Store the AKD C in accordance with IEC 61800 2 as follows Store only in the ma...

Страница 19: ...e 4 7 System Repair Only professional staff who are qualified in electrical engineering are allowed to exchange parts of the drive system CAUTION Automatic Start During replacement work a combination...

Страница 20: ...costs are the responsibility of the sender Send the devices in the original packaging to the manufacturer address North America South America KOLLMORGEN 201 West Rock Road Radford VA 24141 USA KOLLMO...

Страница 21: ...C Low Voltage and EMC Directives 23 5 3 Conformance with EC Machinery Directive Functional Safety 23 5 4 Conformance with EAC 24 5 5 Conformance with RoHS 24 5 6 Conformance with REACH 24 AKD C Instal...

Страница 22: ...thstand voltage peak of 2 kV Pour utilisation au Canada Suppression de surtension transitoire doit tre install sur le c t de la ligne de ce mat riel et doit tre valu 277 V phase terre 480 V entre phas...

Страница 23: ...environmental category industrial environment For noise emission the AKD C01007 meet the requirement to a product of the Category C2 These devices can cause high frequency interferences in non industr...

Страница 24: ...of the European Union on the restriction of the use of certain haz ardous substances in electrical and electronic equipment RoHS became operative as from the 3rd of January 2013 Following substances n...

Страница 25: ...6 Package 6 1 Package Supplied 26 6 2 Nameplate 26 6 3 Part Number Scheme 27 AKD C Installation 6 Package Kollmorgen kdn kollmorgen com February 2018 25...

Страница 26: ...ng X2 of the last AKD N in the strings Accessories Sold Separately Accessories must be ordered separately if required refer to your regional accessories manual Hybrid cables for connection to first AK...

Страница 27: ...only not for the order process because not all combinations of features are possible always Customization code includes language version of printed material and not safety relevant customer specials...

Страница 28: ...n and Mounting Position 31 7 6 Grounding System 32 7 7 Signal Inputs Outputs 32 7 8 Connectors 33 7 9 Recommended Tightening Torques 33 7 10 Cable Requirements 33 7 11 Cable Length Definition 34 7 12...

Страница 29: ...oltage supply Regen circuit for all connected AKD N Built in regen resistor external regen resistor or capacitor module if required Integrated safety Appropriate insulation creepage distances and elec...

Страница 30: ...d DC bus link voltage Bus Turn on Delay 3ph 1 sec V 565 to 680 Standby DC power voltage V 55 10 Continuous total output current A 17 Peak total output current for 1 s 3 A 34 Continuous output power at...

Страница 31: ...07 25A example Bussmann FWP 25A14F example Siba type aR 25A Cartridge fuse holders example Bussmann CH Series class J 3 poles CH14J3 7 5 Ambient Conditions Ventilation and Mounting Position Storage 18...

Страница 32: ...o 30 VDC 2 mA to 15 mA OFF 3 VDC to 5 VDC 1 mA update rate 250 s galvanic isolation for 250 VDC Digital output as per IEC61131 2 type 1 max 30 VDC 100 mA short circuit proof galvanic isolation for 250...

Страница 33: ...lbs values 7 10 Cable Requirements The table below describes the recommended interface cross sections and cable require ments in accordance with IEC 60204 For information on the chemical mechanical an...

Страница 34: ...is 100 m For system topology information refer to 56 Cable Type Cable usage Available Length m Max Length m CCNCN1 X20 X21 AKD C to AKD N hybrid 3 6 12 24 36 40 Ethernet Cable X10 X11 AKD C to AKD C...

Страница 35: ...cted to X14 External regen resistors are described in the regional Accessories Manual 7 13 1 Functional description When the amount of returned energy builds the bus capacitor voltage up enough the AK...

Страница 36: ...tion and data 7 14 Switch On and Switch Off Behavior 7 14 1 Switch on behavior in standard operation The diagram below illustrates the correct functional sequence for switching the System on 36 Kollmo...

Страница 37: ...switch off behaviour depending on different operational situ ations and parameter settings The control functions Stop Emergency Stop and Emergency Off are defined by IEC 60204 Notes for safety aspect...

Страница 38: ...k of electrical shock The STO function does not provide an electrical separation from the power output If access to the motor power terminals is necessary disconnected the drive from mains supply cons...

Страница 39: ...7 15 4 Safety characteristic data The systems are described with the following characteristic data Structure STO ISO 13849 1 MTTFd IEC 62061 PFH 1 h SFF TM Years AKD C 1 x AKD N global PL d CAT 3 100...

Страница 40: ...al is applied to this input If the STO input goes open circuit then power will no longer be supplied to the connected motors and the drives will lose all torque and coast to a stop In case of using an...

Страница 41: ...uctive part can be excluded when permanently connected fixed and protected against external damage e g by cable duct ing armouring or within separate multicore cables or within the IP54 electrical enc...

Страница 42: ...mA per AKD N tolerated OSSD pulse duration 300 s STO Status outputs as per IEC61131 2 type 1 max 30 VDC 100 mA galvanic isolation for 250 VDC STO 24 VDC supply PELV acc to EN 60204 1 Output 24 VDC 10...

Страница 43: ...e input is 0V or if the communication with one of the connected drives is lost or if no drive is connected to the string or if the local fieldbus doesn t work Possible states of the drives connected t...

Страница 44: ...nents of the drive First Method 1 Stop drives in the string with setpoint 0 V Keep drives enabled DANGER Do not enter hazardous area 2 Activate the global STO function for example by opening protectiv...

Страница 45: ...the Decentralized System Projecting Guide 7 15 9 4 OSSD test pulses Safety controllers usually check their outputs periodically during the normal operation These test procedures create pulses to the...

Страница 46: ...stem with a B6 bridge Therefore RCDs which are sensitive to all currents must be used in order to detect any DC fault current Rated residual currents in the RCDs 10 to 30 mA Protection against indirec...

Страница 47: ...8 Mechanical Installation 8 1 Important Notes 48 8 2 Dimension Drawing 49 8 3 Mounting Example 50 AKD C Installation 8 Mechanical Installation Kollmorgen kdn kollmorgen com February 2018 47...

Страница 48: ...le stresses In particular do not let any components become bent or any insulation distances altered during transport and handling Avoid contact with electronic components and contacts The device will...

Страница 49: ...8 2 Dimension Drawing AKD C Installation 8 Mechanical Installation Kollmorgen kdn kollmorgen com February 2018 49...

Страница 50: ...AKD C Installation 8 Mechanical Installation 8 3 Mounting Example Mounting material Four M5 hexagon socket screws to ISO 4762 4 mm T handle Allen key 50 Kollmorgen kdn kollmorgen com February 2018...

Страница 51: ...iring 58 9 6 Connection Overview 59 9 7 Electrical Supply Connection 61 9 8 DC Bus link X14 64 9 9 Drive String Connection 70 9 10 I O Connection 73 9 11 Motion Bus Interface X10 X11 77 9 12 Service I...

Страница 52: ...to the drive while it is live Wait at least 7 minutes after disconnecting the drive from the main sup ply power before touching potentially live sections of the equipment e g contacts or undoing any...

Страница 53: ...red AKD N drives to string 1 or string 2 Connect the Enable input and the digital output if required Connect the STO inputs and STO status outputs for the used strings 38 Connect the auxiliary supply...

Страница 54: ...AKD C panel Electrically con ductive panels such as aluminum or galvanized steel are preferred For painted and other coated metal panels remove all coating behind the drive Ensure good ground connecti...

Страница 55: ...pprox 100 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 protecti...

Страница 56: ...rve total power current restrictions described in the Decent ralized System Projecting Guide Number of AKD C limited by fieldbus protocol Sum of output current of string 1 and string 2 17 A use coinci...

Страница 57: ...9 4 3 Example for several AKD C AKD C Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com February 2018 57...

Страница 58: ...or 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 components which complies to the specifica...

Страница 59: ...9 6 Connection Overview 9 6 1 Connector assignment AKD C Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com February 2018 59...

Страница 60: ...AKD C Installation 9 Electrical Installation 9 6 2 Connection diagram 60 Kollmorgen kdn kollmorgen com February 2018...

Страница 61: ...page illustrates all the possible connection variations for different electrical supply net works An isolating transformer is required for 120V 240V networks to get a minimum voltage of 400V 10 AKD C...

Страница 62: ...2 9 7 2 1 Three phase connection Directly to 3 phase supply network supply networks 61 Fusing such as fusible cut outs to be provided by the user 31 Pin Signal Description 1 L1 Line 1 2 L2 Line 2 3 L3...

Страница 63: ...ly split into a control supply to power the AKD C electronics and a supply voltage to power the connected AKD N drives in case of switched off AC mains power Standby power is limited to 260 W at 24 V...

Страница 64: ...s are different Only devices with mains supply from the same mains identical mains phases and voltage may be connected by the DC bus link Use unshielded single cores with a maximum length of 200 mm Us...

Страница 65: ...ical data on the brake circuit 35 Fusing such as fusible cut outs to be provided by the user 31 The brake circuit RB RB is short circuit proof Observe the prohibition of continuous oper ational short...

Страница 66: ...ery 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...

Страница 67: ...ction cable X1 and PE line Discharge aids plug in bridge are removed Proceed as instructed below 1 Switch on the line voltage after the AKD C has finished the 24V boot process 2 Enable the AKD and ope...

Страница 68: ...in the switching cabinet Set AKDundervoltage 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 an...

Страница 69: ...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 ch...

Страница 70: ...k Systemtechnik GmbH Fabrikstra e 10 71570 Oppenweiler Germany Phone 49 0 7191 482 0 Website www murrplastik de E Mail info murrplastik de Solution for rotary tables If AKD N must be mounted on a rota...

Страница 71: ...9 9 1 String assignment AKD C Installation 9 Electrical Installation Kollmorgen kdn kollmorgen com February 2018 71...

Страница 72: ...e the AKD C to communicate with all connected AKD N via a four line bus medium This connector is configured with the Koll morgen CCNCN1 cable 33 These ports may not be directly connected to standard E...

Страница 73: ...g 1 76 X16 2 STO Status for DC Power String 2 STO Status 2 Status of STO for string 2 X16 3 STO 24 VDC STO 24 V 24 VDC for STO signals X16 4 STO GND STO GND GND for STO 24 V X16 5 STO GND STO GND GND...

Страница 74: ...ble is mandatory The output stage of the AKD N drives which are connected to the AKD C are enabled by applying the ENABLE signal Terminal X15 3 Enable is possible only if the input STO Enable 1 or 2 v...

Страница 75: ...be found in the setup software If the output is to be assigned to a pre programmed function then the parameter set must be saved in the AKD C Technical characteristics As per IEC61131 2 type 1 Floatin...

Страница 76: ...lose max 10 ms Time to open max 10 ms All faults cause the FAULT contact to open and the AKD N output stages to be switched off if a fault occurs the internal hardware ready signal is inhibited no pow...

Страница 77: ...t 4 5 n c n c 6 Receive Transmit 7 8 n c n c 9 11 2 Bus Protocols Protocol Type Connectivity Option EtherCAT Motion bus EC 9 11 3 Network configuration 9 11 4 EtherCAT AKD C01007 CBEC can be connected...

Страница 78: ...AKD C the green LED on the RJ45 connector and on your PC or network switch are both illuminated If both lights are illuminated then you have a good electrical con nection The X18 service port of an AK...

Страница 79: ...9 254 x x 1 to 9 Prepared for Static IP Address Currently out of function The PC subnet mask must be set to 255 255 255 0 or 255 255 255 128 Dynamic IP addressing DHCP and Auto IP With S1 set to 0 the...

Страница 80: ...10 Setup 10 Setup 10 1 Important Notes 81 10 2 Setup software WorkBench 82 10 3 Initial System Test 85 10 4 Fault and Warning Messages 87 10 5 Troubleshooting the AKD C 88 80 Kollmorgen kdn kollmorgen...

Страница 81: ...work and only with switched off mains supply and secured against restart WARNING Automatic Start Risk of death or serious injury for humans working in the machine The drive might restart automatically...

Страница 82: ...set up with the help of this soft ware and during this procedure the drive system can be controlled directly by the service functions Only professional personnel who have the relevant expertise 13 are...

Страница 83: ...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 sto...

Страница 84: ...software WorkBench Click it and follow the instructions Autostart function deactivated Insert the DVD into a free data drive Click Start task bar then Run Enter the program call x index htm x correct...

Страница 85: ...C Installation Manual for more information 10 3 2 Set IP address The AKD C node address can be set with the rotary switch 79 with the WorkBench setup software or via the fieldbus 10 3 3 Confirm connec...

Страница 86: ...tablished all AKD N connected to this device are listed Select one of these drives and the AKD Overview screen appears Your drive appears in the navigation area on the left of the screen Right click o...

Страница 87: ...I 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 causes remedy...

Страница 88: ...unication fault F626 Power Board FPGA not configured F627 Control Board Watchdog fault F628 Data package on string 1 not received by AKD C or AKD N F629 Data package on string 2 not received by AKD C...

Страница 89: ...CAT 77 F Fault messages 87 FAULT relay 76 Fieldbus String interface 72 Fusing 31 G Global STO 38 grommets 70 Grounding 53 H Humidity in operation 31 Storage 18 Transport 18 I I O Connection 73 Initial...

Страница 90: ...18 Standards used 11 STO 38 STO Response Time 39 STO signals 76 Storage 18 Supply networks 61 Switch on switch off behavior 36 Symbols used 9 T Temperature in operation 31 Storage 18 Transport 18 Tig...

Страница 91: ...rrected notes for slip rings and IP67 grommets static IP addressing removed Package supplied extended Use as Directed DC supply grouping notes KSM notes removed output power in kVA LVD 2014 35 EG EMCD...

Страница 92: ...the knowledge base for answers get downloads and suggest improvements North America KOLLMORGEN 201 West Rock Road Radford VA 24141 USA Web www kollmorgen com Mail support kollmorgen com Tel 1 540 633...

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