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Related Manuals for Kollmorgen AKD-N00607
Summary of Contents for Kollmorgen AKD-N00607
- Page 1 ® Near Servo Drive Installation Manual Edition: C, December 2014 Valid for AKD-N, Hardware Revision B Part Number 903-200018-00 Original Document Keep all manuals as a product component during the life span of the product. Pass all manuals to future users and owners of the product.
- Page 2 Technical changes which improve the performance of the device may be made without prior notice! Printed in Germany This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be repro- duced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen.
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Page 3: Table Of Contents
6.5 Ambient Conditions, Ventilation, and Mounting Position 6.6 Inputs/Outputs 6.7 Connectors 6.8 Cable Requirements 6.9 Cable length definition 6.10 Dynamic Braking 6.11 Regen circuit 6.11.1 Functional description 6.11.2 Technical data 6.12 LED Codes 6.13 Switch-On and Switch-Off Behavior Kollmorgen | December 2014... - Page 4 8.5.2 Connector assignment AKD-Nzzz07-DF/DS 8.5.3 Connection diagram AKD-Nzzz07-DB 8.5.4 Connection diagram AKD-Nzzz07-DF/DS 8.6 Hybrid Connection (X1, X2) 8.7 I/O Connection (X3) 8.7.1 Digital Inputs 8.7.2 Digital Output 8.8 Motor Power Connection (X4) 8.8.1 Connector X4 AKD-Nzzz07-DB/DS/DF, hybrid, single line Kollmorgen | December 2014...
- Page 5 9.3 Initial System Test 9.3.1 Unpacking, mounting, and wiring 9.3.2 Set IP address 9.3.3 Confirm connections 9.3.4 Install and start WorkBench 9.3.5 Enable the drive using the setup wizard 9.4 Fault and Warning Messages 10 Index Kollmorgen | December 2014...
- Page 6 AKD-N Installation | Table of Contents This page intentionally left blank. Kollmorgen | December 2014...
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Page 7: General
AKD-N Installation | 2 General 2 General 2.1 About this Manual 2.2 Using the PDF Format 2.3 Notes for the Printed Edition (paper version) 2.4 Symbols Used 2.5 Abbreviations Used Kollmorgen | December 2014... -
Page 8: About This Manual
Directive 2006/42/EC), describes the AKD-N series of digital drives and includes information needed to safely install an AKD-N. A digital version of this manual (pdf format) is available on the DVD included with your drive. Manual updates can be downloaded from the Kollmorgen website (www.kollmorgen.com). -
Page 9: Symbols Used
Protective extra low voltage Programmable logic control Pulse-width modulation Random access memory (volatile memory) Incremental encoder (A quad B) Specific thermal resistance SELV Safety Extra Low Voltage Safe torque off Volts, alternating current Volts, direct current Kollmorgen | December 2014... -
Page 10: Safety
AKD-N Installation | 3 Safety 3 Safety 3.1 You should pay attention to this 3.2 Use as Directed 3.3 Prohibited Use 3.4 Handling Kollmorgen | December 2014... -
Page 11: You Should Pay Attention To This
The drives contain electrostatically sensitive components which may be damaged by incor- rect 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 con- ductive surface. Kollmorgen | December 2014... - Page 12 Thermal sensors, motor holding brakes and feedback systems built into the connected motor must have reinforced insulation (according to IEC61800-5-1) against system components with power voltage, according to the required application test voltage. All Kollmorgen com- ponents meet these requirements.
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Page 13: Use As Directed
➜ p. 24. Optional finned heat sink may be necessary to keep the drive flange tem- perature below 85 °C. Wiring Use only Kollmorgen CCx series of hybrid cables for connecting AKD-N and AKD-C devices. Power supply AKD-N series drives must be powered by AKD-C intelligent power supplies with DC voltage from 55 VDC up to 800 VDC. -
Page 14: Handling
The drive does not require maintenance. Opening the drive voids the warranty. The inside of the unit can only be cleaned by the manufacturer. To clean the drive exterior: Casing: Clean with isopropanol or similar cleaning solution. Cooling fins: Clean with a dry brush. Kollmorgen | December 2014... -
Page 15: Uninstalling
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 | December 2014... -
Page 16: Approvals
AKD-N Installation | 4 Approvals 4 Approvals 4.1 Conformance with UL/cUL 4.2 Conformance with EC Low Voltage and EMC Directives 4.3 Conformance with EC Machinery Directive, Functional Safety Kollmorgen | December 2014... -
Page 17: Conformance With Ul/Cul
Kollmorgen declares the conformity of the product series AKD-Nzzz07 with the following dir- ectives: EC Directive 2006/95/EC, low voltage... -
Page 18: Package
AKD-N Installation | 5 Package 5 Package 5.1 Package Supplied 5.2 Nameplate 5.3 Part Number Scheme Kollmorgen | December 2014... -
Page 19: Package Supplied
Cable for digital I/O connection Cable for local STO connection (AKD-N-DS only) Cable for tertiary fieldbus (AKD-N-DF only) 5.2 Nameplate The nameplate depicted below is attached to the side of the drive, sample data entries are for a 6 A type. Kollmorgen | December 2014... -
Page 20: Part Number Scheme
5.3 Part Number Scheme Use for part number scheme for product identification only, not for the order process, because not all combinations of features are possible, always. Customization code includes language version of printed material and customer specials. Kollmorgen | December 2014... -
Page 21: Technical Description And Data
6.5 Ambient Conditions, Ventilation, and Mounting Position 6.6 Inputs/Outputs 6.7 Connectors 6.8 Cable Requirements 6.9 Cable length definition 6.10 Dynamic Braking 6.11 Regen circuit 6.12 LED Codes 6.13 Switch-On and Switch-Off Behavior 6.14 Safe Torque Off (STO) Kollmorgen | December 2014... -
Page 22: The Akd-N Family Of Digital Drives
1 programmable digital outputs ➜ p. 54 Extensions Optional Feedback Connector X5 and Local fieldbus port X6, drive variant "DF", ➜ p. 61 Optional Feedback Connector X5 and Local STO input X6, drive variant "DS", ➜ p. 61 Kollmorgen | December 2014... -
Page 23: Mechanical Data
Performance Data Units AKD- N00307 N00607 Switching frequency of output stage Voltage rise speed dU/dt kV/µs Bandwidth of current controller Bandwidth of velocity controller (scalable) 0 to 750 Bandwidth of position controller (scalable) 1 to 250 Kollmorgen | December 2014... -
Page 24: Ambient Conditions, Ventilation, And Mounting Position
Cold plate size Aluminum cold plate minimum size: AKD-N00307: 350x350x10 mm AKD-N00607: 500x500x10 mm The drive operates to full ratings, if the mounting surface for the cold plate is between -10°C and +85°C and the ambient air tem- perature is between -10°C and +40°C. -
Page 25: Connectors
For information on the chemical, mechanical, and electrical characteristics of the cables please refer to the accessories manual or contact customer support. Use Kollmorgen hybrid, motor, and feedback cables only. You will loss system warranty, if you use hybrid, motor or feedback cables from a manufacturer other than Kollmorgen. -
Page 26: Cable Length Definition
Power 1.25, 1.5, ... , 2.0 (steps 0.25m up to 2m) CFyNA1 AKD-N to Motor 0.2, 0.3, ... , 1.0 (steps 0.1m up to 1m) Feedback 1.25, 1.5, ... , 2.0 (steps 0.25m up to 2m) Kollmorgen | December 2014... -
Page 27: Dynamic Braking
“F501 Bus Over voltage". The AKD-C fault relay contact (terminals X15/5-6) is opened due to this fault. 6.11.2 Technical data Technical data are listed in the AKD -C Installation Manual. Kollmorgen | December 2014... -
Page 28: Led Codes
WorkBench online help. Basic information Color Remarks Green Enabled and running blink green/orange Enabled and running with warning blink orange Safe bus voltage blink red/orange/green Fault Kollmorgen | December 2014... -
Page 29: Switch-On And Switch-Off Behavior
The chapter “Safe Torque Off (STO)” describes how to use the STO function (➜ p. 36). 6.13.1 Switch-on behavior in standard operation The diagram below illustrates the correct functional sequence for switching the drive on. Kollmorgen | December 2014... -
Page 30: Switch-Off Behavior
(if present). See the AKD-N User Guide for information on configuring Digital Inputs. If velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied. Kollmorgen | December 2014... -
Page 31: Switch-Off Behavior Using The Drv.dis Command
Use controlled stop to disable drive, if velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied. Category 1 stop according to IEC 60204 (➜ p. 36). If velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied. Kollmorgen | December 2014... -
Page 32: Switch-Off Behavior Using Hw Enable Input On Akd-C (Uncontrolled Stop)
AKD-N power stage immediately. If velocity drops below threshold CS.VTHRESH or timeout occurs the motor holding brake is applied. Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply the motor hold- ing brake immediately after Hardware Disable. Kollmorgen | December 2014... -
Page 33: Switch-Off Behavior In The Event Of A Fault
This is a category 0 stop according to IEC 60204. If velocity drops below threshold CS.VTHRESH or timeout occurs the motor holding brake is applied. Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply the motor hold- ing brake immediately after faults. Kollmorgen | December 2014... - Page 34 AKD-N Installation | 6 Technical description and data Switch-off behavior for faults that cause dynamic braking This is a category 0 stop according to IEC 60204. If velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied . Kollmorgen | December 2014...
- Page 35 AKD-N Installation | 6 Technical description and data Switch-off behavior for faults that cause a controlled stop This is a category 1 stop according to IEC 60204. If velocity drops below threshold CS.VTHRESH or timeout occurs brake is applied . Kollmorgen | December 2014...
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Page 36: Safe Torque Off (Sto)
Decentralized System Projecting Guide. The global STO function uses the following devices: AKD-C, AKD-N without option "DS", Kollmorgen hybrid connection cable. In case of using an AKD-N with option "DS" (local STO input), the global STO-Enable signal will have not influence to this specific drive. -
Page 37: Response Time
(main switch). Emergency-Off situations. In an Emergency-Off situation, the main contactor is switched off (by the Emergency-Off button). Wiring the system with hybrid cables from other manufacturers than Kollmorgen is not allowed. Changing cables or connectors is not allowed. -
Page 38: Local Sto Safety Instructions
STO function is necessary, the drive must be braked and the input STO must be separated time-delayed from +24 V . The STO Status signals are informal and not relevant for functional safety. Kollmorgen | December 2014... -
Page 39: Technical Data And Pinout Local Sto
X6 Pinout Description STO-Enable + STO-Enable - n.c. n.c. Wiring diagram local STO-Status M12, A-coded X3 Pinout Description see "Digital Output" (➜ p. 56) STO Status - STO Status + 5,6,7,8 see "Digital Output" (➜ p. 56) Kollmorgen | December 2014... -
Page 40: Functional Description Local Sto
1. Brake the drive in a controlled manner (speed setpoint = 0 V). 2. When speed = 0 rpm, disable the drive (Enable = 0 V). 3. Activate the STO function (local STO-Enable = 0 V) 4. For restart you must reset the safety device. Kollmorgen | December 2014... -
Page 41: Functional Test
3. The drive lose toque and slows down to zero speed without control. Second Method: 1. Stop the drive with setpoint 0 V, disable drive. 2. Activate the STO function, for example, by opening protective screen (voltage at AKD-N X6/1 0V) 3. The drive cannot be enabled. Kollmorgen | December 2014... -
Page 42: Local Sto Application Example
For detailled application examples refer to the Decentralized System Projecting Guide. Refer to the KSM safety modules documentation for pinout and functionality of the Koll- morgen KSM Modules. These documents can be downloaded from the Kollmorgen website. Kollmorgen | December 2014... -
Page 43: Mechanical Installation
AKD-N Installation | 7 Mechanical Installation 7 Mechanical Installation 7.1 Important Notes 7.2 Temperature Management 7.3 Mechanical Drawings Kollmorgen | December 2014... -
Page 44: Important Notes
The possible continuous output current and output power depends on the cooling situation for the AKD-N. For a detailed calculation of temperature behavior of the decentralized drive sys- tem based on the special machinery architecture, please contact the Kollmorgen customer support. -
Page 45: Mechanical Drawings
Four mounting clamps (part of delivery) Four M5 hexagon socket screws to ISO 4762, use 4 mm T-handle Allen key Heat conducting film (order code 849-373000-04) Ensure free space of minimum 50 mm to all sides of the AKD-N. Kollmorgen | December 2014... -
Page 46: Dimensions Akd-N With Optional Heat Sink, Preferred Mounting
Heat conducting film (order code 849-373000-04) Heat sink 40 mm (option, see regional Accessories Manual) Heat sink 50 mm (option, see regional Accessories Manual) Ensure free space of minimum 50 mm to all sides of the AKD-N. Kollmorgen | December 2014... -
Page 47: Electrical Installation
8.3 System Topology of a Decentralized Servo System 8.4 Wiring 8.5 Connection Overview 8.6 Hybrid Connection (X1, X2) 8.7 I/O Connection (X3) 8.8 Motor Power Connection (X4) 8.9 Motor Brake Connection (X4) 8.10 Motor Feedback Connection (X4, X5) 8.11 Optional Connector (X6) Kollmorgen | December 2014... -
Page 48: Important Notes
Connect the feedback device to X5 , max. length 5 m. Single line connection: Connect the hybrid motor cable to X4, max. length 5 m. 4. Check the wiring against the planned system topology diagrams (➜ p. 49). Kollmorgen | December 2014... -
Page 49: System Topology Of A Decentralized Servo System
Standby Power: Standby power is limited to 260 W at 24 V for both strings. This power must supply all AKD-N ( 8 W each) and the remaining power can be used for motor holding brakes. 8.3.2 Example Kollmorgen | December 2014... -
Page 50: Wiring
DC power and Fieldbus connection ➜ p. 54 Digital inputs and outputs ➜ p. 57 Motor Power ➜ p. 58 Motor Brake ➜ p. 59 Motor Feedback ➜ p. 61 Tertiary motion bus interface ➜ p. 61 Local STO Kollmorgen | December 2014... -
Page 51: Connection Overview
AKD-N Installation | 8 Electrical Installation 8.5 Connection Overview 8.5.1 Connector assignment AKD-Nzzz07-DB 8.5.2 Connector assignment AKD-Nzzz07-DF/DS Kollmorgen | December 2014... -
Page 52: Connection Diagram Akd-Nzzz07-Db
AKD-N Installation | 8 Electrical Installation 8.5.3 Connection diagram AKD-Nzzz07-DB Kollmorgen | December 2014... -
Page 53: Connection Diagram Akd-Nzzz07-Df/Ds
AKD-N Installation | 8 Electrical Installation 8.5.4 Connection diagram AKD-Nzzz07-DF/DS Kollmorgen | December 2014... -
Page 54: Hybrid Connection (X1, X2)
The DCOM3 line should be connected to the 0V of the I/O supply when using sensors of type "Source" with digital inputs. The DCOM3 line should be connected to the 24V of the I/O supply when using sensors of type "Sink" with digital inputs. Kollmorgen | December 2014... -
Page 55: Digital Inputs
Floating, reference common line is DCOM3 Sink or Source type sensors possible High: 15 to 30 V / 2 to 15 mA , Low: -3 to +5 V / <1 mA Update rate: Software 250 µs Kollmorgen | December 2014... -
Page 56: Digital Output
STO-Status signal is available for AKD-N with option "DS" only. 24 V , 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 | December 2014... -
Page 57: Motor Power Connection (X4)
Kollmorgen setup software WorkBench. The dynamic voltage rise can lead to a reduction in the motor operating life and, on unsuitable motors, to flashovers in the motor winding. -
Page 58: Motor Brake Connection (X4)
(brake and no brake). Maximum current for the motor brake is 1 A with AKD-N00307 and 1.5 A with AKD-N00607. The stand-by power supply from AKD-C limits the number of brakes in the system. Observe the projecting hints for system topology and limits in the Projecting Guide. -
Page 59: Motor Feedback Connection (X4, X5)
Nzzz07-DF and -DS variants. 8.10.1 Connector X4 AKD-Nzzz07-DB/DS/DF, hybrid, single line Signal Description Brake (➜ p. 58) COM- Feedback, negative COM+ Feedback, positive 1,2,3,4 Motor power (➜ p. 57) Support for SFD3 and Hiperface DSL feedback systems. Kollmorgen | December 2014... -
Page 60: Connector X5 Akd-Nzzz07-Df/Ds, Dual Line
+5 V +8 to +9 V +5 V +5 V SIN+ SIN- COS+ COS- CLK = CLOCK, DAT = DATA BiSS Mode C interface from Renishaw (model Resolute RA26B) Hiperface *1=pins 4 and 5 externally connected Kollmorgen | December 2014... -
Page 61: Optional Connector (X6)
24 VDC supply (PELV/SELF). For detailled description of STO interface and functionality refer to "Safe Torque Off (STO)" (➜ p. 36). Wiring diagram local STO-Enable M12, A-coded Description STO-Enable + STO-Enable - n.c. n.c. Kollmorgen | December 2014... -
Page 62: Setup
AKD-N Installation | 9 Setup 9 Setup 9.1 Important Notes 9.2 Setup software WorkBench 9.3 Initial System Test 9.4 Fault and Warning Messages Kollmorgen | December 2014... -
Page 63: Important Notes
Additional information on setting up the equipment: Programming parameters and control loop behavior are described in the online help of the setup software. Kollmorgencan provide training courses for the decentral drive system upon request. Kollmorgen | December 2014... -
Page 64: Setup Software Workbench
You can find the setup software on the accompanying DVD and in the download area of the Kollmorgen website. Kollmorgen offers training and familiarization courses on request. Only professional personnel who have the relevant expertise (➜ p. 11) are permitted to carry out online parameter setting for a drive that is running. -
Page 65: Initial System Test
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 | December 2014... -
Page 66: Install And Start Workbench
9.3.4 Install and start WorkBench WorkBench installs automatically from the DVD included with the drive. WorkBench is also available on the Kollmorgen Web site: www.kollmorgen.com. Once installation is complete, click the WorkBench icon to start the program. WorkBench will show a list of all the drives that it can find connected to the AKD-C. Select the drive you wish to configure and then click Next. -
Page 67: Index
Setup in operation Setup Software Storage WorkBench Transport Site altitude Hybrid Connection Stacking height Stacking Height Transport Stacking Height, Storage I/O Connection Initial Drive Test Global STO Inputs Local STO Basic Data Response Time Programmable Storage Kollmorgen | December 2014... - Page 68 AKD-N Installation | 10 Index Switch-on/switch-off behavior Symbols used Temperature in operation Storage Transport Transport Uninstalling Use as directed Drive Ventilation Ambient Conditions Vibrations Warnings Wiring Kollmorgen | December 2014...
- Page 69 AKD-N Installation | 10 Index This page intentionally left blank. Kollmorgen | December 2014...
- Page 70 About KOLLMORGEN Kollmorgen is a leading provider of motion systems and components for machine builders. Through world- class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage. ...
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