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Kollmorgen AKD-x00306 Installation Manual

Akd series
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AKD™
Installation Manual
Edition March 2010
Valid for Hardware Revision A
Original Document
Patents Pending
Keep all manuals as a product component
during the life span of the product. Pass all manuals to
future users/owners of the product.

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Summary of Contents for Kollmorgen AKD-x00306

  • Page 1 AKD™ Installation Manual Edition March 2010 Valid for Hardware Revision A Original Document Patents Pending Keep all manuals as a product component during the life span of the product. Pass all manuals to future users/owners of the product.
  • Page 2 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

    3.3 Safe Torque Off (STO) 4 Handling 4.1 Transport 4.2 Packaging 4.3 Storage 4.4 Maintenance and Cleaning 4.5 Uninstalling 4.6 Repair and Disposal 5 Package 5.1 Package Supplied 5.2 Nameplate 5.3 Part number scheme 6 Technical description and data Kollmorgen | March 2010...
  • Page 4 6.15.1 Behavior in Standard Operation 6.15.2 Behavior in the event of a fault (with standard setting) 6.16 Stop-/Emergency Stop- Function 6.16.1 Stop: Standards 6.16.2 Emergency Stop: Standards 6.16.3 Implementation of the Stop Category 0 6.16.4 Implementation of Stop Category 1 Kollmorgen | March 2010...
  • Page 5 7 Mechanical Installation 7.1 Safety Instructions 7.2 Guide to Mechanical Installation 7.3 Control Cabinet Layout AKD-xzzz06 7.4 Control Cabinet Layout AKD-xzzz07 7.5 Dimensions, AKD-x00306 to x00606 7.6 Dimensions, AKD-x01206 7.7 Dimensions, AKD-x02406 7.8 Dimensions, AKDx00307 to 01207 7.9 Dimensions, AKDx02407 8 Electrical Installation 8.1 Safety Instructions...
  • Page 6 AKD Installation | 8.5 Connector Assignments, AKD-x00306 to x00606 8.6 Connector Assignments, AKD-x01206 8.7 Connector Assignments, AKD-x02406 and AKD-xzzz07 8.8 Connection Diagram, AKD-x00306 to x00606 8.9 Connection Diagram, AKD-x01206 8.10 Connection Diagram, AKD-x02406 and AKD-xzzz07 8.11 EMI Noise Reduction 8.11.1 Recommendations for EMI Noise Reduction 8.11.2 Shielding with External Shielding Busbar...

  • Page 7: Digital Inputs 3 To

    8.16.4.3 Digital Input 8 (ENABLE) 8.16.5 Digital Outputs (X7/X8) 8.16.5.1 Digital Outputs 1 and 2 8.16.5.2 FAULT relay contacts 8.17 Service Interface (X11) 8.17.1 Possible Network Configurations 8.17.2 Setting the IP Address with Rotary Switches 8.18 CANbus Interface (X12/X13) Kollmorgen | March 2010...
  • Page 8 9.3.1 Unpacking, Mounting, and Wiring the Drive 9.3.2 Minimum Wiring for Drive Test without Load 9.3.3 Testing Procedure 9.3.3.1 Confirm Connections 9.3.3.2 Install and Start WorkBench 9.3.3.3 Set Drive IP Address in WorkBench 9.3.3.4 Enable the Drive Using the Setup Wizard. Kollmorgen | March 2010...
  • Page 9 AKD Installation | 9.4 Fault and Warning Messages 9.5 Troubleshooting the AKD 10 Option Cards 11 Order Codes 11.1 Cables, brake resistors, filters, chokes 11.2 Drives 11.3 Mating connectors 11.3.1 AKD-xzzz06 11.3.2 AKD-xzzz07 12 Index Kollmorgen | March 2010...
  • Page 10 This page intentionally left blank. Kollmorgen | March 2010...

  • Page 11: 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 1.5 Warning Symbols 1.6 Standards Used Kollmorgen | March 2010...

  • Page 12: 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. Manual updates can be downloaded from the Kollmorgen website (www.kol- lmorgen.com).

  • Page 13: Abbreviations

    Brake resistor (also called a regen resistor) Brake RBext External brake resistor RBint Internal brake resistor Residual current device Resolver Incremental encoder (A quad B) Continuous operation Safe torque off Volts, alternating current Volts, direct current Kollmorgen | March 2010...

  • Page 14: Warning Symbols

    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 2010...

  • Page 15: Standards Used

    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 2010...

  • Page 16: Safety

    AKD Installation | 2  Safety 2 Safety 2.1 Safety Instructions 2.2 Use as Directed 2.3 Prohibited Use Kollmorgen | March 2010...

  • Page 17: Safety Instructions

    The drives contain electrostatically sensitive components which may be dam- aged by incorrect handling. Electrostatically discharge your body before touch- ing the drive. Avoid contact with highly insulating materials (artificial fabrics, plastic film etc.). Place the drive on a conductive surface. Kollmorgen | March 2010...

  • Page 18: Use As Directed

    The drive may not be used with a machine that does not comply with appropriate national directives or standards. The use of the drive in the following environments is also prohibited: potentially explosive areas environments with corrosive and/or electrically conductive acids, alkaline solutions, oils, vapors, dusts ships or offshore applications Kollmorgen | March 2010...

  • Page 19: 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 2010...

  • Page 20: 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 2010...
  • Page 21 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 2010...

  • Page 22: Ce Conformance

    For noise emission the drive meets the requirement to a product of the 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 2010...

  • Page 23: 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 24: Ec Declaration Of Conformity

    AKD Installation | 3  Approvals 3.2.2 EC Declaration of Conformity Kollmorgen | March 2010...

  • Page 25: Safe Torque Off (Sto)

    Nous prévoyons que la fonctionnalité STO sera certifiée en juillet 2010. Pour s'assurer que le produit est cer- tifié, entrez en contact avec Kollmorgen pour l'information mise à jour. Connectez l’entrée STO X1/3 avec +24 Vcc. Ceci désactive la fonction STO.

  • Page 26: 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 2010...

  • Page 27: Transport

    The AKD packaging consists of recyclable cardboard with inserts and a label on the outside of the box. Package Dimensions (mm) Model Total Weight (kg) HxWxL AKD-x00306 and AKD-x00606 77 x 280 x 222 AKD-x01206 153 x 394 x 229 AKD-x02406...

  • Page 28: 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 Danaher Motion GmbH 201 West Rock Road Wacholderstr. 40-42 Radford, VA 24141 D-40489 Düsseldorf Kollmorgen | March 2010...

  • Page 29: Package

    AKD Installation | 5  Package 5 Package 5.1 Package Supplied 5.2 Nameplate 5.3 Part number scheme Kollmorgen | March 2010...

  • Page 30: Package Supplied

    Service cable to the network Power cable, control cables, and fieldbus cables (as cutoff lengths) 5.2 Nameplate The nameplate depicted below is attached to the side of the drive, sample data entries are for a 12 A type. Kollmorgen | March 2010...

  • Page 31: Part Number Scheme

    Presently the AKD-xzzz07 models only support operation at levels above 270 Vac. Updates to the AKD firm- ware are in process to allow the operation of the AKD-xzzz07 models drives at 240Vac. These updates will only require a firmware modification and will be backwards compatible with all AKD-xzzz07 hardware." Kollmorgen | March 2010...

  • Page 32: Technical Description And Data

    6.8 Recommended tightening torques 6.9 Fusing 6.10 Connectors 6.11 Cable and Wire Requirements 6.12 LED display 6.13 Grounding System 6.14 Dynamic Braking 6.15 Switch-on and Switch-off Behavior 6.16 Stop-/Emergency Stop- Function 6.17 Safe Torque Off (STO) 6.18 Shock-hazard Protection Kollmorgen | March 2010...

  • Page 33: The Akd Family Of Digital Drives

    Brake circuit with dynamic distribution of the generated power between several drives on the same DC bus link circuit. Internal brake resistor for all 240/480 Vac AKD-xzzz07 models (only 120/240 Vac 3 A and 6 A AKD- xzzz06 models lack internal brake resistors.), external brake resistors if required. Kollmorgen | March 2010...
  • Page 34 Connectivity Analog +/- 10 V control with encoder feedback output. Onboard Serial Interface (see page 125), optional CANopen see page 125 Onboard Ethernet interface (see page 129), optional SynqNet see page 129 EtherCAT see page 129 Kollmorgen | March 2010...

  • Page 35: Ambient Conditions, Ventilation, And Mounting Position

    Make sure sufficient forced ventilation is supplied within the control cabinet. AMSL = above mean sea level 6.3 Mechanical Data Mechanical data Units AKD-x00306 AKD-x00606 AKD-x01206 AKD-x02406 Weight, standard Weight, delivery package Height, without connectors Height, with service connector...

  • Page 36: Inputs/Outputs

    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 2010...

  • Page 37: Electrical Data Akd-Xzzz06

    AKD Installation | 6  Technical description and data 6.5 Electrical Data AKD-xzzz06 Electrical Data Units AKD-x00306 AKD-x00606 AKD-x01206 AKD-x02406 3 x 120 V to 240 V ±10% 3x240 V Rated supply voltage, 50/60 Hz 1 x 120 V to 240 V ±10% ±10%...

  • Page 38: Electrical Data Akd-Xzzz07

    - current with motor brake and option card Presently the AKD-xzzz07 models only support operation at levels above 270 Vac. Updates to the AKD firm- ware are in process to allow the operation of the AKD-xzzz07 models drives at 240Vac. Kollmorgen | March 2010...

  • Page 39: Performance Data

    0 to 800 0 to 600 Bandwidth of position controller (scalable) 1 to 250 6.8 Recommended tightening torques Tightening Torque/Nm Connector AKD-x00306 to 00606 AKD-x01206 AKD-x02406 and AKD-xzzz07 0.22 to 0.25 0.22 to 0.25 0.7 to 0.8 0.5 to 0.6 0.7 to 0.8...

  • Page 40: Fusing

    Example class J Model Ampere rating Cooper Bussmann Ferraz Shawmut all AKD 8A (Time-Delay) LPJ81/DFJ82 AJT81/HSJ82 6.9.3 External Brake Resistor fusing Drive Max. Example class KLM-xx Model Ampere rating Cooper Bussmann all AKD 6A (Time-Delay) in process Kollmorgen | March 2010...

  • Page 41: Connectors

    0,5 mm², 21 awg <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 (see page 42) rated voltage with pollution level 2 Kollmorgen | March 2010...

  • 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 | March 2010...

  • Page 43: Led Display

    There are four ground networks in the drive: AGND analog ground DCOMx common line for digital inputs (with x=7 or 8 coding the I/O connectors X7/X8) 24 V supply, STO input, holding brake internal digital ground, encoder emulation output, service channel Kollmorgen | March 2010...

  • Page 44: Dynamic Braking

    (DRV.DISMODE2) is used to perform a controlled stop or dynamic brake action. AKD-x00306 to AKD-x00606 These units do not have an internal brake resistor. Depending on the application requirements, an external resistor can be connected.

  • Page 45: Technical Data For Akd-Xzzz06

    Switch-off threshold of brake circuit Maximum brake duty cycle Type Rated data Units 120 V / 240 V AKD-x00306 External brake resistor Maximum continuous brake power, external resistor 0.77 Peak brake power, external (1s) Storeable energy in capacitors (+/- 20%) 60 / 20 DC Bus Capacitance µF...

  • Page 46: Technical Data For Akd-Xzzz07

    * depends on connected brake resistor power Presently the AKD-xzzz07 models only support operation at levels above 270 Vac. Updates to the AKD firm- ware are in process to allow the operation of the AKD-xzzz07 models drives at 240Vac." Kollmorgen | March 2010...

  • Page 47: Switch-On And Switch-Off Behavior

    With the personnel safe restart lock 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 chap- ter “Personnel Safe Restart Lock STO” describes how to use the restart lock STO (see page 55). Kollmorgen | March 2010...

  • Page 48: Behavior In Standard Operation

    Devices which are equipped with a selected “brake” function use a special sequence for switching off the out- put stage (see page 98). The built-in restart lock STO can be used to switch off the drive, to provide personnel safety at the motor shaft (see page 55). Kollmorgen | March 2010...

  • Page 49: Behavior In The Event Of A Fault (With Standard Setting)

    When main power drops out, the drive continues to operate until the DC bus reaches VBUS.UVFTHRESH, which causes an undervoltage condition (F502). Kollmorgen | March 2010...

  • Page 50: Stop-/Emergency Stop- Function

    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 haz- ardous situation. Kollmorgen | March 2010...

  • Page 51: Emergency Stop: Standards

    If the holding brake fulfills the dynamic requirements, it must be taken into account that this application will cause increased wear. The parameter DRV.DISMODE must be set to 2 to implement the different stop categories. Consult the AKD User Guide for configuring the parameter. Kollmorgen | March 2010...

  • Page 52: Implementation Of The Stop Category

    If the holding brake fulfills the dynamic requirements, it must be taken into account that this application will cause increased wear. Circuit suggestion (with EMERGENCY STOP Category 0, control function with contactor relays) Kollmorgen | March 2010...

  • Page 53: Implementation Of Stop Category

    AKD drops out. Make sure that the machinery cannot be damaged by forced brak- ing. Forced braking with the built-in motor holding brake can damage the brake. Circuit suggestion (with EMERGENCY STOP Category 1, control function with contactor relays) Kollmorgen | March 2010...

  • Page 54: Implementation Of Stop Category

    If the electrical supply is switched off, not only will the controlled braking procedure be performed, but the mains supply and the holding brake will also be electrically isolated following a time period set at the time relay. Circuit suggestion (with EMERGENCY STOP Category 1, control function with contactor relays) Kollmorgen | March 2010...

  • Page 55: Safe Torque Off (Sto)

    Nous prévoyons que la fonctionnalité STO sera certifiée en juillet 2010. Pour s'assurer que le produit est cer- tifié, entrez en contact avec Kollmorgen pour l'information mise à jour. Connectez l’entrée STO X1/3 avec +24 Vcc. Ceci désactive la fonction STO.

  • Page 56: Safety Instructions

    6.17.2 Use as directed Do not use the STO function until the functionality is approved. The (STO) input is functional but is not independently certified. Kollmorgen is working on the final circuit design updates and will submit for formal SIL 2 STO certification soon.

  • Page 57: Prohibited Use

    (e.g. laying in a cable duct), in different sheathed cables or protected individ- ually by grounding connection. Wiring remaining within the specified enclosure must meet the requirements of the standard IEC 60204-1. Kollmorgen | March 2010...

  • Page 58: Functional Description (In Process)

    STO within one enclosure it must be paid attention to the fact that the used cables and the enclosure meet the requirements of IEC 60204-1. If you are wiring leads outside the specified enclosure,then the cables must be laid durably and protected from outside damage. Kollmorgen | March 2010...

  • Page 59: Signal Diagram (Sequence)

    Suspended loads can set themselves in motion on motors without a brake, because the motor loses all torque when restart lock STO is engaged (STO open and/or 0 V). Use motors with a built-in holding brake. Kollmorgen | March 2010...

  • Page 60: 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; see page 57. Kollmorgen | March 2010...

  • Page 61: Functional Test

    1. Stop all drives, with setpoint 0 V, disable drive. 2. Activate the restart lock STO for example by opening protective screen (voltage at X1/3 0 V) 3. The drive displays F602. 6.17.7.4 Mains supply circuit (example) Corresponding control circuit see page 60. Kollmorgen | March 2010...

  • Page 62: 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 63: Isolating Transformers

    AKD can also be operated via an isolating trans- former (schematic connection see page 88). A ground-leakage monitor can be used to monitor for short circuits. Keep the length of wiring between the transformer and the drive as short as pos- sible. Kollmorgen | March 2010...

  • Page 64: Mechanical Installation

    7 Mechanical Installation 7.1 Safety Instructions 7.2 Guide to Mechanical Installation 7.3 Control Cabinet Layout AKD-xzzz06 7.4 Control Cabinet Layout AKD-xzzz07 7.5 Dimensions, AKD-x00306 to x00606 7.6 Dimensions, AKD-x01206 7.7 Dimensions, AKD-x02406 7.8 Dimensions, AKDx00307 to 01207 7.9 Dimensions, AKDx02407...

  • Page 65: 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, see page 83. Ground the mounting plate, motor housing and CNC-GND of the control system. For notes on connection techniques, see page 76. Kollmorgen | March 2010...

  • Page 66: Control Cabinet Layout Akd-Xzzz06

    AKD Installation | 7  Mechanical Installation 7.3 Control Cabinet Layout AKD-xzzz06 Material: M4 hexagon socket screws to ISO 4762, 3 mm T-handle Allen key Kollmorgen | March 2010...

  • Page 67: Control Cabinet Layout Akd-Xzzz07

    AKD Installation | 7  Mechanical Installation 7.4 Control Cabinet Layout AKD-xzzz07 Material: M4 hexagon socket screws to ISO 4762, 3 mm T-handle Allen key Kollmorgen | March 2010...

  • Page 68: Dimensions, Akd-X00306 To X00606

    AKD Installation | 7  Mechanical Installation 7.5 Dimensions, AKD-x00306 to x00606 Kollmorgen | March 2010...

  • Page 69: Dimensions, Akd-X01206

    AKD Installation | 7  Mechanical Installation 7.6 Dimensions, AKD-x01206 Kollmorgen | March 2010...

  • Page 70: Dimensions, Akd-X02406

    AKD Installation | 7  Mechanical Installation 7.7 Dimensions, AKD-x02406 Kollmorgen | March 2010...

  • Page 71: Dimensions, Akdx00307 To 01207

    AKD Installation | 7  Mechanical Installation 7.8 Dimensions, AKDx00307 to 01207 Kollmorgen | March 2010...

  • Page 72: Dimensions, Akdx02407

    AKD Installation | 7  Mechanical Installation 7.9 Dimensions, AKDx02407 Kollmorgen | March 2010...

  • Page 73: Electrical Installation

    8.1 Safety Instructions 8.2 Guide to electrical installation 8.3 Wiring 8.4 Components of a servosystem 8.5 Connector Assignments, AKD-x00306 to x00606 8.6 Connector Assignments, AKD-x01206 8.7 Connector Assignments, AKD-x02406 and AKD-xzzz07 8.8 Connection Diagram, AKD-x00306 to x00606 8.9 Connection Diagram, AKD-x01206 8.10 Connection Diagram, AKD-x02406 and AKD-xzzz07...

  • Page 74: Safety Instructions

    Wire the FAULT contact in series into the emergency stop circuit of the installation. 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 2010...

  • Page 75: Guide To Electrical Installation

    2. Install shielding and ground the drive. For EMC-compliant shielding and grounding, see page 83 , "EMI Noise Reduction" (page 83) & "Con- nection Diagram, AKD-x00306 to x00606" (page 80) and following. Ground the mounting plate, motor housing and CNC-GND of the control system.

  • Page 76: 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 77: Components Of A Servosystem

    8.4 Components of a servosystem 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 | March 2010...

  • Page 78: Connector Assignments, Akd-X00306 To X00606

    AKD Installation | 8  Electrical Installation 8.5 Connector Assignments, AKD-x00306 to x00606 8.6 Connector Assignments, AKD-x01206 Kollmorgen | March 2010...

  • Page 79: Connector Assignments, Akd-X02406 And Akd-Xzzz07

    AKD Installation | 8  Electrical Installation 8.7 Connector Assignments, AKD-x02406 and AKD-xzzz07 Kollmorgen | March 2010...

  • Page 80: Connection Diagram, Akd-X00306 To X00606

    AKD Installation | 8  Electrical Installation 8.8 Connection Diagram, AKD-x00306 to x00606 Kollmorgen | March 2010...

  • Page 81: Connection Diagram, Akd-X01206

    AKD Installation | 8  Electrical Installation 8.9 Connection Diagram, AKD-x01206 Kollmorgen | March 2010...

  • Page 82: Connection Diagram, Akd-X02406 And Akd-Xzzz07

    AKD Installation | 8  Electrical Installation 8.10 Connection Diagram, AKD-x02406 and AKD-xzzz07 Kollmorgen | March 2010...

  • Page 83: Emi Noise Reduction

    Use Kollmorgen™ cables. 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.

  • Page 84: Shielding With External Shielding Busbar

    8.11.2 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. 8.11.2.1 Shielding Concept Kollmorgen | March 2010...

  • Page 85: Shielding Busbar

    The power cable shields (line in, motor cable, external brake 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 86: 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. Kollmorgen | March 2010...

  • Page 87: Motor Connector X2 With Shielding Connection

    Plug in the connector to the socket on the front of the . Screw the connector in place. This ensures that there is conductive contact over a large surface area between the braided shield and the front panel. Kollmorgen | March 2010...

  • 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 networks to get a maximum voltage of 240 V +10%. Kollmorgen | March 2010...

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

    240 V +10%.* *Presently the AKD-xzzz07 models only support operation at levels above 270 Vac. Updates to the AKD firm- ware are in process to allow the operation of the AKD-xzzz07 models drives at 240Vac. Kollmorgen | March 2010...

  • Page 90: Auxiliary Supply (X1)

    The following diagram describes external 24 Vdc power supply, electrically isolated, for example, via an iso- lating transformer. The required current rating depends on the use of motor brake and option card see page 37 or following). Signal Description +24 Vdc Auxiliary voltage 24V Supply GND STO enable (Safe Torque Off) Kollmorgen | March 2010...

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

    8.12.4.1 Three Phase connection (all AKD types) Directly to 3-phase supply network, supply networks see page 88 Filtering to be provided by the user. Fusing (such as fusible cut-outs) to be provided by the user see page 40 AKD-x00306 to AKD-x00606 (X3) Signal Description Line 1...

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

    Supply networks see page 88 Leave L3 open circuit Filtering to be provided by the user. Fusing (such as fusible cut-outs) to be provided by the user see page 40 AKD-x00306 to AKD-x00606 (X3) Signal Description Line 1 L2 (N)

  • Page 93: External Brake Resistor (X3)

    AKD Installation | 8  Electrical Installation 8.12.5 External Brake Resistor (X3) For technical data on the brake circuit "Fusing" (page 40). Fusing (such as fusible cut-outs) to be provided by the user see page 40. AKD-x00306 to AKD-x00606 (X3) Signal Description External Brake Resistor negative...

  • Page 94: Dc Bus Link (X3)

    (identical mains supply voltage) may be con- nected by the DC bus link. Use unshielded single cores (cross section see page 42 ) with a maximum length of 200 mm. Use shielded cables for longer lengths. Kollmorgen | March 2010...
  • Page 95 AKD Installation | 8  Electrical Installation AKD-x00306 to AKD-x00606 (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...

  • Page 96: Motor Connection

    Motor phase U Motor phase V Motor phase W Connector X2 AKD-xzzz07 Pin 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 2010...

  • Page 97: Motor Power (X2)

    8.13.1.2 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 2010...

  • Page 98: Motor Holding Brake (X2)

    (see motor manual). Operation of the brake in a manner that provides personnel safety requires an additional “make” contact in the brake circuit and a sup- pressor device, such as a varistor, for the brake circuit. The recommended circuit is shown below: Kollmorgen | March 2010...

  • Page 99: Feedback Connection

    103 SinCos Encoder ENDAT 2.1 see page 104 SinCos Encoder ENDAT 2.2 see page 105 SinCos Encoder Hiperface see page 106 Analog Encoder + Hall see page 107 Incremental Encoder + Hall see page 108 Kollmorgen | March 2010...

  • Page 100: Feedback Connector (X10)

    Zero- Thermal control (PTC) Thermal control (PTC, GND) +5 V +5 V +5 V +5 V +8 to +9 V +5 V +5 V S1 SIN+ SIN+ S3 SIN- SIN- S2 COS+ COS+ S4 COS- COS- Kollmorgen | March 2010...

  • Page 101: 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 2010...

  • Page 102: Sfd

    AKD Installation | 8  Electrical Installation 8.14.3 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 103: Encoder With Biss

    If cable lengths of more than 50 m are planned, please consult customer support. Type FBTYPE Frequency Limit 5 V analog 5 V +/-5% 1 MHz The pin assignment shown on the encoder side relates to Kollmorgen™ motors. Kollmorgen | March 2010...

  • Page 104: 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 2010...

  • Page 105: 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 2010...

  • Page 106: 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 2010...

  • Page 107: Sine Encoder With Hall Encoder

    The voltage drop depends on the cable length and gage and the encoder current consumption. Type FBTYPE Frequency Limit (sin, cos) SinCos 5 V with Hall 5 V +/-5% 1 MHz Kollmorgen | March 2010...

  • Page 108: Incremental Encoder With Hall Switches

    The voltage drop depends on the cable length and gage and the encoder current consumption. Type FBTYPE Frequency Limit Incremental Encoder&Hall Switches (Comcoder) 1 MHz The pin assignment shown on the encoder side relates to Kollmorgen™ motors. Kollmorgen | March 2010...

  • Page 109: Encoder Emulation Connector (X9)

    + 5 V encoder supply (output) Maximum cable length of an external incremental encoder using X9 is dependant on cable voltage drop and external encoder power requirements. See the cal- culation example in the user guide's chapter "Electronic Gearing" Kollmorgen | March 2010...

  • Page 110: Pulse/Direction Input (5 V)

    Set parameters for the drive with the setup software. The number of steps can be adjusted, so that the drive can be adapted to match the step-direction signals of any stepper controller. Speed profile and signal diagram Connection Diagram Kollmorgen | March 2010...

  • Page 111: Up/Down Input (5 V)

    An A quad B encoder, or the encoder emulation output of another drive 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 2010...

  • Page 112: Output Modes

    The pulses per revolution value are settable Pulse phase shift: 90°±20° 8.15.2.1 Pinout Output X9 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 2010...

  • Page 113: Emulated Encoder Output (Eeo) - A Quad B

    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 oper- ate from an internal supply voltage. tv max. 30ns Connection Diagram Kollmorgen | March 2010...

  • Page 114: Master-Slave Control

    8.15.3 Master-Slave Control Several AKD drives 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 Kollmorgen | March 2010...

  • Page 115: 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 dig- ital inputs. Kollmorgen | March 2010...

  • Page 116: 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 parameter in the “Feedback” screen page. Kollmorgen | March 2010...

  • Page 117: Analog Output (X8)

    Accuracy: < 0.05 V Output impedance: < 10 ohms Specification complies with IEC 61131-2 Table 11 Frequency response: 4 kHz Maximum output current: > 10 mA Maximum capacitive load: 10 nF Current protected Analog Output Wiring Diagram Kollmorgen | March 2010...

  • Page 118: 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. Digital Input Wiring Diagram (Source type connection) Kollmorgen | March 2010...
  • Page 119 AKD Installation | 8  Electrical Installation Digital Input Wiring Diagram (Sink type connection) Kollmorgen | March 2010...

  • Page 120: Digital Inputs 1 And

    STO has a 24 V signal (see page 55). 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 2010...

  • Page 121: 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 2010...

  • Page 122: 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 out- put). List of the fault messages: see page 139. Wiring diagram Kollmorgen | March 2010...

  • Page 123: Service Interface (X11)

    Confirm that the link LED on the AKD drive (the green LED on the RJ45 connector) and on your PC (or network Hub/Switch) are both illuminated. If both lights are illuminated, then you have a good electrical connection. 8.17.1 Possible Network Configurations Kollmorgen | March 2010...

  • Page 124: Setting The Ip Address With Rotary Switches

    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 2010...

  • Page 125: Canbus Interface (X12/X13)

    8.18.1 Transmission Rate for CANbus The setup software is used to set all parameters. The transmission rate can be set via the parameter FB.PARAM01. The values 125, 250, 500 and 1000 for the identical baudrate in kBit/s are possible. Kollmorgen | March 2010...

  • Page 126: Node Address For Canbus

    1&6. A plug should be inserted into the X13 connector of the last drive in the CAN network. Remove the termination connector if the AKD is not the last CANbus device and use X13 for connecting the next CAN node. Kollmorgen | March 2010...

  • Page 127: Can Bus Wiring

    AKD Installation | 8  Electrical Installation 8.18.4 CAN Bus Wiring Kollmorgen | March 2010...

  • Page 128: Canbus Cable

    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: Cable data: Characteristic impedance: 100–120 ohms...

  • Page 129: Motion Bus Interface (X5/X6)

    Connectivity Option EtherCAT X5/X6 Base housing SynqNet X5/X6 Base housing (in process) ProfiNet CBA in process ProfiNet RT in process ProfiNet IRT in process SERCOS III in process EtherNet IP (A-B) in process PowerLink in process Kollmorgen | March 2010...

  • Page 130: Ethercat

    OFF = repeater off, power off, or reset 8.19.5 Motion Busses in Process 8.19.5.1 PROFINET CBA/RT/IRT (in process) 8.19.5.2 SERCOS III (in process) 8.19.5.3 Ethernet IP (A-B, in process) 8.19.5.4 Powerlink (in process) 8.19.5.5 Modbus TCP/IP (in process) Kollmorgen | March 2010...

  • Page 131: Setup

    AKD Installation | 9  Setup 9 Setup 9.1 Safety Instructions 9.2 Setup software (WorkBench) 9.3 Basic Drive Test 9.4 Fault and Warning Messages 9.5 Troubleshooting the AKD Kollmorgen | March 2010...

  • Page 132: Safety Instructions

    The setup of any expansion card that may be fitted is described in the cor- responding manual on the CD-ROM. Kollmorgen can provide training courses for the drive upon request. Kollmorgen | March 2010...

  • Page 133: Setup Software (Workbench)

    Unexpected move could be the result if you use unchecked data. After loading a set of data you must therefore always check all parameters before enabling the drive. Kollmorgen | March 2010...

  • Page 134: Software Description

    PC and AKD. You can find the setup software on the accompanying CD-ROM and in the download area of the Kollmorgen website. With very little effort you can alter parameters and instantly observe the effect on the drive, since there is a continuous (online) connection to the drive.

  • Page 135: 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 (see page 123). Kollmorgen | March 2010...

  • Page 136: Basic Drive Test

    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 | March 2010...

  • Page 137: Testing Procedure

    9.3.3.2 Install and Start WorkBench WorkBench installs automatically from the CD 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.

  • Page 138: Set Drive Ip Address In Workbench

    The status of HW enable, SW enable, and Faults is displayed in the lower toolbar of the WorkBench software. The drive is connected if the lower right corner shows Online. You can now use the Settings View in WorkBench to complete advanced configuration of your drive. Kollmorgen | March 2010...

  • Page 139: Fault And Warning Messages

    Warning issued prior to fault. Negative switch limit exceeded. Negative software position limit is Move the load away from the exceeded. limits. Warning issued prior to fault. 121 Homing error. Drive did not finish homing sequence. Check homing sensor. Kollmorgen | March 2010...
  • Page 140 Restart drive. If issue per- Software failure detected. FPGA register 203 Code integrity failed. sists, contact technical sup- access failure occurred. port. 204 to Restart drive. If issue per- EEPROM failure detected EEPROM failure detected sists, exchange drive. Kollmorgen | March 2010...
  • Page 141 Legal Hall states are 001, 011, 010, check all feedback con- 404 Hall error. 110, 100, and 101. This fault can be nectors to ensure all pins are caused by a broken connection in any positioned correctly. one of the Hall signals. Kollmorgen | March 2010...
  • Page 142 432 Communication fault. ondary feedback. (X10 connection). 436 EnDat overheat. Check for increased load, jam- Drive or motor over current or over speed 437 Close to limit. ming or sticking. Is position warning. error set too low? Kollmorgen | March 2010...
  • Page 143 (EMC). If issue persists exchange drive. Regen IGBT short circuit. 519 Regen short circuit. Regen resistor short circuit. Contact technical support. Motor is being overhauled or 520 Regen overload. Regen resistor overload. motor is being stopped too quickly. Kollmorgen | March 2010...
  • Page 144 Biss Analog, setup incomplete. These parameters have not been con- Endat, or SFD feedback figured. (motor feedback memory). To configure the parameters auto- matically, enable parameter autosetting, by setting MOTOR.AUTOSET to 1 (true). Kollmorgen | March 2010...
  • Page 145 Fieldbus communication All fieldbus communication was lost. (X11), settings, and control lost. unit. Emergency timeout Change timeout value, occurred while axis should Motor did not stop in the timeout defined. change stop parameters, disable improve tuning. Kollmorgen | March 2010...

  • Page 146: Troubleshooting The Akd

    (VL.AR*) Drive runs roughly —Kp (speed controller) too high —reduce VL.KP (speed controller) —Ki (speed controller) too high —reduce VL.KI (speed controller) — filters set too low —refer to documentation regarding increasing fil- tering (VL.AR*) Kollmorgen | March 2010...

  • Page 147: Option Cards

    AKD Installation | 10  Option Cards 10 Option Cards Option cards will be available in future drives. Kollmorgen | March 2010...

  • Page 148: Order Codes

    Mating connector X8 CON-AKDX8-SL 11.3.2 AKD-xzzz07 Item AKD-07 Current Types Order Code Mating connector X1 CON-AKDX1-SL Mating connector X2 CON-AKDX2B-SL Mating connector X3 CON-AKDX3C-SL Mating connector X4 CON-AKDX4-SL Mating connector X7 CON-AKDX7-SL Mating connector X8 CON-AKDX8-SL Kollmorgen | March 2010...

  • Page 149: Index

    Fault messages CANopen interface FAULT relay Node address Feedback Termination Feedback Connection CE conformance Fusing Comcoder interface Connection diagram AKD-x00306 to x00606 AKD-x01206 Grounding AKD-x01206 & AKD-xzzz07 Grounding Plates Connector assignments AKDx00306 to AKDx00606 AKDx01206 Hardware requirements AKDx02406 Hiperface encoder interface...
  • Page 150 Storage Package supplied Transport Packaging Tightening torques, connectors Part number scheme Transport PC connection Trouble Shooting Pollution level Prohibited Use General UL Markings Pulse Direction emulation, interface Uninstalling Up/Down Input Use as directed Drive Re-forming Kollmorgen | March 2010...
  • Page 151 AKD Installation | 12  Index Setup Software Ventilation Ambient Conditions Mechanical Installation Vibrations Warnings Wiring Kollmorgen | March 2010...
  • Page 152 This page intentionally left blank. Kollmorgen | March 2010...
  • Page 153 AKD Installation | This page intentionally left blank Kollmorgen | March 2010...
  • Page 154 E-Mail technik@kollmorgen.com Tel.: +49(0)203 - 99 79 - 0 Fax: +49(0)203 - 99 79 - 155 North America Kollmorgen Customer Support North America Internet www.kollmorgen.com E-Mail support@kollmorgen.com Tel.: +1 - 540 - 633 - 3545 Fax: +1 - 540 - 639 - 4162...

This manual is also suitable for:

Akd-x00606Akd-x01206Akd-x02406Akd-x00307Akd-x00607Akd-x01207 ... Show all

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