Kollmorgen AKD series Installation Manual
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Kollmorgen AKD series Installation Manual

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Download this manual See also: Training Manual, User Manual
AKD™ and AKD PDMM™
Installation Manual
Edition: G, March 2012
Valid for Hardware Revision D
Part Number 903-200003-00
Original Document
Patents Pending
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.

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Summary of Contents for Kollmorgen AKD series

  • Page 1 AKD™ and AKD PDMM™ Installation Manual Edition: G, March 2012 Valid for Hardware Revision D Part Number 903-200003-00 Original Document Patents Pending 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.

  • Page 2: Digital Inputs 1 And

    Printed in the United States of America This document is the intellectual property of Kollmorgen™. All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or dis- tributed by electronic means without the written permission of Kollmorgen™.

  • Page 3: Table Of Contents

    6.5 Electrical Data AKD-xzzz06 6.6 Electrical Data AKD-xzzz07 6.7 Performance Data 6.8 Recommended tightening torques 6.9 Fusing 6.9.1 External Power Supply fusing 6.9.2 External 24 V supply fusing 6.9.3 External regen resistor fusing 6.10 Grounding System Kollmorgen™ | March 2012...
  • Page 4 6.17.3 Isolating Transformers 7 Mechanical Installation 7.1 Safety Instructions 7.2 Guide to Mechanical Installation 7.3 Mechanical Drawings Standard Width 7.3.1 Control Cabinet Layout AKD-xzzz06, Standard Width 7.3.2 Control Cabinet Layout AKD-xzzz07, Standard Width 7.3.3 Dimensions AKD-xzzz06, standard width Kollmorgen™ | March 2012...
  • Page 5 8.8.4.1 Three Phase connection (all AKD types) 8.8.4.2 Single phase connection (AKD-xzzz06 only) 8.9 External Regen Resistor (X3) 8.10 DC Bus Link (X3) 8.11 Motor Connection 8.11.1 Motor Power (X2) 8.11.1.1 Cable Length ≤ 25 m Kollmorgen™ | March 2012...
  • Page 6 8.14.6.1 Digital Outputs 1 and 2 8.14.6.2 FAULT relay contacts 8.14.7 Digital Inputs (X35/X36) with AKD-M 8.14.8 Digital Outputs (X35/X36) with AKD-M 8.14.8.1 Digital Outputs 21 and 22 8.15 LED display 8.16 Pushbuttons (B1, B2, B3) Kollmorgen™ | March 2012...
  • Page 7 9.2.7.2 Minimum Wiring for Drive Test without Load 9.2.7.3 Set IP Address 9.2.7.4 Confirm Connections 9.2.7.5 Install and Start WorkBench 9.2.7.6 Set Drive IP Address in WorkBench 9.2.7.7 Enable the Drive Using the Setup Wizard 9.3 Setup AKD-M 9.3.1 Setup software KAS IDE Kollmorgen™ | March 2012...
  • Page 8 9.3.7.5 Install and Start KAS IDE 9.3.7.6 Set Drive IP Address in KAS IDE 9.3.7.7 Starting new project 9.4 Fault and Warning Messages 9.5 Error and Alarm Messages AKD-M 9.5.1 Errors 9.5.2 Alarms 9.6 Troubleshooting the AKD 10 Index Kollmorgen™ | March 2012...

  • Page 9: General

    AKD Installation | 1   General 1 General 1.1 About this Manual 1.2 Target Group 1.3 Using the PDF Format 1.4 Abbreviations used 1.5 Symbols used 1.6 Standards Used Kollmorgen™ | March 2012...

  • Page 10: About This Manual

    AKD Installation | 1   General 1.1 About this Manual This manual, AKD Installation Manual, describes the AKD series of digital drives and includes information needed to safely install an AKD. A digital version of this manual (pdf format) is available on the CD-ROM included with your drive.

  • Page 11: Abbreviations Used

    F-SMA Fiber optic cable connector according to IEC 60874-2 Kollmorgen Automation Suite KAS IDE Setup software (Kollmorgen Automation Suite Integrated Development Envi- ronment) used for AKD PDMM drives Light-emitting diode Low significant byte (or bit) Main significant byte (or bit)

  • Page 12: Symbols Used

    This is not a safety symbol. This symbol indicates important notes. Drawing symbols Symbol Description Symbol Description Signal ground Diode Chassis ground Relays Protective earth Relays switch off delayed Resistor Normal open contact Fuse Normal closed contact Kollmorgen™ | March 2012...

  • Page 13: Standards Used

    UL Standard for Safety for Insulation Coordination Including Clearances and Creepage Distances for Electrical Equipment UL 508C UL Standard for Safety Power Conversion Equipment ANSI - American National Standard Institute, Inc. IEC - International Electrotechnical Commission ISO - International Organization for Standardization UL - Underwriters Laboratories Kollmorgen™ | March 2012...

  • Page 14: Safety

    AKD Installation | 2   Safety 2 Safety 2.1 Safety Instructions 2.2 Use as Directed 2.3 Prohibited Use Kollmorgen™ | March 2012...

  • Page 15: Safety Instructions

    The drives contain electrostatically sensitive components which may be damaged by incorrect handling. Electrostatically discharge your body before touching the drive. Avoid contact with highly insulating materials (artificial fabrics, plastic film etc.). Place the drive on a conductive surface. Kollmorgen™ | March 2012...

  • Page 16: Use As Directed

    60204 (alternatively for AWG cross-sections: NEC Table 310-16, 75 °C column). Power supply 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 17: Approvals

    AKD Installation | 3   Approvals 3 Approvals 3.1 Conformance with UL/cUL 3.2 CE Conformance 3.3 Safe Torque Off (STO) Kollmorgen™ | March 2012...

  • Page 18: Conformance With Ul/Cul

    10 A AKD-x01207 600 Vac, 200 kA 15 A AKD-x02407 600 Vac, 200 kA 30 A These drives provide solid state motor overload protection at 125% of the rated FLA Current. Use minimum 75°C copper wire. Kollmorgen™ | March 2012...
  • Page 19 AKD-x00307 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 Maximum surrounding air temperature of 40°C” or equivalent. Kollmorgen™ | March 2012...

  • Page 20: Ce Conformance

    Category C2 (motor cable < 10 m). With a motor cable length of 10 m or longer, the servo drive meets the requirement to the Category C3. Kollmorgen™ | March 2012...

  • Page 21: European Directives And Standards For The Machine Builder

    The machine/plant manufacturer must check whether other standards or EC Direc- tives 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 Kollmorgen™.

  • Page 22: Ec Declaration Of Conformity

    AKD Installation | 3   Approvals 3.2.2 EC Declaration of Conformity Kollmorgen™ | March 2012...

  • Page 23: Safe Torque Off (Sto)

    Torque Off" in the drive is suited for SIL2 according to IEC 61508-2 and PLd, Cat.3 according to ISO 13849-1. The subsystems (AKD drives) are totally described for safety technics with the characteristic data : Device Operation Mode ISO 13849-1 IEC 61508-2 PFH [1/h] SFF[%] STO single channel PLd, Cat.3 SIL2 Kollmorgen™ | March 2012...

  • Page 24: Handling

    AKD Installation | 4   Handling 4 Handling 4.1 Transport 4.2 Packaging 4.3 Storage 4.4 Maintenance and Cleaning 4.5 Uninstalling 4.6 Repair and Disposal Kollmorgen™ | March 2012...

  • Page 25: Transport

    More than 1 year: capacitors must be re-formed before setting up and operating the drive. To re-form the capacitors, remove all electrical connections and apply single-phase 120 Vac for about 30 minutes to the L1/L2 terminals. Kollmorgen™ | March 2012...

  • Page 26: Maintenance And Cleaning

    Transport costs are the responsibility of the sender. Send the devices to the manufacturer addresses shown in the table below. Europe Kollmorgen™ KOLLMORGEN Europe GmbH 201 West Rock Road Pempelfurtstr. 1 Radford, VA 24141 D-40880 Ratingen Kollmorgen™ | March 2012...

  • Page 27: Package

    AKD Installation | 5   Package 5 Package 5.1 Package Supplied 5.2 Nameplate 5.3 Part number scheme Kollmorgen™ | March 2012...

  • Page 28: Package Supplied

    AKD Installation | 5   Package 5.1 Package Supplied When a drive from the AKD series is ordered, the following items are included in the drive package: Printed copy of AKD Installation Manual (EU only) Printed copy of AKD Quick Start (not in EU) Printed copy of fault and warning card (not in EU) CD-ROM containing the setup software, WorkBench, and all product documentation in digital format.

  • Page 29: Part Number Scheme

    X6) and CANopen (X12 and X13) fieldbus connectors. A software parameter (DRV.TYPE) allows you to select what features the drive supports; you cannot use EtherCAT and CANopen at the same time. PROFINET is pos- sible with Position Indexer drives only (P version). Kollmorgen™ | March 2012...

  • Page 30: Technical Description And Data

    6.9 Fusing 6.10 Grounding System 6.11 Connectors 6.12 Cable and Wire Requirements 6.13 Dynamic Braking 6.14 Switch-on and Switch-off Behavior 6.15 Stop / Emergency Stop / Emergency Off 6.16 Safe Torque Off (STO) 6.17 Shock-hazard Protection Kollmorgen™ | March 2012...

  • Page 31: 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 240/480 Vac AKD-xzzz07 models (only 120/240 Vac 3 A and 6 A AKD- xzzz06 models lack internal regen resistors), external regen resistors if required. Kollmorgen™ | March 2012...
  • Page 32 Analog +/- 10 V control with encoder feedback output. Onboard Serial Interface (=> p. 135), optional CANopen => p. 135 Onboard Ethernet interface (=> p. 140), optional SynqNet => p. 142 EtherCAT => p. 141 PROFINET RT => p. 142 Ethernet/IP => p. 142 Kollmorgen™ | March 2012...

  • Page 33: Ambient Conditions, Ventilation, And Mounting Position

    Analog output (resolution 16 bit) ±10 Vdc Digital inputs min. 3.5 Vdc, max. 30 Vdc, min. 2 mA, max. 15 mA Digital outputs max. 30 Vdc, 100 mA FAULT output, relay contacts max. 30 Vdc, max 42 Vac, 1 A Kollmorgen™ | March 2012...

  • Page 34: Electrical Data Akd-Xzzz06

    24 V (±10%, check voltage drop) -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 Kollmorgen™ | March 2012...

  • Page 35: Electrical Data Akd-Xzzz07

    -current B, P, T types without/with motor brake A= 1 / 2.5 1 / 2.5 1 / 2.5 2 / 4 -current M type without/with motor brake 1.3 / 2.8 1.3 / 2.8 1.3 / 2.8 Kollmorgen™ | March 2012...

  • Page 36: Performance Data

    0.5 to 0.6 0.5 to 0.6 0.7 to 0.8 0.7 to 0.8 X7, X8, X35, X36 0.2 to 0.25 0.2 to 0.25 0.2 to 0.25 PE block See "Conformance with UL/cUL" (=> p. 18) for in-lbs values. Kollmorgen™ | March 2012...

  • Page 37: Fusing

    I/O connector X35 (AKD-M only) DCOM36 common line for digital inputs on I/O connector X36 (AKD-M only) 24 V supply, STO input, holding brake internal digital ground, encoder emulation output, service channel Kollmorgen™ | March 2012...

  • Page 38: Connectors

    <100 V Encoder Emulation X9 SubD 9pin (male) 0,5 mm², 21 awg <100 V single-line connection single-line connection with recommended conductor cross section (=> p. 39) rated voltage with pollution level 2 * with AKD-M variant only Kollmorgen™ | March 2012...

  • Page 39: 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™ | March 2012...

  • Page 40: Dynamic Braking

    The switch-off on over voltage takes place as described under 1. (above) for the drive that has the lowest switch-off threshold (resulting from tolerances). Observe the regeneration time (some minutes) for the dynamic brake circuit after full load with peak regen power. Kollmorgen™ | March 2012...

  • Page 41: Technical Data For Akd-Xzzz06

    External regen resistor 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™ | March 2012...

  • Page 42: Technical Data For Akd-Xzzz07

    External regen resistor Maximum continuous regen power, external resistor Peak regen power, external resistor (1s) 30.6 Absorption energy in capacitors (+/- 20%) 110 / 60 DC Bus Capacitance µF * depends on connected regen resistor power Kollmorgen™ | March 2012...

  • Page 43: Switch-On And Switch-Off Behavior

    With the personnel 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 (=> p. 52). Kollmorgen™ | March 2012...

  • Page 44: Switch-On Behavior In Standard Operation

    6.14.1 Switch-on behavior in standard operation The diagram below illustrates the correct functional sequence for switching the drive on. Fault F602 occurs when STO (=> p. 52) does not have current when HW enable becomes active. Kollmorgen™ | March 2012...

  • Page 45: Switch-Off Behavior

    Use controlled stop to disable drive, if velocity drops below threshold CS.VTHRESH or time- out occurs brake is applied. Category 1 stop according to IEC 60204(=> p. 50). If velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied (=> p. 97). Kollmorgen™ | March 2012...

  • Page 46: 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 (=> p. 97). Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply the motor holding brake immediately after Hardware Disable. Kollmorgen™ | March 2012...

  • Page 47: Switch-Off Behavior In The Event Of A Fault

    This is a category 0 stop according to IEC 60204 (=> p. 50). If velocity drops below threshold CS.VTHRESH or timeout occurs the motor holding brake is applied (=> p. 97). Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply the motor holding brake immediately after faults. Kollmorgen™ | March 2012...
  • Page 48 Switch-off behavior for faults that cause dynamic braking This is a category 0 stop according to IEC 60204 (=> p. 50). If velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied (=> p. 97). Kollmorgen™ | March 2012...
  • Page 49 Switch-off behavior for faults that cause a controlled stop This is a category 1 stop according to IEC 60204 (=> p. 50). If velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied (=> p. 97). Kollmorgen™ | March 2012...

  • Page 50: 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™ | March 2012...

  • Page 51: Emergency Stop

    Emergency Off is done by switching off the supply energy by electro-mechanical switching devices. This results in a category 0 stop. If this stop category is not possible in the application, then the Emergency Off function must be replaced by other measures (for example by protection against direct touching). Kollmorgen™ | March 2012...

  • Page 52: Safe Torque Off (Sto)

    1. Cleaning, maintenance and repair operations, long inoperative periods. In such cases, the entire system should be disconnected from the supply and secured (main switch). 2. Emergency-Off situations. In an Emergency-Off situation, the main contactor is switched off (by the Emer- gency-Off button). Kollmorgen™ | March 2012...

  • Page 53: Safety Instructions

    (for example, by laying the cable in a duct), placed in different sheathed cables, or protected individually by grounding connection. Wiring remaining within the specified enclosure must meet the requirements of the standard IEC 60204-1. Kollmorgen™ | March 2012...

  • Page 54: Functional Description

    3. Activate the STO function (STO = 0 V). Suspended loads can set themselves in motion on motors without a brake, because the motor loses all torque when STO function is engaged (STO open and/or 0 V). Use motors with a built-in holding brake. Kollmorgen™ | March 2012...

  • Page 55: Control Circuit (Example)

    The safety switchgears used in the example are manufactured by Pilz and fulfill at least the PLd according to ISO 13849-1 or SIL CL2 according to IEC 62061. Safety switchgears from other manufacturers may also be used. Review the wiring instructions; => p. 53. Kollmorgen™ | March 2012...

  • Page 56: Functional Test

    1. Stop all drives, with setpoint 0 V, disable drive. 2. Activate the STO function, for example, by opening protective screen (voltage at X1/3 0 V) 3. The drive displays warning n602. 6.16.8.4 Mains supply circuit (example) Corresponding control circuit => p. 55. Kollmorgen™ | March 2012...

  • Page 57: Shock-Hazard Protection

    Protection against "indirect contact" (personal fire protection) for stationary equipment Recommendation: In order to protect against direct contact (with motor cables shorter than 5 m) Kollmorgen™ recommends that each drive be protected individ- ually using a 30 mA RCD which is sensitive to all currents.

  • Page 58: Mechanical Installation

    AKD Installation | 7   Mechanical Installation 7 Mechanical Installation 7.1 Safety Instructions 7.2 Guide to Mechanical Installation 7.3 Mechanical Drawings Standard Width 7.4 Mechanical Drawings Extended Width Kollmorgen™ | March 2012...

  • Page 59: Safety Instructions

    Assemble the drive and power supply near each other on the conductive, grounded mounting plate in the cabinet. 5. Ground the drive. For EMC-compliant shielding and grounding, => p. 84. Ground the mounting plate, motor housing and CNC-GND of the control system. Kollmorgen™ | March 2012...

  • Page 60: Mechanical Drawings Standard Width

    AKD Installation | 7   Mechanical Installation 7.3 Mechanical Drawings Standard Width 7.3.1 Control Cabinet Layout AKD-xzzz06, Standard Width Material: M4 hexagon socket screws to ISO 4762, 3 mm T-handle Allen key Kollmorgen™ | March 2012...

  • Page 61: Control Cabinet Layout Akd-Xzzz07, Standard Width

    AKD Installation | 7   Mechanical Installation 7.3.2 Control Cabinet Layout AKD-xzzz07, Standard Width Material: M4 hexagon socket screws to ISO 4762, 3 mm T-handle Allen key Kollmorgen™ | March 2012...

  • Page 62: Dimensions Akd-Xzzz06, Standard Width

    AKD Installation | 7   Mechanical Installation 7.3.3 Dimensions AKD-xzzz06, standard width Kollmorgen™ | March 2012...

  • Page 63: Dimensions Akd-Xzzz07, Standard Width

    AKD Installation | 7   Mechanical Installation 7.3.4 Dimensions AKD-xzzz07, standard width Kollmorgen™ | March 2012...

  • Page 64: Mechanical Drawings Extended Width

    AKD Installation | 7   Mechanical Installation 7.4 Mechanical Drawings Extended Width 7.4.1 Control Cabinet Layout, Example with AKD-M00306 Material: M4 hexagon socket screws to ISO 4762, 3 mm T-handle Allen key Kollmorgen™ | March 2012...

  • Page 65: Control Cabinet Layout, Example With Akd-M00307

    AKD Installation | 7   Mechanical Installation 7.4.2 Control Cabinet Layout, Example with AKD-M00307 Material: M4 hexagon socket screws to ISO 4762, 3 mm T-handle Allen key Kollmorgen™ | March 2012...

  • Page 66: Dimensions Akd-Xzzz06, Extended Width

    AKD Installation | 7   Mechanical Installation 7.4.3 Dimensions AKD-xzzz06, extended width Kollmorgen™ | March 2012...

  • Page 67: Dimensions Akd-Xzzz07, Extended Width

    AKD Installation | 7   Mechanical Installation 7.4.4 Dimensions AKD-xzzz07, extended width Kollmorgen™ | March 2012...

  • Page 68: Electrical Installation

    8.12 Feedback Connection 8.13 Electronic gearing, Master-slave operation 8.14 I/O Connection 8.15 LED display 8.16 Pushbuttons (B1, B2, B3) 8.17 SD Card Slot AKD-M 8.18 Service Interface (X11, X32) 8.19 CAN-Bus Interface (X12/X13) 8.20 Motion Bus Interface (X5/X6/X11) Kollmorgen™ | March 2012...

  • Page 69: Safety Instructions

    Wire the FAULT contact in series into the emergency stop circuit of the instal- lation. The emergency stop circuit must operate the supply contactor. It is permissible to use the setup software to alter the settings of the drive. Any other alterations will invalidate the warranty. Kollmorgen™ | March 2012...

  • Page 70: Guide To Electrical Installation

    Connect the main electrical supply. Check maximum permitted voltage value (=> p. 34 or => p. 35). Check proper use of residual-current circuit breakers (RCD); => p. 57 Connect the PC (=> p. 131) for setting up the drive. 4. Check the wiring against the wiring diagrams. Kollmorgen™ | March 2012...

  • Page 71: Wiring

    8.3 Wiring The installation procedure is described as an example. A different procedure may be appropriate or necessary, depending on the application of the equipment. Kollmorgen™ can provide training courses for this procedure upon request. There is a danger of electrical arcing which can cause serious personnel injury.

  • Page 72: Components Of A Servosystem

    8.4 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 acces- sories are described in the accessories manual. Kollmorgen™ | March 2012...
  • Page 73 AKD Installation | 8   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 acces- sories are described in the accessories manual. Kollmorgen™ | March 2012...

  • Page 74: Connection Overview Akd-B, Akd-P, Akd-T

    AKD Installation | 8   Electrical Installation 8.5 Connection Overview AKD-B, AKD-P, AKD-T 8.5.1 Connector assignment AKD-x00306, AKD-x00606 8.5.2 Connector assignment AKD-x01206 Kollmorgen™ | March 2012...

  • Page 75: Connector Assignment Akd-X02406 And Akd-Xzzz07

    AKD Installation | 8   Electrical Installation 8.5.3 Connector assignment AKD-x02406 and AKD-xzzz07 Kollmorgen™ | March 2012...

  • Page 76: Connection Diagram Akd-X00306, Akd-X00606

    AKD Installation | 8   Electrical Installation 8.5.4 Connection Diagram AKD-x00306, AKD-x00606 Kollmorgen™ | March 2012...

  • Page 77: Connection Diagram Akd-X01206

    AKD Installation | 8   Electrical Installation 8.5.5 Connection Diagram AKD-x01206 Kollmorgen™ | March 2012...

  • Page 78: Connection Diagram Akd-X02406 And Akd-Xzzz07

    AKD Installation | 8   Electrical Installation 8.5.6 Connection Diagram AKD-x02406 and AKD-xzzz07 Kollmorgen™ | March 2012...

  • Page 79: Connection Overview Akd-M

    AKD Installation | 8   Electrical Installation 8.6 Connection Overview AKD-M 8.6.1 Connector assignment AKD-M00306, AKD-M00606 8.6.2 Connector assignment AKD-M01206 Kollmorgen™ | March 2012...

  • Page 80: Connector Assignment Akd-M00307, Akd-M00607, Akd-M01207

    AKD Installation | 8   Electrical Installation 8.6.3 Connector assignment AKD-M00307, AKD-M00607, AKD-M01207 Kollmorgen™ | March 2012...

  • Page 81: Connection Diagram Akd-M00306, Akd-M00606

    AKD Installation | 8   Electrical Installation 8.6.4 Connection Diagram AKD-M00306, AKD-M00606 Kollmorgen™ | March 2012...

  • Page 82: Connection Diagram Akd-M01206

    AKD Installation | 8   Electrical Installation 8.6.5 Connection Diagram AKD-M01206 Kollmorgen™ | March 2012...

  • Page 83: Connection Diagram Akd-M00307, Akd-M00607, Akd-M01207

    AKD Installation | 8   Electrical Installation 8.6.6 Connection Diagram AKD-M00307, AKD-M00607, AKD-M01207 Kollmorgen™ | March 2012...

  • Page 84: Emi Noise Reduction

    Experience has shown that customers who use Kollmorgen™’s power and feedback cables have far fewer problems than customers who build cables. Route power and control cables separately, Kollmorgen™recommends a distance of at least 200 mm to improve interference immunity. If a motor power cable is used that includes cores for brake control, the brake control cores must be sep- arately shielded.

  • Page 85: Shielding With External Shielding Busbar

    8.7.2 Shielding with External Shielding Busbar EMC filtering must be done externally by the user if necessary, which requires the use of shielded cables.Kol- lmorgen™ recommends a star point shield connection, for example, with a shielding busbar. 8.7.2.1 Shielding Concept Kollmorgen™ | March 2012...

  • Page 86: 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 87: 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 grounding plate. Kollmorgen™ recommends using Phoenix Contact SK14 shield clamps with clamp range of 6-13mm. 8.7.3.3 Motor Connector X2 with shielding connection Alternative connection for the motor power connection by mating connector with strain relief.

  • Page 88: Electrical Supply Connection

    There is a danger of electrical shock with serious personnel injury if the drive is not properly grounded. An isolating transformer is always required for 400 to 480 V net- works to get a maximum voltage of 240 V +10%. Kollmorgen™ | March 2012...

  • Page 89: Connection To Various Mains Supply Networks Akd-Xzzz07 (240V To 480V)

    There is a danger of electrical shock with serious personnel injury if the drive is not properly grounded. An isolating transformer is always required for 120V networks to get a minimum voltage of 240 V +10%. Kollmorgen™ | March 2012...

  • Page 90: Auxiliary Supply (X1)

    The required current rating depends on the use of motor brake and option card => p. 34 or => p. 35). Signal Description +24 Vdc Auxiliary voltage 24V Supply GND STO enable (Safe Torque Off) Kollmorgen™ | March 2012...

  • Page 91: Mains Supply Connection (X3, X4)

    Signal Description Line 1 Line 2 Line 3 Protective Earth AKD-x01206 (X3) Signal Description Line 1 Line 2 Line 3 Protective Earth AKD-x02406 & AKD-xzzz07 (X4) Signal Description Line 1 Line 2 Line 3 Protective Earth Kollmorgen™ | March 2012...

  • Page 92: Single Phase Connection (Akd-Xzzz06 Only)

    Fusing (such as fusible cut-outs) to be provided by the user => p. 37 AKD-x00306 to AKD-x00606 (X3) Signal Description Line 1 L2 (N) Neutral or Line 2 Protective Earth AKD-x01206 (X3) Signal Description Line 1 L2 (N) Neutral or Line 2 Protective Earth Kollmorgen™ | March 2012...

  • Page 93: External Regen Resistor (X3)

    Signal Description External Regen Resistor negative External Regen Resistor positive AKD-x01206 (X3) Signal Description +Rbint Internal RegenResistor positive External RegenResistor negative External RegenResistor positive AKD-x02406 & AKD-xzzz07 (X3) Signal Description External RegenResistor negative External RegenResistor positive Kollmorgen™ | March 2012...

  • Page 94: Dc Bus Link (X3)

    Signal Description DC-Link Bus negative +DC (+RB) DC-Link Bus positive AKD-x01206 (X3) Signal Description DC-Link Bus negative +DC (+RB) DC-Link Bus positive AKD-x02406 & AKD-xzzz07 (X3) Signal Description DC-Link Bus negative +DC (+RB) DC-Link Bus positive Kollmorgen™ | March 2012...

  • Page 95: Motor Connection

    Protective earth (motor housing) Motor phase U Motor phase V Motor phase W Connector X2 AKD-xzzz07 Signal Description Motor holding brake, negative Motor holding brake, positive Protective earth (motor housing) Motor phase U Motor phase V Motor phase W Kollmorgen™ | March 2012...

  • Page 96: Motor Power (X2)

    8.11.1.2 Cable length >25 m With long motor cables leakage currents endanger the output stage of the drive. For cable lengths from 25 m to 50 m, a motor choke must be wired into the motor cable (near the drive). Kollmorgen™ | March 2012...

  • Page 97: Motor Holding Brake (X2)

    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 (see motor manual). Kollmorgen™ | March 2012...

  • Page 98: Feedback Connection

    SinCos Encoder ENDAT 2.2 => p. 104 SinCos Encoder Hiperface => p. 105 Sine Encoder + Hall => p. 106 Sine Encoder (Wake&Shake) => p. 106 Incremental Encoder + Hall => p. 107 Incremental Encoder (Wake&Shake) => p. 107 Kollmorgen™ | March 2012...

  • Page 99: Feedback Connector (X10)

    DATA- Zero- Zero- Thermal control (PTC) Thermal control (PTC, GND) +8 to +9 +5 V +5 V +5 V +5 V +5 V +5 V S1 SIN+ SIN+ S3 SIN- SIN- COS+ COS+ S4 COS- COS- Kollmorgen™ | March 2012...

  • Page 100: 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 side relates to Kollmorgen™ motors. Kollmorgen™ | March 2012...

  • Page 101: Sfd

    AKD Installation | 8   Electrical Installation 8.12.3 SFD The diagram below shows the connection of the Kollmorgen™ feedback system. The "Sense" input is required only for cables longer than 50 m or if the wire resistance from drive to sensor exceeds 3.3 ohm.

  • Page 102: Encoder With Biss

    If cable lengths of more than 50 m are planned, please consult customer support. Type FBTYPE Frequency Limit BiSS (type A) Analog 5 V +/-5% 1 MHz The pin assignment shown on the encoder side relates to Kollmorgen™ motors. Kollmorgen™ | March 2012...

  • Page 103: Sine Encoder With Endat

    If cable lengths of more than 50 m are planned, consult customer support. Type FBTYPE Frequency Limit ENDAT 2.1 1 MHz The pin assignment shown on the encoder side relates to Kollmorgen™ motors. Kollmorgen™ | March 2012...

  • Page 104: 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 1 MHz Adjust on screen page FEEDBACK The pin assignment shown on the encoder side relates to Kollmorgen™ motors. Kollmorgen™ | March 2012...

  • Page 105: Sine Encoder With Hiperface

    If cable lengths of more than 50 m are planned, please consult customer support. Type FBTYPE Frequency Limit Description Hiperface 1 MHz Connecting pin 4 and 5 together causes Up to be 8 to 9 V The pin assignment shown on the encoder side relates to Kollmorgen™ motors. Kollmorgen™ | March 2012...

  • Page 106: Sine Encoder

    The voltage drop depends on the cable length and gage and the encoder current consumption. Type FBTYPE Frequency Limit (sin, cos) SinCos 1 V p-p with Hall 5 V +/-5% 1 MHz SinCos 1 V p-p (Wake&Shake) 5 V +/-5% 1 MHz Kollmorgen™ | March 2012...

  • Page 107: Incremental Encoder

    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 side relates to Kollmorgen™ motors. Kollmorgen™ | March 2012...

  • Page 108: Electronic Gearing, Master-Slave Operation

    High: 15 to 30 V/2 to 15 mA , Low: -3 to 5 V/<15 mA Update rate: Hardware 2 µs Pulse/Direction Up/Down Incremental Encoder Pulse Up (CW) Channel A Direction Down (CCW) Channel B Common Common Common Kollmorgen™ | March 2012...

  • Page 109: Connector X9 Input

    Resolution: Up to 16 bit 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™ | March 2012...

  • Page 110: 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 commander encoder, dual loop feedback, gearing or camming input. Don't use for primary motor feedback connection! Connection Diagram Kollmorgen™ | March 2012...

  • Page 111: 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. Don't use for primary motor feedback connection! Connection Diagram Kollmorgen™ | March 2012...

  • Page 112: 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™ | March 2012...

  • Page 113: Up / Down Signal Connection

    The drive can be connected to a third-party controller which delivers 5 V up-down signals 8.13.4.2 Up / Down input 24 V (X7) The drive can be connected to a third-party controller which delivers 24 V up-down signals. Kollmorgen™ | March 2012...

  • Page 114: Emulated Encoder Output (Eeo)

    The resolution (before multiplication) can be set by the DRV.EMUERES parameter. Use the DRV.EMU- EZOFFSET parameter to adjust + save the zero pulse position within one mechanical turn. The drivers operate from an internal supply voltage. tv max. 30ns Connection Diagram Kollmorgen™ | March 2012...

  • Page 115: 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™ | March 2012...

  • Page 116: I/O Connection

    The DCOMx line should be connected to the 0V of the I/O supply when using sensors of type "Source" with dig- ital 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™ | March 2012...

  • Page 117: 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 dig- ital 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™ | March 2012...

  • Page 118: Analog Input (X8)

    Standard setting: clockwise rotation of the motor shaft (looking at the shaft end) affected by positive voltage between terminal X8/10 (+ ) and terminal X8/9 ( - ) To reverse the direction of rotation, swap the connections to terminals X8/9-10, or change the DRV.DIR param- eter in the “Feedback 1” screen page. Kollmorgen™ | March 2012...

  • Page 119: Analog Output (X8)

    Specification complies with IEC 61131-2 Table 11 -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™ | March 2012...

  • Page 120: Digital Inputs (X7/X8)

    Depending on the selected function the inputs are high or low active. The inputs can be used with switched +24 V (source type) or switched GND (sink type). See diagrams below for typical examples of digital input wiring. Digital Input Wiring Diagram (Source type connection, example) Kollmorgen™ | March 2012...
  • Page 121 AKD Installation | 8   Electrical Installation Digital Input Wiring Diagram (Sink type connection, example) Kollmorgen™ | March 2012...

  • Page 122: Digital Inputs 3 To

    STO has a 24 V signal (=> p. 52). In the disabled state (low signal) the connected motor has no torque. A software enable by means of the setup software is also required (AND link), although this can also be per- manently enabled with WorkBench. Kollmorgen™ | March 2012...

  • Page 123: 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™ | March 2012...

  • Page 124: 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: => p. 161. Wiring diagram Kollmorgen™ | March 2012...

  • Page 125: Digital Inputs (X35/X36) With Akd-M

    Update rate: Software 250 µs The inputs can be used with switched +24 V (source type) or switched GND (sink type). See diagrams below for typical examples of digital input wiring. Digital Input Wiring Diagram (Source type connection, example) Kollmorgen™ | March 2012...
  • Page 126 AKD Installation | 8   Electrical Installation Digital Input Wiring Diagram (Sink type connection, example) Kollmorgen™ | March 2012...

  • Page 127: 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: 250 µs Wiring diagram Kollmorgen™ | March 2012...

  • Page 128: Led Display

    AKD PDMM. Error messages are coded with "E", warn- ings (alarms) are coded with "A". Status of application pro- grams are indicated as well. With pushbuttons B2 and B3 a menu with several functions can be started (=> p. 129). Kollmorgen™ | March 2012...

  • Page 129: Pushbuttons (B1, B2, B3)

    'backup' to SD card (confirm) (=> p. 130) 'restore' from SD card (confirm) (=> p. 130) Confirm If the selected menu item selection requires a confirmation, "y" is displayed for 10 s - press B2 to confirm. Kollmorgen™ | March 2012...

  • Page 130: Sd Card Slot Akd-M

    B3, => p. 129) shows the possible data transfer functions: '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™ | March 2012...

  • Page 131: Service Interface (X11, X32)

    Signal Transmit + n.c. Transmit - Receive- Receive+ n.c. n.c. n.c. 8.18.2 Service Bus Protocols X11, X32 Protocol Type Connector Modbus TCP Service Bus X11, X32 Ethernet TCP/IP Service Bus X11, X32 8.18.3 Possible Network Configurations Kollmorgen™ | March 2012...

  • Page 132: Setting The Ip Address Akd-B, Akd-P, Akd-T

    Changing the IP address If the switches are altered while 24 V Logic power is supplied to the drive, you must unplug the network cable from the drive for 3 seconds or more. This action will reset the address. Kollmorgen™ | March 2012...
  • Page 133 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, reconfigure the IP address settings as desired, and store the values to non-volatile memory. Kollmorgen™ | March 2012...

  • Page 134: Setting The Ip Address Akd-M

    Changing the IP address If the switch is altered while 24 V Logic power is supplied to the drive, you must unplug the network cable from the drive for 3 seconds or more. This action will reset the address. Kollmorgen™ | March 2012...

  • Page 135: Modbus Tcp

    It must have Ethernet hardware and a driver for Modbus TCP, though the driver does not have to be made specifically for the AKD family. The Kollmorgen™ AKI HMI’s are compatible with a “Kollmorgen Modbus Master” driver. 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.

  • Page 136: 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™ cus- tomer support for further help.

  • Page 137: Baudrate For Can-Bus

    The new setting will be taken with the next power-up of the drive. 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™ | March 2012...

  • Page 138: 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 increasing 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 Cable capacitance max.: 60 nF/km...

  • Page 139: Can-Bus Wiring

    AKD Installation | 8   Electrical Installation 8.19.6 CAN-Bus Wiring Kollmorgen™ | March 2012...

  • Page 140: Motion Bus Interface (X5/X6/X11)

    8.20.2 Bus Protocols X5, X6, X11 Protocol Type Connectivity Option Connector EtherCAT Motion bus EC or CC X5, X6 SynqNet Motion bus X5, X6 PROFINET RT Motion bus Ethernet/IP Motion bus Kollmorgen™ | March 2012...

  • Page 141: 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™ cus- tomer support for further help.

  • Page 142: 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 different. Ethernet/IP and WorkBench can operate simultaneously if a switch is used. Kollmorgen™ | March 2012...

  • Page 143: Setup

    AKD Installation | 9   Setup 9 Setup 9.1 Safety Instructions 9.2 Setup AKD-B, AKD-P, AKD-T 9.3 Setup AKD-M 9.4 Fault and Warning Messages 9.5 Error and Alarm Messages AKD-M 9.6 Troubleshooting the AKD Kollmorgen™ | March 2012...

  • Page 144: Safety Instructions

    Programming parameters and control loop behavior are described in the online help of the setup software. The setup of any expansion card described in the corresponding manual on the CD-ROM. Kollmorgen™ can provide training courses for the drive upon request. Kollmorgen™ | March 2012...

  • Page 145: Setup Akd-B, Akd-P, Akd-T

    9.2.2 Use as directed 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 146: Software Description

    Most standard feedbacks (SFD, EnDAT 2.2, 2.1, and BiSS) are plug and play compatible. Motor nameplate data is stored in the feedback device and read by the drive automatically at startup. Non-plug and play Kollmorgen™ motors are stored in WorkBench and can be loaded with one-click using the Motor screen in the WorkBench soft- ware.

  • Page 147: Installation Under Windows 2000/Xp/Vista/7

    Click OK and proceed as described above. 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 (=> p. 131). Kollmorgen™ | March 2012...

  • Page 148: Initial Drive Test Akd-B, Akd-P, Akd-T

    This wiring diagram is for general illustration only and does not fulfill any require- ments for EMC, safety, or functionality of your application. When connecting the AKD directly to a PC, static IP addressing (not 00) is recommended. Kollmorgen™ | March 2012...

  • Page 149: 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™ | March 2012...

  • Page 150: Install And Start Workbench

    WorkBench installs automatically from the CD included with the drive. WorkBench is also available on the Koll- morgen™ 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.

  • Page 151: Setup Akd-M

    The KAS IDE integrated development environment contains tools for configuring the EtherCAT Network, setup and tuning the drives, creating a PLC program, and creating an HMI. Kollmorgen™ offers training and familiarization courses on request. 9.3.2 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 152: Software Description

    Most standard feedbacks (SFD, EnDAT 2.2, 2.1, and BiSS) are plug and play compatible. Motor nameplate data is stored in the feedback device and read by the drive automatically at startup. Non-plug and play Kollmorgen™ motors are stored in KAS IDE and can be loaded with one-click using the Motor screen in the KAS IDE software.

  • Page 153: 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 (=> p. 131). Kollmorgen™ | March 2012...

  • Page 154: Initial Drive Test Akd-M

    This wiring diagram is for general illustration only and does not fulfill any require- ments for EMC, safety, or functionality of your application. When connecting the AKD PDMM directly to a PC, static IP addressing (not 0) is recommended. Kollmorgen™ | March 2012...

  • Page 155: 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™ | March 2012...

  • Page 156: Install And Start Kas Ide

    9.3.7.5 Install and Start KAS IDE The KAS IDE is included on the CD that came with the AKD PDMM, as well as online at www.kollmorgen.com. Insert the CD and wait for installer to auto-start. Once installation is complete, click the KAS IDE icon to start the program.

  • Page 157: 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™ | March 2012...

  • Page 158: Starting New Project

    All drives, including the drive in the AKD PDMM itself, and the Remote I/O can be configured by the KAS IDE. 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™ | March 2012...
  • Page 159 Click on the drive in the project tree to configure (1), then click on the Online Configuration button (2): 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™ | March 2012...
  • Page 160 AKD Installation | 9   Setup To perform basic motion without running a project the Service Motion screen can be used. Kollmorgen™ | March 2012...

  • Page 161: Fault And Warning Messages

    FPGA failure contact technical support. occurred (several cases accord- ing to flowchart). F105 Non-volatile memory stamp Non-volatile memory stamp is Reset the drive to default memory invalid. corrupted or invalid. values using Parameter Load in WorkBench. Kollmorgen™ | March 2012...
  • Page 162 Check X9 connection. state. in an illegal combination. F135 Homing is needed. Attempt to issue motion task Change opmode or home axis. n135 before the axis is homed. Axis must be homed before motion task can start. Kollmorgen™ | March 2012...
  • Page 163 For a 1:1 profile: The selected acceleration and deceleration will be extended since there is too much distance to travel and the motion task would exceed its maximum allowed velocity. Kollmorgen™ | March 2012...
  • Page 164 Activation of any new motion or found. switch detection is activated and using of DRV.CLRFAULTS will the reference switch is not clear the warning. detected while moving across the range determined by the hard- ware limit switches. Kollmorgen™ | March 2012...
  • Page 165 DRV.CLRFAULTS will clear the file table is empty (see warning. MT.CNTL and MT.TNUM. F201 Internal RAM failed. Hardware failure detected. Restart drive. If issue persists, contact technical support. Kollmorgen™ | March 2012...
  • Page 166 Brake closed during enable Motor brake closed unexpect- Check cabling and general func- state. edly. tionality. F308 Voltage exceeds motor rating. Drive bus voltage exceeds the Make sure that the motor fits the motor’s defined voltage rating. driving rating. Kollmorgen™ | March 2012...
  • Page 167 F438 Following error (numeric) Motor did not follow command Check for increased load, jam- n439 values. Motor exceeded max- ming or sticking. Is position error imum allowed position following set too low? error (numeric). Kollmorgen™ | March 2012...
  • Page 168 WS.IMAX (very low current may and Shake initialization (Mode 0 produce this error). only). F486 Motor velocity exceeds EMU- Motor velocity exceeds the max- Reduce value of DRV.EMU- speed. imum speed the emulated EPULSEIDTH. encoder output can generate. Kollmorgen™ | March 2012...
  • Page 169 Check mains voltage and check system brake capacity. F524 Drive foldback. Maximum drive power has been Motion requires too much power. n524 exceeded. The power has been Change profile to reduce load . limited to protect the drive. Kollmorgen™ | March 2012...
  • Page 170 (false) and program the param- eters using the setup wizard or manually set up the parameters. If the motor has motor memory (Biss Analog, Endat, and SFD motors have motor memory), return the motor to have the mem- ory programmed. Kollmorgen™ | March 2012...
  • Page 171 F809 Runtime: Feature not supported. User program contains a feature Clear Fault, Fix user program, that the current firmware version recompile, download and attempt does not support. to run the program again. Kollmorgen™ | March 2012...
  • Page 172 Runtime: DRV.CMDSOURCE User program is attempting to Clear Fault, Fix user program, must be 5 (program). execute motion that requires the recompile, download and attempt drive to be in position mode. to run the program again. Kollmorgen™ | March 2012...

  • Page 173: Error And Alarm Messages Akd-M

    E12 Not enough flash Flash memory is full, Clean-up the flash memory by removing log files, appli- memory available. unable to write to flash. cation programs, recipes, or other data files. Kollmorgen™ | March 2012...
  • Page 174 E37 EtherCAT failed to EtherCAT network initial- Check the EtherCAT network wiring and devices state. return to init state. ization failed due to a net- Re-start the application. work communciation error. Kollmorgen™ | March 2012...

  • Page 175: Alarms

    Local digital IO missed Local digital IO was not updated Reduce the sample rate, simplify the appli- a cyclic update during a cycle or the updates are cation, or reduce the application cycles. no longer synchronous. Kollmorgen™ | March 2012...

  • Page 176: Troubleshooting The Akd

    —Relaunch the installer (you may need to try sev- your disk space eral times, the problem is random). requirements” appears and never dis- appears. Kollmorgen™ | March 2012...

  • Page 177: Index

    M Variants Digital inputs all Variants Inputs Digital inputs M Variant Analog Dimensions Basic Data Extended Width Digital all Variants Standard Width Digital M Variant Disposal Enable Dynamic Braking Programmable Installation Electrical EC Declaration of Conformity Kollmorgen™ | March 2012...

  • Page 178: Kollmorgen™ | March

    Symbols used SynqNet Package supplied System components, overview Packaging Part number scheme PC connection Target group Pollution level Temperature PROFINET in operation Prohibited Use Storage General Transport Tightening torques, connectors Pulse Direction, interface Transport Pushbuttons Trouble Shooting Kollmorgen™ | March 2012...
  • Page 179 AKD Installation | 10   Index UL Markings Uninstalling Up/Down Input Use as directed Drive KAS IDE Setup Software WorkBench Setup Software Ventilation Ambient Conditions Mechanical Installation Vibrations Warnings Wiring Kollmorgen™ | March 2012...
  • Page 180 About KOLLMORGEN  Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry-lead- ing 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 irref- utable marketplace advantage. ...

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