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6.13.2.2 Switch-off behavior using the DRV.DIS command

The enable/disable button in WorkBench issues a

drv.dis

command internally to the drive.

See

AKD-N User Guide

for configuring inputs and software commands. Sometimes this

enable signal is called "Software Enable" (SW-Enable).

DRV.DISMODE

Disable axis immediately, if velocity drops below threshold

CS.VTHRESH

or timeout occurs brake is applied. Category 0 stop

according to IEC 60204 (

➜

p. 36).

DRV.DISMODE

Use controlled stop to disable drive, if velocity drops below threshold

CS.VTHRESH

or timeout occurs brake is applied. Category 1 stop

according to IEC 60204 (

➜

p. 36).

If velocity drops below threshold

CS.VTHRESH

or timeout occurs brake is applied.

AKD-N Installation | 6 Technical description and data

Kollmorgen | December 2014

Содержание AKD-N00307

Страница 1: ...Edition C December 2014 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: ...rosoft Corporation Current patents l US Patent 5 162 798 used in control card R D l US Patent 5 646 496 used in control card R D and 1 Vp p feedback interface l US Patent 6 118 241 used in control car...

Страница 3: ...h EC Low Voltage and EMC Directives 17 4 3 Conformance with EC Machinery Directive Functional Safety 17 5 Package 18 5 1 Package Supplied 19 5 2 Nameplate 19 5 3 Part Number Scheme 20 6 Technical desc...

Страница 4: ...nal test 41 6 14 11 1 Global STO 41 6 14 11 2 Local STO 41 6 14 11 3 Local STO application example 42 7 Mechanical Installation 43 7 1 Important Notes 44 7 2 Temperature Management 44 7 3 Mechanical D...

Страница 5: ...ctor X6 61 8 11 1 Pinout AKD Nzzz07 DF 61 8 11 2 Pinout AKD Nzzz07 DS 61 9 Setup 62 9 1 Important Notes 63 9 2 Setup software WorkBench 64 9 3 Initial System Test 65 9 3 1 Unpacking mounting and wirin...

Страница 6: ...This page intentionally left blank AKD N Installation Table of Contents 6 Kollmorgen December 2014...

Страница 7: ...eral 2 1 About 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 December 2...

Страница 8: ...your system performance The User Guide includes the Parameter and Command Reference Guide which provides documentation for the parameters and commands used to program the AKD N l EtherCAT Communicati...

Страница 9: ...nger is spe cified by the text next to the symbol Warning of danger from electricity and its effects Warning of suspended loads 2 5 Abbreviations Used Abbreviation Meaning CE Communit Europ enne EMC E...

Страница 10: ...AKD N 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 Handling 14 10 Kollmorgen December 2014...

Страница 11: ...e parameter setting Risk of death or serious injury for humans working in the machine If the parameter DRV ENDEFAULT is set to 1 then place a warning sign to the machine Warning Automatic Restart at P...

Страница 12: ...n drives may have uncovered live sections according to their level of enclos ure protection Wait at least seven minutes after disconnecting the drive from the main sup ply power before touching potent...

Страница 13: ...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 voltage rating The rated voltage of the motors must b...

Страница 14: ...rostatically discharge yourself before touching the drive Avoid contact with highly insulating materials such as artificial fabrics and plastic films Place the drive on a conductive surface If the pac...

Страница 15: ...eration the heat sink of the drive may reach temperatures above 80 C 176 F Risk of minor burns Before touching the device check the temperature and wait until it has cooled below 40 C 104 F 4 Uninstal...

Страница 16: ...lation 4 Approvals 4 Approvals 4 1 Conformance with UL cUL 17 4 2 Conformance with EC Low Voltage and EMC Directives 17 4 3 Conformance with EC Machinery Directive Functional Safety 17 16 Kollmorgen D...

Страница 17: ...ollowing dir ectives l EC Directive 2006 95 EC low voltage Used harmonized standard EN61800 5 1 2007 l EC Directive 2004 108 EC electromagnetic compatibility Used harmonized standard EN 61800 3 2004 T...

Страница 18: ...AKD N Installation 5 Package 5 Package 5 1 Package Supplied 19 5 2 Nameplate 19 5 3 Part Number Scheme 20 18 Kollmorgen December 2014...

Страница 19: ...the last AKD N in a string is part of delivery of the AKD C package Accessories Sold Separately Accessories must be ordered separately if required refer to your regional accessories manual l Heatsink...

Страница 20: ...for part number scheme for product identification only not for the order process because not all combinations of features are possible always Customization code includes language version of printed ma...

Страница 21: ...onditions Ventilation and Mounting Position 24 6 6 Inputs Outputs 24 6 7 Connectors 25 6 8 Cable Requirements 25 6 9 Cable length definition 26 6 10 Dynamic Braking 27 6 11 Regen circuit 27 6 12 LED C...

Страница 22: ...linear motors and induction machines Power section l DCpower supply voltage range 55 VDC to 800 VDC l Output stage IGBT module with floating current measurement Integrated safety l Appropriate insulat...

Страница 23: ...mounted kVA 0 8 0 7 Peak output current for 5 s 3 Arms 9 18 Peak output power for 1 s kW 2 6 5 2 Motor inductance min mH 6 3 3 2 Motor inductance max mH 600 300 Thermal dissipation output stage disabl...

Страница 24: ...plate minimum size AKD N00307 350x350x10 mm AKD N00607 500x500x10 mm The drive operates to full ratings if the mounting surface for the cold plate is between 10 C and 85 C and the ambient air tem per...

Страница 25: ...rid motor or feedback cables from a manufacturer other than Kollmorgen Cable from Cable type Cable to Cross section AKD C X20 X21 CCNCN1 0251 AKD N X1 hybrid 3 x 2 5 mm 4 x 0 25 mm AKD N X2 CCNNN1 025...

Страница 26: ...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 up to 2m 2 5 3 0 25 steps 0 5m up to 25m 25 CCJNA1 AKD N to Motor hybrid 0 2 0...

Страница 27: ...ds the bus capacitor 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 inte...

Страница 28: ...trical arcing with damage to contacts and serious personal injury Always measure the voltage in the DC bus link at connector X14 at AKD C and wait until the voltage is below 60 V before handling any c...

Страница 29: ...velocity 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 immediat...

Страница 30: ...oad the load could fall Serious injury could result when the load is not properly blocked Functional safety e g with hanging load ver tical axes requires an additional mechanical brake which must be s...

Страница 31: ...0 Disable axis immediately if velocity drops below threshold CS VTHRESH or timeout occurs brake is applied Category 0 stop according to IEC 60204 p 36 DRV DISMODE 2 Use controlled stop to disable driv...

Страница 32: ...0 stop according 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 Se...

Страница 33: ...ser Guide for a table describing the spe cific behavior of each fault The follwing pages show examples for the possible fault beha viors Switch off behavior for faults that cause an immediate power st...

Страница 34: ...scription 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 ap...

Страница 35: ...t cause a 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 6 Technical description an...

Страница 36: ...signal will have not influence to this specific drive The local STO Status of this drive nevertheless is monitored in the string STO Status 6 14 2 Local STO control via digital input on AKD N DS Opti...

Страница 37: ...1 requirements 6 14 6 Prohibited use The STO function must not be used if the drive is to be made inactive for the following reas ons l Cleaning maintenance and repair operations long inoperative per...

Страница 38: ...utomatic Restart at Power On and ensure that power on is not possible while humans are in a dangerous zone of the machine In case of using an undervoltage protection device you must observe EN 60204 1...

Страница 39: ...tputs l As per IEC61131 2 type 1 l Max 30 VDC 100 mA l Galvanic isolation for 250 VDC 24 VDC Power supply l PELV SELV acc to EN 60204 1 l Output 24 VDC 10 Wiring diagram local STO Enable M12 A coded X...

Страница 40: ...24 V 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...

Страница 41: ...rol Second 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...

Страница 42: ...en KSM safety module to switch the local STO Enable input of an AKD N DS drive according to SIL2 PLd For detailled application examples refer to the Decentralized System Projecting Guide Refer to the...

Страница 43: ...7 Mechanical Installation 7 1 Important Notes 44 7 2 Temperature Management 44 7 3 Mechanical Drawings 45 AKD N Installation 7 Mechanical Installation Kollmorgen December 2014 43...

Страница 44: ...d or shield the magnetic fields An optimized thermal strategy is mandatory for AKD N performance Observe the inform ation given in the Decentralized System Projecting Guideand in chapter Temperature M...

Страница 45: ...unting clamps part of delivery l Four M5 hexagon socket screws to ISO 4762 use 4 mm T handle Allen key l Heat conducting film order code 849 373000 04 Ensure free space of minimum 50 mm to all sides o...

Страница 46: ...rews to ISO 4762 use 4 mm T handle Allen key l Four M4x16 hexagon socket screws to ISO 4762 part of delivery use 3 mm T handle Allen key l Heat conducting film order code 849 373000 04 l Heat sink 40...

Страница 47: ...ed Servo System 49 8 4 Wiring 50 8 5 Connection Overview 51 8 6 Hybrid Connection X1 X2 54 8 7 I O Connection X3 54 8 8 Motor Power Connection X4 57 8 9 Motor Brake Connection X4 58 8 10 Motor Feedbac...

Страница 48: ...iring 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 diagrams p 51 It is permissibl...

Страница 49: ...scribed in the Decent ralized System 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...

Страница 50: ...stem Only professional staff who are qualified in electrical engineering are allowed to install the drive Wires with color green with one or more yellow stripes must not be used other than for protect...

Страница 51: ...8 5 Connection Overview 8 5 1 Connector assignment AKD Nzzz07 DB 8 5 2 Connector assignment AKD Nzzz07 DF DS AKD N Installation 8 Electrical Installation Kollmorgen December 2014 51...

Страница 52: ...AKD N Installation 8 Electrical Installation 8 5 3 Connection diagram AKD Nzzz07 DB 52 Kollmorgen December 2014...

Страница 53: ...8 5 4 Connection diagram AKD Nzzz07 DF DS AKD N Installation 8 Electrical Installation Kollmorgen December 2014 53...

Страница 54: ...ut 2 DIGITAL 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...

Страница 55: ...e type or switched GND sink type Digital Input Wiring Diagram Digital Inputs 1 and 2 These inputs are particularly fast and are therefore suitable for latch functions for example Technical characteris...

Страница 56: ...e pre 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 no...

Страница 57: ...hovers in the motor winding l Only install motors with insulation class F acc to IEC60085 or above l Only install Kollmorgen cables that meet the requirements p 25 8 8 1 Connector X4 AKD Nzzz07 DB DS...

Страница 58: ...the Projecting Guide CAUTION This function does not ensure functional safety Functional safety requires and additional external mechanical brake operated by a safety con troller Set parameter MOTOR BR...

Страница 59: ...ase refer to the WorkBench online help Motors with single line connection motor power lines motor holding brake lines and motor feedback lines combined in one hybrid cable can be connected to X4 of th...

Страница 60: ...V 3 CLK CLK CLK CLK 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...

Страница 61: ...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 isolated and need exte...

Страница 62: ...AKD N Installation 9 Setup 9 Setup 9 1 Important Notes 63 9 2 Setup software WorkBench 64 9 3 Initial System Test 65 9 4 Fault and Warning Messages 66 62 Kollmorgen December 2014...

Страница 63: ...fter switching off the supply voltage WARNING The drive might restart automatically after power on depending on the parameter setting Risk of death or serious injury for humans working in the machine...

Страница 64: ...the result 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 driv...

Страница 65: ...WorkBench setup software to the AKD C connector X18 See AKD C Installation Manual for more information 9 3 2 Set IP address The Node address can be set with the WorkBench setup software or via the use...

Страница 66: ...zard your drive should be enabled If the drive is not enabled check the following 1 The hardware enable HW for the drive strings must be in the enabled state pin 3 on AKD C X15 connector 2 The softwar...

Страница 67: ...rogrammable 55 STO 36 Installation Electrical 47 Mechanical 43 M Maintenance 14 Motor holding brake 58 Motor interface 57 Motor overload protection 57 Mounting position 24 N Nameplate 19 Noise Emissio...

Страница 68: ...T Temperature in operation 24 Storage 14 Transport 14 Transport 14 U Uninstalling 15 Use as directed Drive 13 STO 37 V Ventilation Ambient Conditions 24 Vibrations 24 W Warnings 66 Wiring 50 AKD N In...

Страница 69: ...This page intentionally left blank AKD N Installation 10 Index Kollmorgen December 2014 69...

Страница 70: ...marketplace advantage For assistance with your application needs visit www kollmorgen com or contact us at North America KOLLMORGEN 203A West Rock Road Radford VA 24141 USA Web www kollmorgen com Mail...

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