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9.3 System Topology of a Decentralized Servo System

9.3.1 System limits

String length:

maximum 100 m total cable length per string

Number of AKD-N:

maximum 8 per string
observe system restrictions described in the

Decentralized Sys-

tem Projecting Guide

Sum of output current of
string 1 and string 2:

17 A, calculate coincidence factor of the axes

Standby Power:

Standby power is limited to 260 W at 24 V for both strings. This
power must supply all AKD-N ( 8 W each) and the remaining
power can be used for motor holding brakes.

9.3.2 Example

AKD-N Installation | 9 Electrical Installation

Kollmorgen | kdn.kollmorgen.com | February 2018

Содержание AKD-N series

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

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

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

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

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

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

Страница 7: ...bout this Manual 8 2 2 Using the PDF Format 8 2 3 Notes for the Printed Edition paper version 8 2 4 Symbols Used 9 2 5 Abbreviations Used 9 AKD N Installation 2 General Kollmorgen kdn kollmorgen com F...

Страница 8: ...cludes the Para meter and Command Reference Guide which provides documentation for the parameters and commands used to program the drive EtherCAT Communication describes how to use your system in Ethe...

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

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

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

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

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

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

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

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

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

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

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

Страница 20: ...hstand voltage peak of 2 kV Pour utilisation au Canada Suppression de surtension transitoire doit tre install sur le c t de la ligne de ce mat riel et doit tre valu 277 V phase terre 480 V entre phase...

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

Страница 22: ...of the European Union on the restriction of the use of certain haz ardous substances in electrical and electronic equipment RoHS became operative as from the 3rd of January 2013 Following substances n...

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

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

Страница 25: ...only not for the order process because not all combinations of features are possible always Customization code includes language version of printed material and not safety relevant customer specials...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Страница 82: ...the knowledge base for answers get downloads and suggest improvements North America KOLLMORGEN 201 West Rock Road Radford VA 24141 USA Web www kollmorgen com Mail support kollmorgen com Tel 1 540 633...

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