Kollmorgen AKD series Installation Manual
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AKD
, AKD
Installation Manual
Edition: AA, October 2017
Valid for AKD, AKD BASIC Hardware Revision E
Valid for AKD BASIC-I/O Hardware Revision EA
Valid for AKD PDMM Hardware Revision EB
Part Number 903-200003-00
Original Document
Keep all manuals as a product component during the life span of the product. Pass all manuals to
future users and owners of the product.
®
BASIC, AKD
®
PDMM
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Table of Contents
Related Manuals for Kollmorgen AKD series
Summary of Contents for Kollmorgen AKD series
- Page 1 ® ® ® , AKD BASIC, AKD PDMM Installation Manual Edition: AA, October 2017 Valid for AKD, AKD BASIC Hardware Revision E Valid for AKD BASIC-I/O Hardware Revision EA Valid for AKD PDMM Hardware Revision EB Part Number 903-200003-00 Original Document Keep all manuals as a product component during the life span of the product.
- Page 2 Technical changes which improve the performance of the device may be made without prior notice! This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be repro- duced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen.
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Page 3: Table Of Contents
7.7 Performance Data 7.8 Recommended Tightening Torques 7.9 Grounding System 7.10 Fusing 7.10.1 External power supply fusing 7.10.2 External 24 V supply fusing 7.10.3 External regen resistor fusing 7.10.4 External DC Bus link fusing 7.11 Connectors Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 4 8.4.3 Dimensions AKD-xzzz06, extended width 8.4.4 Dimensions AKD-xzzz07, extended width 9 Electrical Installation 9.1 Important Notes 9.2 Guide to electrical installation 9.3 Wiring 9.4 Components of a servosystem 9.5 Connection Overview AKD-B, AKD-P, AKD-T Kollmorgen | kdn.kollmorgen.com | October 2017...
- Page 5 9.10.1 AKD-x003 to 024, power connector X2 9.10.2 AKD-x048, power connector X2 9.11 Motor Brake Connection (X2, X15, X16) 9.11.1 AKD-x003 to 024, bBrake connector X2 9.11.2 AKD-x048, brake connectors X15, X16 9.11.3 Functionality 9.12 Feedback Connection (X10, X9, X7) Kollmorgen | kdn.kollmorgen.com | October 2017...
- Page 6 9.14.6 Digital Inputs (X35/X36) with AKD-M 9.14.7 Digital Outputs (X7/X8) 9.14.7.1 Digital Outputs 1 and 2 9.14.7.2 FAULT relay contacts 9.14.8 Digital Outputs with I/O option (X23/X24) 9.14.9 Digital Outputs 21 to 24, 26 to 29 Kollmorgen | kdn.kollmorgen.com | October 2017...
- Page 7 10.2.7.2 Minimum wiring for drive test without load 10.2.7.3 Set IP address 10.2.7.4 Confirm connections 10.2.7.5 Install and start WorkBench 10.2.7.6 Set drive IP address in WorkBench 10.2.7.7 Enable the drive using the setup wizard 10.3 Setup AKD-M Kollmorgen | kdn.kollmorgen.com | October 2017...
- Page 8 10.4 Fault and Warning Messages 10.4.1 Fault and warning messages AKD 10.4.2 Additional fault messages AKD-T 10.4.3 Additional error and alarm messages AKD-M 10.4.3.1 Alarms 10.4.3.2 Errors 10.5 Troubleshooting the AKD 11 Index 12 Record of document revisions Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 9: General
AKD Installation | 2 General 2 General 2.1 About this Installation Manual 2.2 Using the PDF Format 2.3 Symbols Used 2.4 Abbreviations Used 2.5 Referred Standards Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 10: About This Installation Manual
Table of contents and Lines are active cross references. Click on the line and the appro- index priate page is accessed. Page/chapter numbers Page/chapter numbers with cross references are active links. in the text Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 11: Symbols Used
Warning of danger from suspended loads. Warning of danger from automatic start. Drawing symbols Symbol Description Symbol Description Signal ground Diode Chassis ground Relay Protective earth Relay switch off delayed Resistor Normally open contact Fuse Normally closed contact Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 12: Abbreviations Used
F-SMA Fiber optic cable connector according to IEC 60874-2 Kollmorgen Automation Suite KAS IDE Setup software (Kollmorgen Automation Suite Integrated Devel- opment Environment) used for AKD PDMM drives Light-emitting diode Low significant byte (or bit) Main significant byte (or bit) -
Page 13: Referred Standards
UL Standard for Safety for Insulation Coordination Including Clearances and Creepage Distances for Electrical Equipment UL 508C UL Standard for Safety Power Conversion Equipment IEC - International Electrotechnical Commission ISO - International Organization for Standardization UL - Underwriters Laboratories Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 14: Safety
AKD Installation | 3 Safety 3 Safety 3.1 You should pay attention to this 3.2 Use as Directed 3.3 Prohibited Use 3.4 Warning notes placed on the product Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 15: You Should Pay Attention To This
(Warning: Automatic 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 60204-1:2006 chapter 7.5 . Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 16 Thermal sensors, motor holding brakes and feedback systems built into the connected motor must have reinforced insulation (according to IEC61800-5-1) against system components with power voltage, according to the required application test voltage. All Kollmorgen com- ponents meet these requirements.
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Page 17: Use As Directed
EMC filter measures for AKD-xzzz06 must be implemented by the user. For the cases of group installations and of DC powered drives AKD has not been evaluated by Kollmorgen, UL, or TÜV for group installations nor are rat- ings defined for DC input voltage. -
Page 18: Prohibited Use
AKD-x002407 AKD-x00306 ... 02406, 00307 ... 01206, 04807 Wait 7 minutes Wait 5 minutes after removing power after removing power before servicing. before servicing. If these signs are damaged, they must be replaced immediately. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 19: Handling
AKD Installation | 4 Handling 4 Handling 4.1 Transport 4.2 Packaging 4.3 Storage 4.4 Decommissioning 4.5 Maintenance and cleaning 4.6 Disassemble 4.7 System Repair 4.8 Disposal Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 20: Transport
Store in accordance with the following duration requirements: Less than 1 year: without restriction. More than 1 year: capacitors must be re-formed before setting up and operating the drive. Re-forming procedures are described in the Kollmorgen Developer Network (Forming). Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 21: Decommissioning
80 °C (176 °F). Before touching the device, check the temperature and wait until it has cooled below 40 °C (104 °F). 3. Remove the connectors. Disconnect the potential earth connection last. 4. Demount: loosen the fastening screws. Remove the device. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 22: System Repair
Radford, VA 24141, USA Barueri - SP Brasil CEP: 06460-000, Brazil Europe Asia KOLLMORGEN Europe GmbH KOLLMORGEN Pempelfurtstr. 1 Room 202, Building 3, Lane 168, 40880 Ratingen, Germany Lin Hong Road, Changning District Shanghai, China Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 23: Approvals
AKD Installation | 5 Approvals 5 Approvals 5.1 Conformance with UL/cUL 5.2 Conformance with CE 5.3 Safe Torque Off (STO) approval 5.4 Conformance with EAC Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 24: Conformance With Ul/Cul
Pour plus de sécurité, mesurez la tension voltage in the DC bus link and wait until the dans la liaison de bus CC et attendez qu'elle soit voltage is below 50 V. inférieure à 50 V. Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 25 7 in-lbs 7 in-lbs 4 in-lbs AKD-x00607 7 in-lbs 7 in-lbs 4 in-lbs AKD-x01207 7 in-lbs 7 in-lbs 4 in-lbs AKD-x02407 7 in-lbs 7 in-lbs 4 in-lbs AKD-x04807 13 in-lbs 13 in-lbs 4 in-lbs Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 26: Conformance With Ce
Kollmorgen declares the conformity of the product series AKD with the following directives: EC Directive 2006/42/EC, Machinery Directive Used harmonized standard EN61800-5-2 (2007) -
Page 27: European Directives And Standards For The Machine Builder
The machine/plant manufacturer must check whether other standards or EC Directives must be applied to the machine/plant. Kollmorgen only guarantees the conformance of the servosystem with the standards cited in this chapter if the components (motor, cables, chokes etc.) are those supplied by Koll- morgen. -
Page 28: Safe Torque Off (Sto) Approval
Customs Union (Russia, Belarus, Kazakhstan) similar to the European CE mark. Kollmorgen declares, that the AKD has passed all required conformity procedures in a mem- ber state of the Eurasian Customs Union, and that the AKD meets all technical requirements... -
Page 29: Package
AKD Installation | 6 Package 6 Package 6.1 Package Supplied 6.2 Nameplate 6.3 Part Number Scheme Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 30: Package Supplied
AKD Installation | 6 Package 6.1 Package Supplied When a drive from the AKD series is ordered, the following items are included in the drive package: Printed copy of AKD Safety Guide DVD containing the AKD Installation Manual, all fieldbus manuals, the setup software WorkBench, and more product documentation in digital format. -
Page 31: Part Number Scheme
EtherCAT ( X5 and X6) and CANopen (X12 and X13) fieldbus connectors. A software para- meter (DRV.TYPE) allows you to select what features the drive supports; you cannot use EtherCAT and CANopen at the same time. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 32: Technical Description And Data
7.9 Grounding System 7.10 Fusing 7.11 Connectors 7.12 Cable and Wire Requirements 7.13 Dynamic Braking 7.14 Switch-On and Switch-Off Behavior 7.15 Stop / Emergency Stop / Emergency Off 7.16 Safe Torque Off (STO) 7.17 Shock-hazard Protection Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 33: The Akd Family Of Digital Drives
Regen circuit with dynamic distribution of the generated power between several drives on the same DC bus link circuit. Internal regen resistor for all AKD models (except AKD-x00306, AKD-x00606 and AKD- x04807), external regen resistors if required. Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 34 Motion Bus interface (➜ # 180) SynqNet (➜ # 182), optional EtherCAT (➜ # 181), optional PROFINET RT (➜ # 182), optional Ethernet/IP (➜ # 182), optional ® sercos III (➜ # 183), optional Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 35: Ambient Conditions, Ventilation, And Mounting Position
Weight (standard width) 11.5 Weight (extended width) 11.7 Height, without connectors Height, with connector Standard Width front/back 65/70 99/105 185/185 Extended Width front/back 95/100 99/105 Depth, without connectors Depth, with connectors <225 <265 <265 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 36: Inputs/Outputs
250 VDC Digital outputs max. 30 VDC, 100 mA short circuit proof galvanic isolation for 250 VDC Relay outputs max. 30 VDC, 1A max. 42 VAC, 1 A time open/close 10ms isolation 400 VDC contact/coil Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 37: Electrical Data Akd-Xzzz06
-current B, P, T types without/with motor brake 0.5 / 1.7 0.6 / 1.8 0.7 / 1.9 1.0 / 2.5 -current M type without/with motor brake 0.8 / 2.0 0.9 / 2.1 1.0 / 2.2 1.3 / 2.8 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 38: Electrical Data Akd-Xzzz07
-current M type without/with motor brake 1.3 / 2.8 1.3 / 2.8 1.3 / 2.8 2.3 / 4.3 2.3 / * * = motor holding brake is supplied with separated 24 V ±10% auxiliary voltage (➜ # 118). Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 39: Performance Data
I/O connector X35, X36 (AKD-M only) 24 V supply, STO input (up to AKD-x024), holding brake STO-GND STO-Enable inputs ( AKD-x048) internal digital ground, encoder emulation output, service channel Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 40: Fusing
UL region CE Region rating example: example: AKD-x003 to 024 Bussmann Siba FWP-50A14F 110V to 400V: gRL 50A (gS) 400V to 480V: aR 50A AKD-x048 125A Bussmann Siba FWP-125A14F 400V to 480V: aR 125A Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 41: Connectors
Terminal Connector, 2 poles 1.5 mm², 16 awg 160 V single-line connection single-line connection with recommended conductor cross section (➜ # 42) rated voltage with pollution level 2 (lowest values according to UL840 and IEC60664) Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 42: Cable And Wire Requirements
Digital I/Os, max. 30 m 0.5 mm² (21 awg) single line Holding brake (motor) min. 0.75 mm² (19 awg) 600 V,minimum 75°C, shielded +24 V / GND, max 30 m max. 2.5 mm² (14 awg) single line Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 43: Dynamic Braking
1. (above) for the drive that has the lowest switch-off threshold (resulting from tolerances). Observe the regeneration time (some minutes) after full load with peak regen power. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 44: Technical Data For Akd-Xzzz06
Maximum continuous regen power, external resistor Peak regen power, external resistor (1s) 11.8 Absorption energy in capacitors (+/- 20%) 180 / 60 DC Bus Capacitance µF 2720 * depends on connected regen resistor power Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 45: Technical Data For Akd-Xzzz07
External regen resistor Continuous regen power, external resistor Peak regen power, external resistor (1s) 17.6 70.5 Absorption energy in capacitors (+/- 20%) 146 / 80 DC Bus Capacitance µF * depends on connected regen resistor power Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 46: Switch-On And Switch-Off Behavior
With the functional safe function STO, the drive can be secured on standstill using its internal electronics so that even when power is being supplied, the drive shaft is protected against unintentional restart. The chapter “Safe Torque Off (STO)” describes how to use the STO function (➜ # 55). Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 47: Switch-On Behavior In Standard Operation
7.14.1 Switch-on behavior in standard operation The diagram below illustrates the correct functional sequence for switching the drive on. Fault F602 occurs when STO (➜ # 55) does not have current when HW enable becomes act- ive. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 48: Switch-Off Behavior
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 (➜ # 53). If velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied (➜ # 118). Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 49: Switch-Off Behavior Using A Digital Input (Controlled Stop)
If velocity drops below threshold CS.VTHRESH or timeout occurs the motor holding brake is applied (➜ # 118). Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply the motor holding brake immediately after Hardware Disable. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 50: Switch-Off Behavior In The Event Of A Fault
If velocity drops below threshold CS.VTHRESH or timeout occurs the motor holding brake is applied (➜ # 118). Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply the motor holding brake immediately after faults. Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 51 Switch-off behavior for faults that cause dynamic braking This is a category 0 stop according to IEC 60204 (➜ # 53). If velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied (➜ # 118). Kollmorgen | kdn.kollmorgen.com | October 2017...
- Page 52 Switch-off behavior for faults that cause a controlled stop This is a category 1 stop according to IEC 60204 (➜ # 53). If velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied (➜ # 118). Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 53: Stop / Emergency Stop / Emergency Off
If necessary, provision must be made for the connection of protective devices and lock-outs. If applicable, the stop function must signal its status to the control logic. A reset of the stop function must not create a hazardous situation. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 54: Emergency Stop
This results in a category 0 stop. If this stop category is not possible in the applic- ation, then the Emergency Off function must be replaced by other measures (for example by protection against direct touching). Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 55: Safe Torque Off (Sto)
By such event 2 specific IGBTs have to fail at same time. The calculation shows a probability of 1.5 * 10 per hour (without common cause failure). Even if the STO function will be issued for a whole year, this event will only happen every 100 Billion years. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 56: Safety Instructions
120° (electrical) can happen. This effect can only happen if the drive is in the function STO. Even if the STO function will be issued for a whole year, this event will only happen every 100 Billion years. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 57: Use As Directed
Input STO (X1) Reference ground is GND 24 V ±10%, 45 mA Galvanic isolation for 250 VDC Reaction time < 10 ms Signal Description +24 VDC Auxiliary voltage 24V Supply GND STO enable (Safe Torque Off) Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 58 Galvanic isolation for 250 VDC Galvanic isolation for 250 VDC Pin Description Pin Description +24 VDC Auxiliary voltage STO-Status 1 24V Supply GND STO-Enable 1 STO +24 VDC supply voltage STO-Status 2 STO GND STO-Enable 2 Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 59: Enclosure, Wiring
Test pulses with T1 ≤ 300 µs and T2 ≥ 200 ms will not have any influence to the safety rel- evant STO function. Test pulses, which are outside of this specification, will switch the STO function, but will not create a dangerous situation. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 60: Functional Description
STO-Enable2 are switched separately by two outputs of a safety control (logical states see table above). To achieve PL e or SIL CL3, the safe switching of the pulse inhibitor must be tested peri- odically by analyzing the STO-Status signals (➜ # 64). Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 61: Signal Diagram (Sequence)
1. Brake the drive in a controlled manner (speed setpoint = 0 V). 2. When speed = 0 rpm, disable the drive (Enable = 0 V). 3. Activate the STO function (STO-Enable 1 = 0 V and STO-Enable 2 = 0 V) Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 62: Wiring Examples
The sample application below shows door guarding and emergency stop, controlled by Koll- morgen KSM safety module to switch the STO-Enable input of an AKD-x048 device to SIL2, PLd. STO-Status signals need not to be used. Review the enclosure and wiring instructions (➜ # 59). Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 63 KSM safety module to switch the STO-Enable inputs of an AKD-x048 device to SIL3, PLe. The safe switching of the pulse inhibitor must be tested periodically by analyzing the STO-Status in the safety control. Review the enclosure and wiring instructions (➜ # 59). Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 64: Functional Test
90 % The test sequence for the functional test of the safe pulse inhibitor must be performed as shown in the following time diagram. Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 65 STO-STATUS 1: digital output, switching state of 1st pulse inhibitor STO-STATUS 2: digital output, switching state of 2nd pulse inhibitor T1 … T5: Test sequence Start: Start of test sequence End: End of test sequence Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 66: Shock-Hazard Protection
Recommendation: In order to protect against direct contact (with motor cables shorter than 5 m) Kollmorgen recommends that each drive be protected individually using a 30 mA RCD which is sensitive to all currents. If you use a selective RCD, the more intelligent evaluation process will prevent spurious trip- ping of the RCD. -
Page 67: Mechanical Installation
AKD Installation | 8 Mechanical Installation 8 Mechanical Installation 8.1 Important Notes 8.2 Guide to Mechanical Installation 8.3 Mechanical Drawings Standard Width 8.4 Mechanical Drawings Extended Width Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 68: Important Notes
Assemble the drive and power supply near each other on the conductive, grounded mount- ing plate in the cabinet. 5. Ground the drive. For EMC-compliant shielding and grounding, (➜ # 99). Ground the mounting plate, motor housing and CNC-GND of the control system. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 69: Mechanical Drawings Standard Width
AKD Installation | 8 Mechanical Installation 8.3 Mechanical Drawings Standard Width 8.3.1 Control cabinet layout AKD-xzzz06, standard width Material: M4 hexagon socket screws to ISO 4762, 3 mm T-handle Allen key Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 70: Control Cabinet Layout Akd-Xzzz07, Standard Width
AKD Installation | 8 Mechanical Installation 8.3.2 Control cabinet layout AKD-xzzz07, standard width Material: M4 hexagon socket screws to ISO 4762, 3 mm T-handle Allen key Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 71: Dimensions Akd-Xzzz06, Standard Width
AKD Installation | 8 Mechanical Installation 8.3.3 Dimensions AKD-xzzz06, standard width Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 72: Dimensions Akd-Xzzz07, Standard Width
AKD Installation | 8 Mechanical Installation 8.3.4 Dimensions AKD-xzzz07, standard width Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 73: Mechanical Drawings Extended Width
AKD Installation | 8 Mechanical Installation 8.4 Mechanical Drawings Extended Width 8.4.1 Control cabinet layout, example with AKD-M00306 Material: M4 hexagon socket screws to ISO 4762, 3 mm T-handle Allen key Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 74: Control Cabinet Layout, Example With Akd-M00307
AKD Installation | 8 Mechanical Installation 8.4.2 Control cabinet layout, example with AKD-M00307 Material: M4 hexagon socket screws to ISO 4762, 3 mm T-handle Allen key Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 75: Dimensions Akd-Xzzz06, Extended Width
AKD Installation | 8 Mechanical Installation 8.4.3 Dimensions AKD-xzzz06, extended width Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 76: Dimensions Akd-Xzzz07, Extended Width
AKD Installation | 8 Mechanical Installation 8.4.4 Dimensions AKD-xzzz07, extended width Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 77: Electrical Installation
9.14 I/O Connection 9.15 LED display 9.16 Rotary Switches (S1, S2, RS1) 9.17 Push-buttons (B1, B2, B3) 9.18 SD Card Slot 9.19 Service Interface (X11, X32) 9.20 CAN-Bus Interface (X12/X13) 9.21 Motion Bus Interface (X5/X6/X11) Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 78: Important Notes
FAULT contact in series into the emergency off circuit of the installation. The emergency off circuit must operate the supply contactor. It is permissible to use the setup software to alter the settings of the drive. Any other alter- ations will invalidate the warranty. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 79: Guide To Electrical Installation
Check maximum permitted voltage value (➜ # 37) or (➜ # 38). Check proper use of residual-current circuit breakers (RCD): (➜ # 66) Connect the PC (➜ # 171) for setting up the drive. 4. Check the wiring against the wiring diagrams. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 80: Wiring
AKD Installation | 9 Electrical Installation 9.3 Wiring The installation procedure is described as an example. A different procedure may be appro- priate or necessary, depending on the application of the equipment. Kollmorgen can provide training courses for this procedure upon request. DANGER... -
Page 81: Components Of A Servosystem
9.4 Components of a servosystem With AKD-xzzz06 Cables drawn bold are shielded. Electrical ground is drawn with dash-dotted lines. Optional devices are connected with dashed lines to the drive. The required accessories are described in the accessories manual. Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 82 AKD Installation | 9 Electrical Installation With AKD-xzzz07 Cables drawn bold are shielded. Electrical ground is drawn with dash-dotted lines. Optional devices are connected with dashed lines to the drive. The required accessories are described in the accessories manual. Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 83: Connection Overview Akd-B, Akd-P, Akd-T
AKD Installation | 9 Electrical Installation 9.5 Connection Overview AKD-B, AKD-P, AKD-T 9.5.1 Connector assignment AKD-x00306, AKD-x00606 The I/O option is available for AKD-T drives only. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 84: Connection Diagram Akd-X00306, Akd-X00606
AKD Installation | 9 Electrical Installation 9.5.2 Connection diagram AKD-x00306, AKD-x00606 The I/O option is available for AKD-T drives only. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 85: Connector Assignment Akd-X01206
AKD Installation | 9 Electrical Installation 9.5.3 Connector assignment AKD-x01206 The I/O option is available for AKD-T drives only. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 86: Connection Diagram Akd-X01206
AKD Installation | 9 Electrical Installation 9.5.4 Connection diagram AKD-x01206 The I/O option is available for AKD-T drives only. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 87: Connector Assignment Akd-X02406 And Akd-X00307 To 02407
AKD Installation | 9 Electrical Installation 9.5.5 Connector assignment AKD-x02406 and AKD-x00307 to 02407 The I/O option is available for AKD-T drives only. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 88: Connection Diagram Akd-X02406 And Akd-X00307 To 02407
AKD Installation | 9 Electrical Installation 9.5.6 Connection diagram AKD-x02406 and AKD-x00307 to 02407 The I/O option is available for AKD-T drives only. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 89: Connector Assignment Akd-X04807
AKD Installation | 9 Electrical Installation 9.5.7 Connector assignment AKD-x04807 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 90: Connection Diagram Akd-X04807
AKD Installation | 9 Electrical Installation 9.5.8 Connection diagram AKD-x04807 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 91: Connection Overview Akd-M
AKD Installation | 9 Electrical Installation 9.6 Connection Overview AKD-M 9.6.1 Connector assignment AKD-M00306, AKD-M00606 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 92: Connection Diagram Akd-M00306, Akd-M00606
AKD Installation | 9 Electrical Installation 9.6.2 Connection diagram AKD-M00306, AKD-M00606 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 93: Connector Assignment Akd-M01206
AKD Installation | 9 Electrical Installation 9.6.3 Connector assignment AKD-M01206 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 94: Connection Diagram Akd-M01206
AKD Installation | 9 Electrical Installation 9.6.4 Connection diagram AKD-M01206 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 95: Connector Assignment Akd-M02406, Akd-M00307 To Akd-M02407
AKD Installation | 9 Electrical Installation 9.6.5 Connector assignment AKD-M02406, AKD-M00307 to AKD-M02407 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 96: Connection Diagram Akd-M02406, Akd-M00307 To Akd-M02407
AKD Installation | 9 Electrical Installation 9.6.6 Connection diagram AKD-M02406, AKD-M00307 to AKD-M02407 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 97: Connector Assignment Akd-M04807
AKD Installation | 9 Electrical Installation 9.6.7 Connector assignment AKD-M04807 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 98: Connection Diagram Akd-M04807
AKD Installation | 9 Electrical Installation 9.6.8 Connection diagram AKD-M04807 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 99: Emi Noise Reduction
Ensure good ground connection. Connect from cabinet to proper earth ground. Ground leads should be the same gauge as the leads to main power or one gauge smaller. Use Kollmorgen cables. Route power and control cables separately, Kollmorgen recom- mends a distance of at least 200 mm to improve interference immunity. -
Page 100: Shielding With External Shielding Busbar
AKD Installation | 9 Electrical Installation 9.7.2 Shielding with external shielding busbar EMC filtering must be done externally by the user if necessary, which requires the use of shielded cables.Kollmorgen recommends a star point shield connection, for example, with a shielding busbar. 9.7.2.1 Shielding Concept... -
Page 101: Shielding Busbar
The power cable shields (line in, motor cable, external regen resistor) can be routed to an additional busbar via shield clamps. Kollmorgen recommends using Weidmüller KLBÜ shield clamps. A possible scenario for setting up a busbar for the above shield clamps is described below. -
Page 102: Shielding Connection To The Drive
Use shield connection clamps (see accessories manual). These hook into the grounding plate and ensure optimum contact between the shield and the ground- ing plate. Kollmorgen recommends using Phoenix Contact SK14 shield clamps with clamp range of 6-13mm. 9.7.3.3 Motor connector X2 with shielding connection Alternative connection for the motor power connection by mating connector with strain relief. -
Page 103: Electrical Supply Connection
9.8 Electrical Supply Connection 9.8.1 Connection to various mains supply networks AKD-xzzz06 (120V to 240V) An isolating transformer is required for 400 to 480 V networks to get a maximum voltage of 240 V +10%. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 104: Connection To Various Mains Supply Networks Akd-Xzzz07 (240V To 480V)
AKD Installation | 9 Electrical Installation 9.8.2 Connection to various mains supply networks AKD-xzzz07 (240V to 480V) An isolating transformer is required for 120V networks to get a minimum voltage of 240 V +10%. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 105: Auxiliary Supply (X1)
STO Supply GND STO-Status 1 Safe Torque Off status channel 1 STO-Enable 1 Safe Torque Off enable channel 1 STO-Status 2 Safe Torque Off status channel 2 STO-Enable 2 Safe Torque Off enable channel 2 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 106: Mains Supply Connection (X3, X4)
AKD Installation | 9 Electrical Installation 9.8.4 Mains supply connection (X3, X4) Drives in the AKD series can be supplied as follows: AKD-xzzz06: 1 or 3 phase industrial supply networks (not more than 200 kA symmetrical rated current at 120 V and 240 V). -
Page 107: Three Phase Connection (All Akd Types)
) without neutral line -10% Supply networks(➜ # 103) Leave L3 open circuit Filtering to be provided by the user. Fusing (such as fusible cut-outs) to be provided by the user (➜ # 40) Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 108: Dc Bus Link (X3, X14)
AKD-x02406 & AKD00307 to AKD02407 (X3) Signal Description DC-Link Bus negative +DC (+RB) DC-Link Bus positive AKD-x04807 (X14) Signal Description DC-Link Bus negative n.c. not connected DC-Link Bus positive NOTE: Should be connected in parallel only with AKD-x048 drives. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 109: Dc Bus Topology With Y Connectors (24 A Max.)
For this reason, almost as many drives as desired can be connected in parallel in this form. This arrangement is frequently also useful for con- necting KCM capacitor modules. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 110: External Regen Resistor (X3)
External Regen Resistor positive AKD-x1206 (X3) Signal Description +Rbint Internal Regen Resistor positive External Regen Resistor negative External Regen Resistor positive AKD-x02406 & AKD-x-00307 to 02407 (X3) Signal Description External Regen Resistor negative External Regen Resistor positive Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 111: Akd-X048, Regen Connector X3
2.5 mm² BAS(U)3000-10 FPS-20 16 to 20 A min. 4 mm² BAS(U)6000-10 FPS-25 20 to 25 A min. 4 mm² AKD-x04807 Signal Description Protective Earth External Regen Resistor negative External Regen Resistor positive Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 112: Capacitor Modules (X3)
AKD Installation | 9 Electrical Installation 9.9.4 Capacitor Modules (X3) KCM modules (KOLLMORGEN Capacitor Modules) absorb kinetic energy generated by the motor when it is operating in generator mode. Normally, this energy is dissipated as waste via regen resistors. KCM modules, however, feed the energy they have stored back into the DC Bus link as and when it is required. -
Page 113: Example Installation With Kcm-S And Kcm-E
RS422 interface X4 allows data exchange controlled by a terminal software of your choice. Interface setting: 115200 Baud, 8 Data Bits, 1 Stop Bit, No Parity&Flow Control. The X4 mating connector is in the package. More information is given in the KCM Instruc- tions Manual. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 114: Example Installation With Kcm-P And Kcm-E
Interface setting: 115200 Baud, 8 Data Bits, 1 Stop Bit, No Parity&Flow Control. The X4 mating connector is in the package. The ready signal reports the ready to operate (high level). More information is given in the KCM Instructions Manual. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 115: Discharging Kcm Modules
70 s, leave the connecting cable in place (as a means of securing for trans- port). Detach the connecting cable and reconnect the KCM-E properly before recom- missioning. 3. Perform the scheduled task (e.g. cleaning, maintenance, or deinstallation). Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 116: Motor Power Connection (X2)
Kollmorgen setup software WorkBench. The dynamic voltage rise can lead to a reduction in the motor operating life and, on unsuit- able motors, to flashovers in the motor winding. -
Page 117: Akd-X003 To 024, Power Connector X2
Motor phase U Motor phase V Motor phase W 9.10.2 AKD-x048, power connector X2 Cable length maximum 25 m. Pin Signal Description Motor phase U Motor phase V Motor phase W Protective earth (motor housing) Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 118: Motor Brake Connection (X2, X15, X16)
Motor phase W (➜ # 116) Brake voltage supply via 24 V ±10% auxiliary voltage supply of the drive on X1. Maximum cur- rent depends on the drive type, see Technical Data (➜ # 37) or (➜ # 38). Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 119: Akd-X048, Brake Connectors
2 A. Use X15 for 24 VDC ±10% supply input and X16 to connect the motor holding brake. Signal Description 24V supply voltage, brake GND, brake Signal Description Motor holding brake, positive Motor holding brake, negative Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 120: Functionality
120 rpm (CS.VTHRESH) for at least 6 ms (CS.TO). The rise (t ) and fall (t ) times of the holding brake that is built into the motor are different for the various types of motor. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 121: Feedback Connection (X10, X9, X7)
(➜ # 137) Incremental Encoder, (➜ # 140) FB2.SOURCE=1 Incremental Encoder, (➜ # 140) FB2.SOURCE=2 Pulse/Direction, (➜ # 142) FB2.SOURCE=1 Pulse/Direction, (➜ # 142) FB2.SOURCE=2 CW/CCW, (➜ # 143) FB2.SOURCE=1 CW/CCW, (➜ # 143) FB2.SOURCE=2 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 122: Feedback Connector (X10)
+5 V +5 V +5 V +5 V S1 SIN+ SIN+ S3 SIN- SIN- S2 COS+ COS+ S4 COS- COS- , *= for AKD with "NB" (rev 8+) only CLK = CLOCK, DAT = DATA, SEN = SENSE Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 123: Feedback Connector (X9)
Direction- CCW- DATA- Shield Shield Shield Shield Zero+ Zero- + 5 V (supply, output) +5V (supply, output) 9.12.3 Feedback connector (X7) Pulse/Direction CW/CCW Incremental Encoder Pulse Channel A Direction Channel B Common Common Common Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 124: Resolver
If cable lengths of more than 100 m are planned, please contact customer support. Type FBTYPE Description Resolver Accuracy: 14 bit (0.022°), resolution: 16 bit (0.006°) The pin assignment shown on the Resolver end relates to Kollmorgen motors. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 125: Sfd
AKD Installation | 9 Electrical Installation 9.12.5 SFD The diagram below shows the connection of the four wire Kollmorgen SFD feedback system. When SFD cable total resistance for 5V out (Up) and 5V return (0V) is less than 3.3 Ohm, then remote sensing is not needed. -
Page 126: Sfd3
AKD Installation | 9 Electrical Installation 9.12.6 SFD3 The diagram below shows the connection of the two wire Kollmorgen SFD3 feedback sys- tem. SFD3 can be used with the special Kollmorgen cable. Maximum cable length is up to 25 m. -
Page 127: Hiperface Dsl
Maximum cable length is up to 25 m. Type FBTYPE Remarks Hiperface DSL 8 to 9 V from FW 1.9, with Kollmorgen Cables only The pin assignment shown on the DSL end relates to Kollmorgen motors. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 128: Encoder With Biss
Type FBTYPE Frequency Limit BiSS (Mode B) 5.1 V +/-5% 1 MHz, Analog 250 kHz for encoders that require ter- mination resistors The pin assignment shown on the encoder end relates to Kollmorgen motors. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 129: Biss (Mode C) Digital
If cable lengths of more than 25 m are planned, please consult customer support. Type FBTYPE Frequency Limit BiSS Mode C 5.1 V +/-5% 1 MHz The pin assignment shown on the encoder end relates to Kollmorgen motors. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 130: Sine Encoder With Endat
50 m are planned, consult customer support. Type FBTYPE Frequency Limit ENDAT 2.1 1 MHz, 250 kHz for encoders that require termination resistors The pin assignment shown on the encoder end relates to Kollmorgen motors. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 131: Encoder With Endat
If cable lengths of more than 50 m are planned, please consult customer support. Type FBTYPE Frequency Limit Description ENDAT 2.2 2.5 MHz Adjust on screen page FEEDBACK The pin assignment shown on the encoder end relates to Kollmorgen motors. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 132: Connection To X9 And X8
ENDAT 2.2 2,5 MHz Adjust on screen page FEEDBACK * For use as primary motor feedback, set parameters DRV.EMUEMODE, PL.FBSOURCE, IL.FBSOURCE, VL.FBSOURCE. The pin assignment shown on the encoder end relates to Kollmorgen motors. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 133: Sine Encoder With Hiperface
Connecting pin 4 and 5 250 kHz for encoders that require ter- together causes Up to be 8 mination resistors to 9 V The pin assignment shown on the encoder end relates to Kollmorgen motors. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 134: Sine Encoder
X10 and evaluated there. If cable lengths of more than 25 m are planned, please consult customer support. Type FBTYPE Frequency Limit SinCos 1 V p-p with Hall 5.1 V +/-5% 1 MHz, 250 kHz for encoders that SinCos 1 V p-p (Wake&Shake) 5.1 V +/-5% require termination resistors Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 135: Incremental Encoder
If cable lengths of more than 25 m are planned, please consult customer support. Type FBTYPE Frequency Limit Incremental Encoder&Hall Switches (Comcoder) 2.5 MHz Incremental Encoder (Wake&Shake) 2.5 MHz The pin assignment shown on the encoder end relates to Kollmorgen AKM motors. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 136: Hall Sensors
X10/1 Hall U Yellow Yellow H-CA Green Hall U Brown SubD9/4 X10/2 Hall V Brown Brown H-AB Brown Hall V Green SubD9/2 X10/3 Hall W Orange H2 Orange H-BC White Hall W Yellow SubD9/3 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 137: Tamagawa Smart Abs Encoder
The voltage drop depends on the cable length and gage and the encoder current consumption. If cable lengths of more than 25 m are planned, please consult customer support. Type FBTYPE Frequency Limit S48-17/33bit-LPS-5V 5.1 V +/-5% 2.5 MHz Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 138: Electronic Gearing, Master-Slave Operation (X9, X7)
High: 3.5 to 30 V/2 to 15 mA , Low: -2 to +2 V/<15 mA Update rate: firmware reads hardware input state every 250 µs Pulse/Direction CW/CCW Incremental Encoder Pulse Channel A Direction Channel B Common Common Common Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 139: Connector X9 Input
The pulses per revolution value are settable Pulse phase shift: 90°±20° Emulated Encoder Output Channel A+ Channel A- Channel B+ Channel B- Shield Channel Zero+ Channel Zero- The maximum permissible cable length is 100 meters. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 140: Command Encoder Signal Connection
A 24 V A quad B encoder can be connected to the digital inputs 1 and 2 and used as a com- mander encoder, dual loop feedback, gearing or camming input. Parameter setting FB2.MODE = 0, FB2.SOURCE=2. Don't use for primary motor feedback connection! Connection Diagram Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 141: Encoder With Endat 2.2 Input 5 V (X9)
A single-turn or multi-turn encoder with EnDat 2.2 can be connected to this input and used as a commander encoder, dual loop feedback, gearing or camming input. Parameter setting FB3.MODE=0, DRV.EMUEMODE=11. Can be used as primary motor feedback connection (➜ # 132) Connection Diagram Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 142: Pulse / Direction Signal Connection
Connection industry standard 5V logic stepper-motor controllers with Pulse/Direction or Step/Direction outputs. Note that the X7 opto inputs can work with 5V up to 24V logic and so these inputs can be driven by 24V logic inputs as well. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 143: Cw / Ccw Signal Connection
The drive can be connected to a third-party controller which delivers 5 V CW/CCW signals 9.13.4.2 CW / CCW input 24 V (X7) The drive can be connected to a third-party controller which delivers 24 V CW/CCW signals. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 144: Emulated Encoder Output (Eeo)
The resolution (before multiplication) can be set by the DRV.EMUERES parameter. Use the DRV.EMUEZOFFSET parameter to adjust + save the zero pulse position within one mech- anical turn. The drivers operate from an internal supply voltage. tv max. 30ns Connection Diagram Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 145: Master-Slave Control
Several AKD can be connected as slave drives to an AKD master. The slave drives use the master's encoder output signals as command input and follow these commands (velocity and direction). Master-Slave Connection Diagram, example for 5V signal level (X9) Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 146: I/O Connection
The DCOMx line should be connected to the 0V of the I/O supply when using sensors of type "Source" with digital inputs. The DCOMx line should be connected to the 24V of the I/O supply when using sensors of type "Sink" with digital inputs. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 147: I/O Connectors X21, X22, X23 And X24 (Akd-T With I/O Option Card Only)
X22 pins 1, 2, 3 Digital Input 30 DIGITAL-IN 30 Programmable Digital Input 31 DIGITAL-IN 31 Programmable Digital Input 32 DIGITAL-IN 32 Programmable Digital Common X22/5_7 DCOM22.5_7 Common line for X22 pins 5, 6, 7 Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 148 Digital Output 28- DIGITAL-OUT 28- Programmable Digital Output 29+ DIGITAL-OUT 29+ Programmable Digital Output 29- DIGITAL-OUT 29- Programmable Relay Output 30 DIGITAL-OUT 30 Programmable, (➜ # 163) relay Relay Output 30 DIGITAL-OUT 30 Programmable, relay Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 149: I/O Connectors X35 And X36 (Akd-M Only)
The DCOMx line should be connected to the 0V of the I/O supply when using sensors of type "Source" with digital inputs. The DCOMx line should be connected to the 24V of the I/O supply when using sensors of type "Sink" with digital inputs. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 150: Analog Input (X8, X24)
Standard setting: clockwise rotation of the motor shaft (looking at the shaft end) affected by positive voltage between terminal (+ ) and terminal ( - ) To reverse the direction of rotation, swap the connections to terminals +/-, or change the DRV.DIR parameter in the “Feedback 1” screen page. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 151: Analog Output (X8, X23)
-3 dB Bandwidth: >8 kHz Maximum output current: 20 mA Capacitive load: any value but response speed limited by max Iout and by Rout Protected for short circuit to AGND Analog Output Wiring Diagram Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 152: Digital Inputs (X7/X8)
The inputs can be used with switched +24 V (sink type) or switched GND (source type). See diagrams below for typical examples of digital input wiring. Digital Input Wiring Diagram (Sink type connection, example) Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 153: Digital Inputs 1 And
For KAS applications (example: AKD PDMM), the latch position information is updated in the Ethercat PDO. The typical update time into the KAS project is two Ethercat cycles ( with each cycle being 250 µs, 500 µs, 1000 µs, or 2000 µs) Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 154: Digital Inputs 3 To
The inputs can be used with switched +24 V (sink type) or switched GND (source type). Technical characteristics Floating, sink or source type sensors possible High: 3.5 to 30 V/2 to 15 mA , Low: -2 to +2 V/<15 mA, Update rate: Software 250 µs Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 155 AKD Installation | 9 Electrical Installation Digital Input Wiring Diagram (Sink type connection, example) Kollmorgen | kdn.kollmorgen.com | October 2017...
- Page 156 AKD Installation | 9 Electrical Installation Digital Input Wiring Diagram (Source type connection, example) Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 157: Digital Inputs (X35/X36) With Akd-M
The inputs can be used with switched +24 V (sink type) or switched GND (source type). See diagrams below for typical examples of digital input wiring. Digital Input Wiring Diagram (Sink type connection, example) Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 158 AKD Installation | 9 Electrical Installation Digital Input Wiring Diagram (Source type connection, example) Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 159: Digital Outputs (X7/X8)
24 V IO power supply at terminals X7/8 and X7/6, 20 VDC to 30 VDC All digital outputs are floating, DIGITAL OUT 1/2: terminals X7/7-8 and X7/5-6), max.100 mA Can be wired as active low or active high (see examples below) Update rate: 250 µs Wiring diagram Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 160: Fault Relay Contacts
All faults cause the FAULT contact to open and the output stage to be switched off (if the FAULT contact is open, the output stage is inhibited -> no power output). List of the fault messages: (➜ # 202). Wiring diagram Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 161: Digital Outputs With I/O Option (X23/X24)
Technical characteristics 24 V IO power supply, 20 VDC to 30 VDC, floating, max. 100 mA Can be wired as active low or active high (see examples below) Update rate: 250 µs Wiring diagram X23 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 162: Kollmorgen | Kdn.kollmorgen.com | October
AKD Installation | 9 Electrical Installation Wiring diagram X24 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 163: Digital Relay Outputs
Technical characteristics Relay output, max. 30 VDC or 42 VAC, 1 A Time to close: max. 10 ms Time to open: max. 10 ms Wiring diagram Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 164: Digital Outputs (X35/X36) With Akd-M
24 V IO power supply at terminals X35/8 and X36/8, 20 VDC to 30 VDC All digital outputs are floating, max. 100 mA Can be wired as active low or active high (see examples below) Update rate: 1 ms Wiring diagram Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 165: Led Display
Warning (see (➜ # 202) Displaying drive IP address Powered on and FPGA loading. If continuous then operational and resident FPGA images are corrupt. Drive enabled [.] (flashing) Drive in an internal dynamic brake mode (DRV.ACTIVE = 3). Firmware download Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 166: Rotary Switches (S1, S2, Rs1)
24 V is OFF The IP address is software configurable from a web- browser (➜ # 174). 2 to 9 Static IP 24 V is OFF The IP address is 192.168.0.10n, valid values are 2 to 9 (➜ # 174). Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 167: Push-Buttons (B1, B2, B3)
Save data to SD card Drives with I/O option card only. Set rotary switches S1 to 1 and S2 to 1. Press B1 for 5s for save data from the drive to the SD card. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 168: Push-Buttons B1, B2, B3 With Akd-M
'backup' to SD card (confirm) (➜ # 170) 'restore' from SD card (confirm) (➜ # 170) Confirm If the selected menu item selection requires a confirmation, "y" is displayed for 10 s - press B2 to confirm. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 169: Sd Card Slot
Save data to SD card Press B1 for 5s for save data from the drive to the SD card. Load data from SD card Press B1 for 5s for loading data from the SD card to the drive. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 170: Sd Card Slot With Akd-M
'backup' to copy firmware, configurations, user application, and user data files from the AKD PDMM to SD card. 'restore' to load firmware, configuration, user application, and user data files from SD card to AKD PDMM. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 171: Service Interface (X11, X32)
Transmit + n.c. Transmit - Receive- Receive+ n.c. n.c. n.c. 9.19.2 Service Bus Protocols X11, X32 Protocol Type Connector Modbus TCP Service Bus X11, X32 Ethernet TCP/IP Service Bus X11, X32 9.19.3 Possible Network Configurations Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 172: Setting The Ip Address Akd-B, Akd-P, Akd-T
If the switches are altered while 24 V Logic power is supplied to the drive, you must switch off and then switch on again the 24 V supply voltage. This action will reset the address. Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 173 The display will flash 0.0.0.0 and then attempt to discover an address by DHCP. Without removing logic power from the drive, use WorkBench to connect to the drive, recon- figure the IP address settings as desired, and store the values to non-volatile memory. Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 174: Setting The Ip Address Akd-M
If the switch is altered while 24 V Logic power is supplied to the drive, you must switch off and then switch on again the 24 V supply voltage. This action will reset the address. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 175: Modbus Tcp
9.19.6 Modbus TCP The drive can be connected to Modbus HMI via RJ-45 connector X11 (AKD) or X32 (AKD PDMM, for Kollmorgen touchpanels only). The protocol allows reading and writing of drive parameters. The communication status is indicated by the built-in LEDs. -
Page 176: Can-Bus Activation With Akd-Cc Models
4. Power cycle the drive by switching the 24 V power supply off and then on again. The seven segment display shows Er (Error) in case that the DRV.TYPE instruction failed. In this case please power cycle the drive and contact the Kollmorgen customer support for further help. -
Page 177: Baud Rate For Can-Bus
If an error occurred, the following error messages will flash 5 times: E1 - Drive is enabled E2 - Non-volatile storage of the new setting failed E3 - Invalid rotary switch selection Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 178: Node Address For Can-Bus
To meet ISO 11898, a bus cable with a characteristic impedance of 120 ohms should be used. The maximum usable cable length for reliable communication decreases with increas- ing transmission speed. As a guide, you can use the following values which Kollmorgen has measured; however, these values are not assured limits: Characteristic impedance: 100–120 ohms... -
Page 179: Can-Bus Wiring
AKD Installation | 9 Electrical Installation 9.20.6 CAN-Bus Wiring Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 180: Motion Bus Interface (X5/X6/X11)
9.21.2 Bus Protocols X5, X6, X11 Protocol Type Connectivity Option Connector EtherCAT Motion bus EC or CC X5, X6 SynqNet Motion bus X5, X6 ® sercos Motion bus X5, X6 PROFINET RT Motion bus Ethernet/IP Motion bus Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 181: Ethercat
4. Power cycle the drive by switching the 24 V power supply off and then on again. The seven segment display shows Er (Error) in case that the DRV.TYPE instruction failed. In this case please power cycle the drive and contact the Kollmorgen customer support for further help. -
Page 182: Synqnet
The subnet mask of the AKD is 255.255.255.0. The first three octets of the drive’s IP address must be the same as the first three octets of the HMI’s IP address. The last octet must be dif- ferent. Ethernet/IP and WorkBench can operate simultaneously if a switch is used. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 183: Sercos
Connector LED# Name Function LED1 IN port Link ON = active, OFF= not active LED2 ON = running, OFF = not running LED3 OUT port Link ON = active, OFF = not active LED4 Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 184: Setup
AKD Installation | 10 Setup 10 Setup 10.1 Important Notes 10.2 SetupAKD-B, AKD-P, AKD-T 10.3 Setup AKD-M 10.4 Fault and Warning Messages 10.5 Troubleshooting the AKD Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 185: Important Notes
Wait until the heat sink has cooled down to 40°C before touching it. If the drive has been stored for more than 1 year, you must re-form the capacitors in the DC bus link circuit. Re-forming procedures are described in the Kollmorgen Developer Network (Forming). -
Page 186: Setupakd-B, Akd-P, Akd-T
The setup software is intended to be used for altering and saving the operating parameters for the AKD series of drives. The attached drive can be set up with the help of this software, and during this procedure the drive can be controlled directly by the service functions. -
Page 187: Software Description
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 with one-click using the Motor screen in the WorkBench software. -
Page 188: Installation Under Windows 2000/Xp/Vista/7
Connection to the Ethernet interface of the PC Connect the interface cable to an Ethernet interface on your PC or to a Hub/Switch and to the service interface X11 of the AKD (➜ # 171). Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 189: Initial Drive Testakd-B, Akd-P, Akd-T
This wiring diagram is for general illustration only and does not fulfill any requirements for EMC, safety, or functionality of your application. When connecting the AKD directly to a PC, static IP addressing (not 00) is recommended. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 190: Set Ip Address
Wait for this icon to change to the limited functionality icon (this process can take up to one minute). Although Windows displays this limited functionality icon for the drive connection, the PC can communicate fully with the drive. Using WorkBench, you can now configure the drive through this connection. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 191: Install And Start Workbench
10.2.7.5 Install and start WorkBench WorkBench installs automatically from the DVD included with the drive. WorkBench is also available on the Kollmorgen Web site: www.kollmorgen.com. Once installation is complete, click the WorkBench icon to start the program. WorkBench will show a list of all the drives that it can find on your local network. Select the drive you wish to configure and then click Next. -
Page 192: Setup Akd-M
The KAS IDE integrated development environment contains tools for configuring the Ether- CAT Network, setup and tuning the drives, creating a PLC program, and creating an HMI. Kollmorgen offers training and familiarization courses on request. 10.3.2 Use as directed The setup software is intended to be used for altering and saving the operating parameters for the AKD PDMM series of drives. -
Page 193: Software Description
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 KAS IDE and can be loaded with one-click using the Motor screen in the KAS IDE software. -
Page 194: Installation Under Windows
Connection to the Ethernet interface of the PC Connect the interface cable to an Ethernet interface on your PC or to a Hub/Switch and to the service interface X32 of the AKD PDMM (➜ # 171). Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 195: Initial Drive Test Akd-M
This wiring diagram is for general illustration only and does not fulfill any requirements for EMC, safety, or functionality of your application. When connecting the AKD PDMM directly to a PC, static IP addressing (not 0) is recom- mended. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 196: Set Ip Address
Wait for this icon to change to the limited functionality icon (this process can take up to one minute). Although Windows displays this limited functionality icon for the drive connection, the PC can communicate fully with the drive. Using KAS IDE, you can now configure the drive through this connection. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 197: Install And Start Kas Ide
The KAS IDE is included on the DVD that came with the AKD PDMM, as well as online at www.kollmorgen.com. Insert the DVD and wait for installer to auto-start. Once installation is complete, click the KAS IDE icon to start the program. -
Page 198: Set Drive Ip Address In Kas Ide
2. The IP address of the AKD PDMM is setup in the project file inside the KAS IDE. To see the IP address, open a project or create a new project. Right click on the Project Explorer- /Project view Controller item and select Properties. 3. Type in the AKD PDMM address as follows: Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 199: Starting New Project
Add the drives to the project: click on the EtherCAT item and scan for devices (1). Mapp the detected drives to axis of your application (2). All detected items are automatically added to your project: Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 200 In the work space a set of screens opens up that enable you to completely configure the drive: Additionally the setup wizard will take you through a set of steps to perform the configuration: Kollmorgen | kdn.kollmorgen.com | October 2017...
- Page 201 AKD Installation | 10 Setup To perform basic motion without running a project the Service Motion screen can be used. Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 202: Fault And Warning Messages
Incomplete emergency procedure. F128 MPOLES/FPOLES not integer. F129 Fieldbus Heartbeat lost. F130 Secondary feedback supply over current. F131 Secondary feedback A/B line break. F132 Secondary feedback Z line break. F133 Fault number changed to F138. Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 203 Firmware and option board FPGA types are not compatible. F253 Firmware and option board FPGA versions are not compatible. F256, n256 Analog Input, overvoltage F257, n257 Analog Input, undervoltage F301, n301 Motor overheated. F302 Over speed. Kollmorgen | kdn.kollmorgen.com | October 2017...
- Page 204 Operation in Position Mode with Halls Only feedback not allowed. F473 Wake & Shake - Insufficient movement F475 Wake & Shake - Excess movement. F476 Wake & Shake - Fine-coarse delta too large. F478, n478 WWake & Shake - Over speed. Kollmorgen | kdn.kollmorgen.com | October 2017...
- Page 205 Velocity has been limited, commutation frequency max. 599 Hz to meet ECCN-3A225 / AL-3A225 limits. n601 Modbus data rate is too high. F602 Safe torque off. n603 OPMODE incompatible with CMDSOURCE n604 EMUEMODE incompatible with DRV.HANDWHEELSRC. F621 Control Board CRC fault. Kollmorgen | kdn.kollmorgen.com | October 2017...
- Page 206 Control Board Watchdog fault. F630 FPGA cyclic read fault. F631 Issue command timed out. F701 Fieldbus runtime. F702, n702 Fieldbus communication lost. F703 Emergency timeout occurred while axis should disable. F706, n706 Fieldbus cyclic setpoints missing. Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 207: Additional Fault Messages Akd-T
F828 Disable Drive first. F829 Opcode not supported - upgrade firmware. F830 No negative values allowed. F831 BASIC program is invalid. May need firmware upgrade. F832 BASIC program is missing. F901 Too many cams. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 208: Additional Error And Alarm Messages Akd-M
CPU is overloaded EtherCAT missed a send frame during operation mode. EtherCAT missed a receive frame during operation mode. Local digital IO missed a cyclic update AKD-M-MC was replaced with the higher performance M1 model. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 209: Errors
EtherCAT network discovery failed. EtherCAT failed to return to init state. Backup to SD card failed. Restore from SD card failed.. SD Backup files are missing or corrupt. SD Backup files are not compatible. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 210: Troubleshooting The Akd
Harddisk space not sufficient Make sure that you have enough disk space determining your disk on your hard disk (~500MB). space requirements” appears and never disappears. Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 211: Index
M Variants Connectors CW/CCW Input Hall Sensoren Hardware requirements KAS IDE WorkBench DC Bus Capacitance Hiperface DSL DC bus link, interface Hiperface encoder interface Decommission Humidity Diagnostic Cover Ratio in operation Dig. Encoder emulation, interface Kollmorgen | kdn.kollmorgen.com | October 2017... - Page 212 Motor interface Setup Motor Power Connection Mounting position sercos® III Service Interface Setup B, P, T variants Nameplate M variants Noise Emission Setup Software KAS IDE WorkBench Operating systems SFD3 KAS IDE Shield connection WorkBench Kollmorgen | kdn.kollmorgen.com | October 2017...
- Page 213 System components, overview Temperature in operation Storage Transport Tightening torques, connectors Transport Trouble Shooting UL Markings Use as directed Drive KAS IDE Setup Software WorkBench Setup Software Ventilation Ambient Conditions Mechanical Installation Vibrations Warnings Wiring Kollmorgen | kdn.kollmorgen.com | October 2017...
- Page 214 AKD Installation | 11 Index --- / --- Kollmorgen | kdn.kollmorgen.com | October 2017...
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Page 215: Record Of Document Revisions
Frequency limit EnDat 2.2 changed, Links in Fault chapters to KDN, fault table updated (F120, Y, 03/2017 F124, n179, n180, F471, n495, F631) Digital output wiring X23/X24 updated, STO reaction time added (03...24A), 24V wiring for 48A AA, 10/2017 STO control, AKD48A motor holding brake connection corrected Kollmorgen | kdn.kollmorgen.com | October 2017... -
Page 216: Kollmorgen | Kdn.kollmorgen.com | October
About KOLLMORGEN Kollmorgen is a leading provider of motion systems and components for machine builders. Through world- class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage.
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