Kollmorgen AKD2G-S Series Installation Manual
With functional safety option 1 sto - sil2
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®
AKD
2G-Sxx
STO - SIL2
Installation Manual
Manual Edition: -, Beta, December 2018
Safety Edition: S101, December 2018
®
Valid for AKD
2G-S Hardware Revision A
Part Number 907-200003-00
Original Document
For safe and proper use, follow
these instructions.
Keep them for future reference.
Beta Drives: Approvals (CE, Functional Safety, UL) are pending.
with Functional Safety Option 1
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Summary of Contents for Kollmorgen AKD2G-S Series
- Page 1 ® 2G-Sxx with Functional Safety Option 1 STO - SIL2 Installation Manual Manual Edition: -, Beta, December 2018 Safety Edition: S101, December 2018 ® Valid for AKD 2G-S Hardware Revision A Part Number 907-200003-00 Original Document For safe and proper use, follow these instructions.
- Page 2 Technical changes which improve the performance of the device may be made without prior notice! This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be reproduced 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
6.5.1.3 Auxiliary voltage input data, 24V DC, type AKD2G-Sxx- (S) 6.5.1.4 Output data, type AKD2G-Sxx- (S) 6.5.2 Dual axis variants (D: I1=I2) 6.5.2.1 Mains supply data, 1 phase AC, type AKD2G-Sxx- (D) 6.5.2.2 Mains supply data, 3 phase AC, type AKD2G-Sxx- (D) Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 4: X21: I/O, Feedback
8.5.5.10 X41: SFA Feedback converter, EEO3/EEO4 (accessory) 8.6 Power and Logic Voltage Supply (X3/X10) 8.6.1 Mains power supply (X3) 8.6.1.1 Fusing 8.6.1.2 Wiring examples mains power supply 8.6.2 Auxiliary voltage power supply 24 VDC (X10) Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... - Page 5 8.14.6.1 Digital-Out 1 to 6 8.14.6.2 Digital-Out 7 and 8 8.14.6.3 Digital-In/Out 1 and 2 8.14.6.4 Digital-In/Out 3 to 6 8.14.6.5 Digital-Out 9, Relay contacts 9 Setup 9.1 Important Notes 9.2 Guide to drive setup Kollmorgen | kdn.kollmorgen.com | Beta, December 2018...
- Page 6 10.7 Safety Faults, Safety Warnings 10.7.1 Drive LCD Display 10.7.2 Drive Safety Faults 10.7.3 Drive Safety Warnings 10.7.4 Troubleshooting safety functionality 10.8 Functional Safety Keyword Reference Guide 10.8.1 AXISx.SAFE.STO Parameters 10.8.1.1 AXIS#.SAFE.STO.ACTIVE 10.8.1.1.1 Description 10.8.1.1.2 Context Kollmorgen | kdn.kollmorgen.com | Beta, December 2018...
- Page 7 11 Approvals 11.1 Conformance with UL/cUL 11.2 Conformance with CE 11.3 Conformance with RoHS 11.4 Conformance with REACH 11.5 Functional Safety approval 11.6 Conformance with EAC 12 Index 13 Record of document revisions Kollmorgen | kdn.kollmorgen.com | Beta, December 2018...
- Page 8 AKD2G-S Installation, Safety 1 | --- / --- Kollmorgen | kdn.kollmorgen.com | Beta, December 2018...
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Page 9: General
AKD2G-S Installation, Safety 1 | 2 General 2 General 2.1 About this Installation Manual 2.2 Using the PDF Format 2.3 Symbols Used 2.4 Abbreviations Used 2.5 Referred Standards Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 10: About This Installation Manual
Accessories Manual: provides information for accessories like cables and regen resistors used with AKD2G. Regional variants of this manual exist. All documents can be downloaded from the Kollmorgen website www.kollmorgen.com. 2.2 Using the PDF Format This document includes several features for ease of navigation Cross References Table of contents and index include active cross references. -
Page 11: Symbols Used
Warning of danger from automatic start. Drawing symbols Symbol Description Symbol Description Signal ground Diode Chassis ground Relay Protective earth Relay switch off delayed Resistor Normally open contact Fuse Normally closed contact State-of-the-art firewall EMC filter Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 12: Abbreviations Used
Fiber optic cable connector according to IEC 60874-2 FSoE Fail safe over EtherCAT Kollmorgen Automation Suite KAS IDE Setup software (Kollmorgen Automation Suite Integrated Development Environment) Kollmorgen Developer Network Light-emitting diode Low significant byte (or bit) Main significant byte (or bit) -
Page 13: Referred Standards
Preparation of instructions for use - Structuring, content and presentation UL 61800-5-1 Adjustable speed electrical power drive systems, Safety Requirements – Electrical, Thermal, and Energy IEC - International Electrotechnical Commission ISO - International Organization for Standardization UL - Underwriters Laboratories Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 14: Product Safety
AKD2G-S Installation, Safety 1 | 3 Product Safety 3 Product Safety 3.1 You should pay attention to this 3.2 Shock-hazard Protection 3.3 Stop / Emergency Stop / Emergency Off 3.4 Warning note labels 3.5 Use as Directed 3.6 Prohibited Use Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 15: You Should Pay Attention To This
(Warning: Automatic Restart at Power On) and ensure, that power on is not possible, while humans are in a dangerous zone of the machine. In case of using an undervoltage protection device, you must observe EN 60204-1:2006 chapter 7.5 . Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... - Page 16 Thermal sensors, motor holding brakes and feedback systems built into the connected motor must have reinforced insulation (according to IEC61800-5-1) against system components with power voltage, according to the required application test voltage. All Kollmorgen com- ponents meet these requirements.
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Page 17: Shock-Hazard Protection
Recommendation: In order to protect against direct contact (with motor cables shorter than 5 m) Kollmorgen recommends that each drive be protected individually using a 30 mA RCD which is sensitive to all currents. If you use a selective RCD, the more intelligent evaluation process will prevent spurious trip- ping of the RCD. -
Page 18: Stop / Emergency Stop / Emergency Off
If necessary, provision must be made for the connection of protective devices and lock-outs. If applicable, the stop function must signal its status to the control logic. A reset of the stop function must not create a hazardous situation. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 19: Emergency Stop
This results in a category 0 stop. If this stop category is not possible in the applic- ation, then the Emergency Off function must be replaced by other measures (for example by protection against direct touching). Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 20: Warning Note Labels
3.4.1 Notes placed on the product AKD2G Wait 5 minutes after removing power before servicing. 3.4.2 Adhesive label in the package To meet UL, place the multi-language label on the drive or on the panel near the drive. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 21: Use As Directed
The user IT specialists shall analyze whether further security requirements are applic- able to ensure functional safety. Review the chapter "Use as Directed" in the Functional Safety section (➜ # 123) before using safety functionality. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 22: Prohibited Use
The drive must not be connected directly to the Internet. If the network, to which the drive is connected, is not secured according to state-of-the-art information technology, this could be a functional safety risk. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 23: Product Life Cycle Handling
AKD2G-S Installation, Safety 1 | 4 Product life cycle handling 4 Product life cycle handling 4.1 Transport 4.2 Packaging 4.3 Storage 4.4 Installation, setup and normal operation 4.5 Decommissioning 4.6 Maintenance and cleaning 4.7 Disassembly 4.8 System Repair 4.9 Disposal Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 24: Transport
Store in accordance with the following duration requirements: Less than 1 year: without restriction. More than 1 year: capacitors must be re-formed before setting up and operating the drive. Re-forming procedures are described in the Kollmorgen Developer Network (Forming). Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 25: Installation, Setup And Normal Operation
80 °C (176 °F). Before touching the device, check the temperature and wait until it has cooled below 40 °C (104 °F). 3. Remove the connectors. Disconnect the potential earth connection last. 4. Demount: loosen the fastening screws. Remove the device. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 26: System Repair
Jardim da Glória, Cotia – SP CEP 06711-250, Brazil Europe Asia KOLLMORGEN Europe GmbH KOLLMORGEN Pempelfurtstr. 1 Floor 4, Building 9, No. 518, 40880 Ratingen, Germany North Fuquan Road, Changning District, Shanghai 200335, China Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 27: Package
AKD2G-S Installation, Safety 1 | 5 Package 5 Package 5.1 Package Supplied 5.2 Nameplate 5.3 Part Number Scheme Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 28: Package Supplied
SFA (Smart Feedback Adapter) . SDB Module (Safe Dynamic Brake Module). Ethernet service cable. 5.2 Nameplate A nameplate is attached to the side of the drive. The picture below is similar to the nameplate on the device. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 29: Part Number Scheme
AKD2G IP20 housing, position indexer, EtherCAT, 120 V to 240 V mains supply, 2 x 3 A rated current, dual axis, Hardware Revision A, dual channel STO SIL2 PLd, with all possible connector (basis + X23), PCBs coated, with mating connectors. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 30: Technical Description And Data
6.1 The AKD2G Family of Digital Drives 6.2 Ambient Conditions, Ventilation, and Mounting Position 6.3 Mechanical Data 6.4 Performance Data 6.5 Electrical data 6.6 LCD Display and Push-buttons (B1, B2) 6.7 SD Card Slot 6.8 Electrical Motor Braking Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 31: The Akd2G Family Of Digital Drives
IEC 61800-5-1, between the power input / motor connections and the signal electronics. Soft-start, overvoltage detection, short-circuit protection, phase-loss detection. Temperature monitoring of the drive and motor. Motor overload protection: foldback mechanism. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... - Page 32 Motion Bus interface (➜ # 94) Accessories SFA (Smart Feedback Adapter) (➜ # 89). Hybrid motor cables, motor power cables, motor feedback cables. External regen resistors. For accessories refer to your regional Accessories Manual. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018...
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Page 33: Ambient Conditions, Ventilation, And Mounting Position
Weight (with X22 and X23) Width Height, without connectors 220/235 255/272 220/235 255/272 front/back Height, with connectors Depth, without connectors Depth, with connectors <235 <235 <235 <235 Dimension Drawing see section Mechanical Installation (➜ # 45). Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 34: Performance Data
62.5 Position Loop Update Period µs Current Loop Bandwidth 3000 Velocity Loop Bandwidth Position Loop Bandwidth Max. motor electrical frequency * Control updates every 1.28 µs. Current command is updated every 62.5 µs. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 35: Electrical Data
Auxiliary voltage input data, 24V DC, type AKD2G-Sxx- (S) Input data Units 6V03S 6V06S 6V12S 7V03S 7V06S 7V12S Aux. voltage supply (PELV) 24 V (±10%, check voltage drop) - control current without motor brake - control current with one motor brake Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 36: Output Data, Type Akd2G-Sxx- (S)
3 x 400 Vac at 3 x 480 Vac Emissions (low/high speed fan) Noise emission dB(A) Brake output Voltage 24 V (±10%) Output current, minimum required 100 (fault detection) Output current, maximum Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 37: Dual Axis Variants (D: I1=I2)
7V06D Aux. voltage supply (PELV) 24 V (±10%, check voltage drop) - current without motor brake 1.25 - control current with one motor brake 3.75 - control current with two motor brakes 6.25 Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 38: Output Data, Type Akd2G-Sxx- (D)
3 x 480 Vac Emissions (low/high speed fan) Noise emission dB(A) Brake output Voltage 24 V (±10%) Output current, minimum required 100 per brake (fault detection) Output current, maximum 2.5 per brake Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 39: Lcd Display And Push-Buttons (B1, B2)
IP address Drive model number Firmware version Bottom blue bar: indicates whether the service port is connected to WorkBench, and shows the actions that will be invoked by pushing the B1 / B2 buttons. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... - Page 40 For single axis drives, the top section shows axis 1 information while the section between the center and bottom bars is a data area where some important actual values of the axis are vis- ible: position, velocity, current. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018...
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Page 41: Sd Card Slot
FAT32 4GB to 32GB SDXC exFAT (Microsoft) >32GB to 2TB Features Boot AKD2G with data from SD card: Remove 24V. Apply 24V with both buttons pressed. Release buttons after the display is updated. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 42: Electrical Motor Braking
“F2006 Bus Over voltage". The ready to operate con- tact (terminals X21/B5-B6) is opened (➜ # 110). Observe the regeneration time (some minutes) after full load with peak brake power. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 43: Technical Data For Akd2G-Sxx-6V
External regen resistor Ω Continuous brake power, external resistor Peak brake power, external resistor (1s) Absorption energy in capacitors (+/- 20%) tbd / tbd DC Bus Capacitance µF * depends on connected regen resistor power. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 44: Technical Data For Akd2G-Sxx-7V
External regen resistor Ω Continuous brake power, external resistor Peak brake power, external resistor (1s) Absorption energy in capacitors (+/- 20%) tbd / tbd DC Bus Capacitance µF * depends on connected regen resistor power. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 45: Mechanical Installation
AKD2G-S Installation, Safety 1 | 7 Mechanical Installation 7 Mechanical Installation 7.1 Important Notes 7.2 Guide to Mechanical Installation 7.3 Dimensions Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 46: Important Notes
Assemble the drive and power supply near each other on the conductive, grounded mount- ing plate in the cabinet. 5. Ground the drive. For EMC-compliant shielding and grounding, (➜ # 55). Ground the mounting plate, motor housing and CNC-GND of the control system. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 47: Dimensions
AKD2G-Sxx-6V (3 to 12 A) 221 232 235 303 76 221,5 36 5,8 11,5 7 78 40 AKD2G-Sxx-7V (3 to 12 A) 221 232 272 340 75 36 5,8 11,5 6 77 39 Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 48: Electrical Installation
8.8 External Regen resistor (X3) 8.9 Motor Power, Brake and Feedback connection 8.10 Electronic Gearing, EEO, Master-Slave 8.11 Motion Bus Interface (X11/X12) 8.12 CAN-Bus Interface (X13/X14) 8.13 Service Interface (X20) 8.14 I/O Connection (X21/X22/X23) Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 49: Important Notes
The emergency off circuit must operate the supply contactor. It is permissible to use the setup software to alter the settings of the drive. Any other alter- ations will invalidate the warranty. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 50: Guide To Electrical Installation
AKD2G-S Installation, Safety 1 | 8 Electrical Installation 8.2 Guide to electrical installation Kollmorgen recommends to install the drive electrical system as follows: 1. Select cables in accordance with IEC 60204 (➜ # 52). 2. Install shielding and ground the drive. -
Page 51: Wiring
0,5 mm², 21 awg I/O control signals Connector, 2x11 poles 1.5 mm², 16 awg I/O control signals Connector, 2x10 poles 1.5 mm², 16 awg Conventional feed- SubD 15pin HD (female) 0,5 mm², 21 awg back models Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 52: Cable And Wire Requirements
Cable functionality is only guaranteed up to the maximum length when using unmodified Koll- morgen engineered cables. AKM2G AKM1G Performance Line Cables Performance Line Cables Value Line Cables Feedback Max. Length [m] Feedback Max. Length [m] Feedback Max. Length [m] SFD3 Endat 2.2 Resolver Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 53: Cable Cross Sections And Requirements
4 power lines & 2 brake lines & (4x1.5+(2x0.75)+ Endat 2.2 10.1A < I0rms ≤ 13.1A 2 SFD3/DSL signal lines (2x2x0.14+2x0.25)) (4x4.0+(2x1.0)+ Endat 2.2 17.4A < I0rms ≤ 23A 6 EnDat 2.2 signal lines (2x2x0.14+2x0.25)) Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 54: Protective Earth Connection
Now you insert all the other lines and connectors. For disassembly, release the PE connections as the last connection. For the use of residual current protective devices (RCD), refer to (➜ # 17). Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 55: Emi Noise Reduction
(➜ # 54). Use Kollmorgen cables. Route power and control cables separately, Kollmorgen recom- mends a distance of at least 200 mm to improve interference immunity. -
Page 56: Shielding With External Shielding Busbar
AKD2G-S Installation, Safety 1 | 8 Electrical Installation 8.4.2 Shielding with external shielding busbar For best practice use of shielded cables Kollmorgen recommends a star point shield con- nection, for example, with a shielding busbar. 8.4.2.1 Shielding Concept Example with AKD2G-Sxx--6Vxx, EMC filter and external regen resistor. -
Page 57: 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 58: Shielding Connection To The Drive
You can connect cable shielding directly to the drive by using grounding plates, shield con- nection clamps, and a motor connector with strain relief and grounding plate. 8.4.3.1 Shielding Concept Example with AKD2G-Sxx--7Vxx, dual-axis. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 59: Grounding Plates And Shield Connection Clamps
8.4.3.3 Motor connector X1/X2 with shielding connection Alternative connection for the motor power connection by mating connector with shield plate and strain relief. Kollmorgen motor power and hybrid motor cables are configured with shield plate. Strip the external cable sheath to a length of approx. -
Page 60: Connection Overview
8.5 Connection Overview 8.5.1 Connector Position AKD2G-Sxx-6V The graphics shows an AKD2G with supply voltage 110 V to 240 V. X2 is available with dual-axis drives only. Optional: I/O, F3 or DX (➜ # 29). Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 61: Connector Position Akd2G-Sxx-7V
AKD2G-S Installation, Safety 1 | 8 Electrical Installation 8.5.2 Connector Position AKD2G-Sxx-7V The graphics shows an AKD2G with supply voltage 240 V to 480 V. X2 is available with dual-axis drives only. Optional: I/O, F3 or DX (➜ # 29). Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 62: Wiring Overview, Single Axis Drive
AKD2G-S Installation, Safety 1 | 8 Electrical Installation 8.5.3 Wiring overview, single axis drive Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 63: Wiring Overview, Dual Axis Drive
AKD2G-S Installation, Safety 1 | 8 Electrical Installation 8.5.4 Wiring overview, dual axis drive Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 64: Connector Pin Assignments
3~ mains supply L2 3~ mains supply L3, 1~ supply N, DC supply - RBint internal regen resistor external regen resistor - +DC (+RBext) DC Bus link+ and/or external regen resistor + DC Bus link - Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 65: X10: 24 Vdc
Supports automatic discovery in WorkBench if in the same sub-net. Interface Details: (➜ # 98) Pin Signal Description Pin Signal Description Transmit + Term. Termination Transmit - Receive - Receive + Term. Termination Term. Termination Term. Termination Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... - Page 66 Slow, isolated, sink, fail-safe, STO axis 1 channel B *Feedback 4 connectivity, Step/Direction CW/CCW (input) Pin Signal Description A3 Step, CW Fast, isolated, sink, type EN 61131-2 type 1 A4 Direction, CCW Fast, isolated, sink, type EN 61131-2 type 1 Kollmorgen | kdn.kollmorgen.com | Beta, December 2018...
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Page 67: X22: I/O Extended, Eeo2, Feedback
Step/Dir CW/CCW Incremental Encoder Encoder Track A + Step + CW + Track A - Step - CW - Track B + Dir + CCW + Track B - Dir - CCW - Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 68: X23: Feedback 3, Eeo1, I/O
Digital I/O connectivity Incremental Digital I/0 Encoder Digital-In/Out 6 + Zero+ Digital-In/Out 6 - Zero- Digital-In/Out 5 + Digital-In/Out 5 - +5 V Digital-In/Out 3 + Digital-In/Out 3 - Digital-In/Out 4 + Digital-In/Out 4 - Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 69: X41: Sfa Feedback Converter, Eeo3/Eeo4 (Accessory)
+5 V +5 V +5 V S1 SIN+ SIN+ S3 SIN- SIN- S2 COS+ B+ COS+ S4 COS- COS- CLK = CLOCK, DAT = DATA, SEN = SENSE, Stp = Step EEO3 / EEO4 connectivity (output) Incremental X41 Pin Encoder Zero+ Zero- Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 70: Power And Logic Voltage Supply (X3/X10)
Mating connector data see (➜ # 51). Pin Signal Description Protective earth 3~ mains supply L1, 1~ supply L, DC supply + 3~ mains supply L2 3~ mains supply L3, 1~ supply N, DC supply - Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 71: Fusing
Fuse holders: Combined with the standard fuse blocks, finger safe fuse holders must be used according to IEC 60529. Automatic circuit breakers: in process, ask Kollmorgen for details. Group installation: in process, ask Kollmorgen for details. Fuse Ampere ratings below are the maximum allowable. Lower Ampere ratings may be used as appropriate to the application but may cause nuisance trips. - Page 72 AC supply, single drives, automatic circuit breakers Ask Kollmorgen for details. AC supply, group of drives, automatic circuit brakers Ask Kollmorgen for details. DC supply, single drives, line fusing Ask Kollmorgen for details. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018...
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Page 73: Wiring Examples Mains Power Supply
Filtering to be provided by the user. Two phases AC mains (AKD2G-Sxx-6V) +10% Directly to two-phase supply network (120 V to 240 V ) without neutral line -10% Deactivate phase loss detection. Filtering to be provided by the user. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... - Page 74 Three phases AC mains (all AKD2G-Sxx-) +10% +10% Directly to 3-phase supply network (max. 240 V respectively 480 V Filtering for AKD2G-Sxx-6V to be provided by the user. DC Supply (all AKD2G-Sxx-) Ask Kollmorgen for details. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018...
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Page 75: Auxiliary Voltage Power Supply 24 Vdc (X10)
8.6.2.2 Wiring example 24 VDC supply Example for three phase power supply unit. 8.7 DC Bus link (X3) Beta Drives: DC Bus sharing functionality is pending. Do not use this functionality until fur- ther notice. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 76: External Regen Resistor (X3)
Siba all AKD2G-Sxx Bussmann 110V to 400V: gRL(gS) FWP-xxA14F 400V to 480V: aR FPS: Frizlen DC Power Switch RBext Range [In] cable cross section BAR(U)1500-33 FPS-16 10 to 16 A min. 2.5 mm² Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 77: Motor Power, Brake And Feedback Connection
Axis 1: dual cable connection (➜ # 80) commutation feedback: Resolver, SFD, EnDAT, HIPERFACE, BiSS, SinCos, ComCoder, Hall, SmartAbs etc. via X23 position feedback: - X21: Step/Direction - X22: Step/Direction or incremental encoder Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 78: Motor Single Cable Connection
Motors with two wire feedback systems like SFD3 or Hiperface DSL can be connected to AKD2G via a single Kollmorgen hybrid cable. Depending on the AKD2G version (single or dual axis), one or two single cable motor connections are possible. -
Page 79: Feedback Connectors
Mating connector data see (➜ # 51). Cable length: maximum 50 m Connector Functionality Pinout, Wiring Step/Direction, CW/CCW (➜ # 86) Step/Direction, CW/CCW, Incremental Encoder (➜ # 87) Several conventional feedback types (➜ # 88) Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 80: Motor Dual Cable Connection
Feedback types: see X21 connectivity (➜ # 86) X22 (Feedback 5) 2 x 10 pins (left connector A, right connector B) Feedback types: see X22 connectivity (➜ # 87) Mating connector data see (➜ # 51). Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 81: Motor Power And Motor Brake Connectors
AKD2G-S Installation, Safety 1 | 8 Electrical Installation 8.9.3.1 Motor power and motor brake connectors X1, X2 Usually these lines are part of the Kollmorgen motor cable connected to X1 or X2. For motor brake safety notes and functional details refer to (➜ # 82). -
Page 82: Motor Holding Brake Connection
Pin Signal Description B+ BR+ Brake positive line B- BR- Brake negative line Wiring Usually the brake lines are part of the Kollmorgen hybrid single cable connection to X1 respectively X2 (➜ # 78). Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... - Page 83 5 rpm (AXIS#.CS.VTHRESH) for at least 6 ms (AXIS#.CS.TO). The rise (t ) and fall (t times of the holding brake that is built into the motor are different for the various types of motor. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018...
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Page 84: Feedback Connection
X23, X41 Incremental Encoder X22, X23, X41 Incremental Encoder + Hall (Comcoder) X23, X41 Hall Sensors X23, X41 Tamagawa Smart Abs X23, X41 Step/Direction X21, X22, X23, X41 CW/CCW X21, X22, X23, X41 Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 85: Feedback Connector
Wiring example SFD3 or HIPERFACE DSL Wiring example conventional Feedback types with SFA Pin Signal Description F+ COM+ SFD3 +, HIPERFACE DSL +, SFA + F- COM- SFD3 -, HIPERFACE DSL -, SFA - Cable shield (PE) Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 86: Feedback Connector X21
Fast input, isolated, sink, type EN 61131-2 type 1 Input for commutation or position feedback. Input for Electronic Gearing, (➜ # 90) Mating connector data see (➜ # 51). Wiring example X21 Pin Step/Direction CW/CCW Step Direction Common (DGND) Common (DGND) Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 87: Feedback Connector X22
Incremental Encoder Step + CW + Track A + Step - CW - Track A - Direction + CCW + Track B + Direction - CCW - Track B - AGND AGND AGND Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 88: Feedback Connector X23
+5 V +5 V +5 V +5 V +5 V +5 V +5 V +5 V S1 SIN+ SIN+ S3 SIN- SIN- S2 COS+ B+ COS+ B+ S4 COS- COS- CLK = CLOCK, DAT = DATA, SEN = SENSE Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 89: Feedback Connector X41 (Sfa, Accessory)
EN50022–35×7.5 (or EN50022–35×15) or laid into the cable duct. SFA adds a 15 pole HD SubD female connector X41 to the system for connection of a Kollmorgen motor feed- back cable (see regional Accessories Manual). -
Page 90: Electronic Gearing, Eeo, Master-Slave
AKD2G offers up to five feedback channels. Any of these channels may be used as the gear- ing command source. The gearing source is selected for each axis using AXIS#.GEAR.FBSOURCE. Refer to the WorkBench Online Help for more information. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 91: Emulated Encoder Output (Eeo)
Signals EEO2 Description AGND Analog ground Track A+ EEO2 output, channel A positive Track A- EEO2 output, channel A negative Track B+ EEO2 output, channel B positive Track B- EEO2 output, channel B negative Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... - Page 92 EEO3 output, index negative EEO3 output, ground Track A+ EEO3 output, channel A positive Track A- EEO3 output, channel A negative Track B+ EEO3 output, channel B positive Track B- EEO3 output, channel B negative Kollmorgen | kdn.kollmorgen.com | Beta, December 2018...
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Page 93: Master-Slave Control
8.10.3.2 Master-Slave using optional X23 or X41 The master is configured for EEO1 (➜ # 92) on X23 or EEO3/EEO4 ((➜ # 92) with SFA) on X41, the Slave uses X23 (or X41 with SFA) for command input. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 94: Motion Bus Interface (X11/X12)
Do not connect the Ethernet line for the PC or PAC with the set up software to the motion bus interface X11/X12. The service Ethernet cable must be connected to X20. Bus topology example (EtherCAT) We suggest to use Kollmorgen ENCP cables. For more possible system solutions refer to the WorkBench Online Help. Communication profile For EtherCAT communication profile description refer to the manual "AKD2G EtherCAT Com-... -
Page 95: Can-Bus Interface (X13/X14)
To meet ISO 11898, a bus cable with a characteristic impedance of 120 Ω 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 measured by Kollmorgen; however, these val- ues are not assured limits: Characteristic impedance: 100–120 Ω... -
Page 96: Can-Bus Wiring
AKD2G-S Installation, Safety 1 | 8 Electrical Installation 8.12.2 CAN-Bus Wiring Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 97: Baud Rate For Can-Bus
X13 connector of the last drive in the CAN network. Remove the termination connector if the AKD2G is not the last CAN-Bus device and use X13 for connecting the next CAN node. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 98: Service Interface (X20)
Confirm that the link LED on the AKD2G (RJ45 connector) and on your PC (or network switch) are both illuminated. If both lights are green, then you have a good electrical con- nection. 8.13.1 Possible Network Configurations Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 99: I/O Connection (X21/X22/X23)
Digital-In/Out (DIO) 6 + Digital-In/Out (DIO) 6 - Digital-In/Out (DIO) 5 + Digital-In/Out (DIO) 5 - +5 V Digital-In/Out (DIO) 3 + Digital-In/Out (DIO) 3 - Digital-In/Out (DIO) 4 + Digital-In/Out (DIO) 4 - Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 100: Technical Data
ON: 17 VDC to 30 VDC, 5 mA to 6 mA Axis 1: STO-A-A1, STO-B-A1 OFF: 0 VDC to 5 VDC, max.1 mA Axis 2: STO-A-A2, STO-B-A2 galvanic isolation for 60 VDC delay activation/de-activation about: 1.5 ms / 3.5 ms Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 101: Analog Input
Standard setting: clockwise rotation of the motor shaft (looking at the shaft end) affected by positive voltage between terminal (+ ) and terminal ( - ) To reverse the direction of rotation, swap the connections to terminals +/- or change keyword AXIS#.DIR in WorkBench. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 102: Analog Output
-3 dB Bandwidth: >8 kHz Maximum output current: 20 mA Capacitive load: any value but response speed limited by max Iout and by Rout Protected for short circuit to AGND Analog Output Wiring Diagram Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 103: Digital Inputs
High accuracy latch: motor feedback position or interpolated time is latched or captured within 2 µs of input signal transition (with digital input filter set to 40 ns) The AKD2G capture engine is polled every 62.5 µs (16 kHz) by the firmware Wiring example Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 104: Digital-In 3 To
Floating, reference common line is DGND High: 11 to 30 V/2 to 15 mA , Low: -5 to +5 V/<15 mA Update rate: firmware reads hardware input state every 250 µs Wiring example Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 105: Digital-In/Out 1 And
RS485, reference common line is AGND No wire break detection Digital IN/OUT 1/2: Selectable DC termination for differential or single ended input Update rate: firmware reads hardware input state every 250 µs Wiring example Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 106: Digital-In/Out 3 To
Digital IN/OUT 3/4: Selectable DC termination for differential or single ended input Digital IN/OUT 5/6: AC termination for single ended input Update rate: firmware reads hardware input state every 250 µs Wiring example Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 107: Digital Outputs
These outputs are programmable with the setup software. By default, all outputs are not pro- grammed (off). Technical characteristics The outputs can switch +5 V to +30 V All digital outputs are floating High side, output current max.100 mA Update rate: 250 µs Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 108: Digital-Out 7 And
The two channels are isolated from one another and not referred to a common potential Output current max.100 mA Can be wired as sinking or sourcing (see examples below) Update rate: 250 µs Wiring examples Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 109: Digital-In/Out 1 And
RS485, reference common line is 0V No wire break detection Digital IN/OUT 3/4: Selectable DC termination for differential or single ended output Digital IN/OUT 5/6: AC termination for single ended output Update rate: 250 µs Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 110: Digital-Out 9, Relay Contacts
By default, the output function is defined as ready to operate output by action keyword. Technical characteristics Relay output, max. 30 VDC or 42 VAC, 1 A Time to close: max. 10 ms Time to open: max. 10 ms Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 111: Setup
AKD2G-S Installation, Safety 1 | 9 Setup 9 Setup 9.1 Important Notes 9.2 Guide to drive setup 9.3 Switch-On and Switch-Off Behavior 9.4 Fault and Warning Messages 9.5 Troubleshooting the AKD2G Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 112: 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. The setup of any fieldbus is described in the corresponding manual on the DVD. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 113: Guide To Drive Setup
9.2.1.2 Minimum wiring for drive test without load, example This wiring diagram based on default settings is for general illustration only and does not ful- fill any requirements for EMC, functional safety, or functionality of your application. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 114: Confirm Connections (Example: Directly To Pc)
With WorkBench you can set a static IP address for the drive (keyword IP.ADDRESS). EtherCAT Node Address The EtherCAT node address is assigned automatically by the EtherCAT master. CAN Node ID Set a CAN node ID for the drive in WorkBench (keyword CANBUS.NODEID). Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 115: Install And Start Workbench
9.2.1.5 Install and start WorkBench WorkBench is available from the DVD included with the drive. WorkBench is also available on the Kollmorgen Website: www.kollmorgen.com. Select the install file and follow the instructions given by the installer. Once installation is complete, click the WorkBench icon to start the program. -
Page 116: Setup Software Workbench
9.2.2 Setup software WorkBench This chapter describes the installation of the setup software WorkBench for AKD2G drives. Kollmorgen offers training and familiarization courses on request. 9.2.2.1 Use as directed The setup software is intended to be used for altering and saving the operating parameters for the AKD2G series of drives. -
Page 117: Software Description
Most standard feedback systems 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 software. -
Page 118: Installation Under Windows 7/8/10
Connect the interface cable to an Ethernet interface on your PC or to a Switch and to the service interface X20 of the AKD2G (➜ # 98). The LCD display shows a sign, if the connection between AKD2G and WorkBench is active. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 119: Switch-On And Switch-Off Behavior
The drive can be secured to standstill with STO. Even when power is being supplied, the drive shaft is protected against unintentional restart. The chapter “Functional Safety” describes how to use the safety functions (➜ # 124). Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 120: Switch-On Behavior In Standard Operation
AKD2G-S Installation, Safety 1 | 9 Setup 9.3.1 Switch-on behavior in standard operation The diagram below illustrates the correct functional sequence for switching the drive on. 9.3.2 Switch-off behavior Chapter in process Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 121: Fault And Warning Messages
Eliminate errors and faults in compliance with work safety rules. Troubleshooting only by qualified and trained staff. More information about fault messages, remedy and clearing faults can be found in the WorkBench online help. Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 122: Troubleshooting The Akd2G
1. AXIS#.Kp (speed controller) too high 1. reduce AXIS#.VL.KP (speed controller) 2. AXIS#.Ki (speed controller) too high 2. reduce AXIS#.VL.KI (speed controller) 3. filters set too low 3. refer to documentation regarding increasing filtering (AXIS#.VL.AR*) Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 123: Functional Safety
10.2 Use as directed 10.3 Prohibited use 10.4 Abbreviations used for functional safety 10.5 Enclosure, wiring 10.6 Functional Safety Option 1 (I/O, SIL2 PLd) 10.7 Safety Faults, Safety Warnings 10.8 Functional Safety Keyword Reference Guide Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 124: General Notes
The safety properties listed in this chapter can be reached if the Kollmorgen components are used. Only properly qualified personnel are permitted to perform such tasks as installation, setup and parameterization. -
Page 125: Prohibited Use
Mean time to dangerous failure OSSD Output Switching Signal Device PELV Protective Extra Low Voltage PFHd Probability of dangerous failure per hour Performance Level Systematic Capability Safety Integrity Level Safe Torque Off Mission time Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 126: Enclosure, Wiring
Use copper wires, 0.5 mm² (20 awg), wire ferrules. Maximum distance for unshielded cables 30 m. The wiring of the digital inputs and outputs must be done in a way, that short circuits between the inputs, the outputs or to a supply line are avoided. Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 127: Functional Safety Option 1 (I/O, Sil2 Pld)
AXIS#.SAFE.STO.REPORTFAULT F9000 and W9000 are triggered for axis # only, if set to 1 (default). For full keyword description refer to the Functional Safety Parameter Reference Guide (➜ # 135). Factory Default Settings AXIS#.SAFE.STO.REPORTFAULT is set to 1. Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 128: Safety Properties Overview
SC = 2. TM = 20 Years, SFF = 100%. Function MTTF Response time 13849-1 Years 62061 [1/h] STO dual channel PL d, Cat. 3 i.p. SIL 2 i.p. >65 < 3.5 ms Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 129: Sto (Safe Torque Off)
F9005 occurs (➜ # 132). Review the enclosure and wiring instructions (➜ # 126). Wiring example STO single axis, SIL2/PLd, Emergency Stop Note: AXIS1.SAFE.STO.REPORTFAULT should be set to 1 if STO is activated by a switch. Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 130: Restart
1. check wiring 1. check wiring 2. remedy the cause 2. remedy the cause 3. deactivate STO 3. deactivate STO 4. clear fault 4. clear fault 5. enable axis 1 5. enable axis 1 Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 131: Timing
Power section released. 10.6.3.2 Safety Diagnostic view in WorkBench The WorkBench view "Safety Diagnostic" shows the current status on the safe inputs (AXIS#.SAFE.STO.A/B) and the logical status of the STO function for every axis. Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 132: Fault Reaction / Failure Messages
4. Activate the STO function, for 4. Activate the STO function for example by example, by opening the protective opening the protective screen. screen 5. The axis displays fault F9000. 5. The axis displays fault W9000. Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 133: Safety Faults, Safety Warnings
90 XX, where 90 is the two digit group code, and XX is a two digit ID. Navigate with B1 / B2 to the Fault screen to see a short description of the fault or warning. See WorkBench Onlinehelp for details. Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 134: Drive Safety Faults
2. apply 24V to HW Enable 3. software enable not set 3. set software enable in WorkBench / Field- 4. axis setup not correct 5. Fault message active 4. check wiring and axis parameters 5. clear fault Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 135: Functional Safety Keyword Reference Guide
AKD2G-S Installation, Safety 1 | 10 Functional Safety 10.8 Functional Safety Keyword Reference Guide This section describes the keywords used for functional safety. 10.8.1 AXISx.SAFE.STO Parameters Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 136: Axisx.safe.sto Parameters
Action Version Notes Implemented 02-00-00-000 10.8.1.1.4 General Information Type Read Only Units Range 0 or 1 Default Value Data Type Integer Stored in Non Volatile Memory 10.8.1.1.5 Variants Supported All variants are supported. Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 137: Axis#.Safe.sto.a
Action Version Notes Implemented 02-00-00-000 10.8.1.2.4 General Information Type Read Only Units Range 0 or 1 Default Value Data Type Integer Stored in Non Volatile Memory 10.8.1.2.5 Variants Supported All variants are supported. Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 138: Axis#.Safe.sto.b
Action Version Notes Implemented 02-00-00-000 10.8.1.3.4 General Information Type Read Only Units Range 0 or 1 Default Value Data Type Integer Stored in Non Volatile Memory 10.8.1.3.5 Variants Supported All variants are supported. Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 139: Axis#.Safe.sto.reportfault
10.8.1.4.3 Versions Action Version Notes Implemented 02-00-00-000 10.8.1.4.4 General Information Type Read/Write Units Range 0 or 1 Default Value Data Type Integer Stored in Non Volatile Memory 10.8.1.4.5 Variants Supported All variants are supported. Kollmorgen | kdn.kollmorgen.com | S101, December 2018... -
Page 140: Approvals
Beta Drives: Approvals (CE, Functional Safety, UL) are in process. 11.1 Conformance with UL/cUL 11.2 Conformance with CE 11.3 Conformance with RoHS 11.4 Conformance with REACH 11.5 Functional Safety approval 11.6 Conformance with EAC Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... -
Page 141: Conformance With Ul/Cul
Customs Union (Russia, Belarus, Kazakhstan) similar to the European CE mark. Kollmorgen declares, that the device has passed all required conformity procedures in a mem- ber state of the Eurasian Customs Union, and that the device meets all technical require-... - Page 142 AKD2G-S Installation, Safety 1 | 11 Approvals --- / --- Kollmorgen | kdn.kollmorgen.com | Beta, December 2018...
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Page 143: Index
DC Bus Capacitance Software WorkBench DC bus link, interface Installation, Setup, Normal Operation Decommission Dig. Encoder emulation, interface Digital inputs all Variants Labels Dimensions Leakage current Disassemble Display Disposal Document Revisions Mains supply, interface Maintenance Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... - Page 144 Referred Standards Wiring Regenerative circuit Relay Repair Rheostatic Braking RoHS Safety Functional Safety Product Safety Safety Faults Safety Instructions Drive Setup Electrical Installation General Mechanical Installation Safety Properties Safety Warnings SD Card Slot Kollmorgen | kdn.kollmorgen.com | Beta, December 2018...
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Page 145: Record Of Document Revisions
AKD2G-S Installation, Safety 1 | 13 Record of document revisions 13 Record of document revisions Revision Remarks Beta, 12/2018 Beta edition Kollmorgen | kdn.kollmorgen.com | Beta, December 2018... - Page 146 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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