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Related Manuals for Kollmorgen MKD Series
Summary of Contents for Kollmorgen MKD Series
- Page 1 ® Multi Axes System Installation Manual Edition: D, February 2020 Valid for MKD-C-NA, Hardware Revision B Valid for MKD-N, Hardware Revision B Part Number 904-200003-00 Original Document For safe and proper use, follow these instructions. Keep for future use.
- 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
6.2.1 MKD-C modules 6.2.2 MKD-N modules 6.3 Part Number Scheme 6.3.1 MKD-C modules 6.3.2 MKD-N modules 7 Technical description and data 7.1 The MKD Multi Axes System 7.2 Mechanical Data 7.3 Performance Data 7.4 Electrical Data Kollmorgen | kdn.kollmorgen.com | February 2020... - Page 4 9.5.2 Topology example with two external strings 9.5.3 Topology example with one external string migrated to cabinet 9.6 Connection Overview 9.6.1 Connector Position MKD-C 9.6.2 Connector Position MKD-N (6A, 12A) 9.6.3 Connector Position MKD-N (24A) Kollmorgen | kdn.kollmorgen.com | February 2020...
- Page 5 9.11.1.2 Motor Power X29, Motor Brake X30, Motor Feedback X31 9.11.2 Motor dual cable connection (X29, X30, X32) 9.11.2.1 Motor Power and Motor Brake X29 9.11.2.2 Motor Power X29, Motor Brake X30 9.11.2.3 Motor Feedback X32 9.12 Secondary Feedback Connection (X33) Kollmorgen | kdn.kollmorgen.com | February 2020...
- Page 6 10.1.13 Local STO on AKD-N 10.1.13.1 General information 10.2 Brake interruption contact 10.2.1 General information 10.2.2 Safety instructions 10.2.3 Signal diagram (sequence) 10.2.4 Enclosure, wiring 10.2.5 Technical data and connection 11 Setup 11.1 Important Notes Kollmorgen | kdn.kollmorgen.com | February 2020...
- Page 7 Et h e r C AT c a b l e s 1 4 3 1 4 3 1 4 3 1 4 4 1 4 4 12.4 Spare Parts 13 Index 14 Record of Document Revisions Kollmorgen | kdn.kollmorgen.com | February 2020...
- Page 8 MKD Installation Manual | --- / --- Kollmorgen | kdn.kollmorgen.com | February 2020...
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Page 9: General
MKD Installation Manual | 2 General 2 General 2.1 About this Manual 2.2 Using the PDF Format 2.3 Symbols Used 2.4 Abbreviations Used Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 10: About This Manual
Table of contents and Lines are active cross references. Click on the line and the appro- index priate page is accessed. Page/chapter numbers Page/chapter numbers with cross references are active links. in the text Kollmorgen | kdn.kollmorgen.com | February 2020... -
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 | February 2020... -
Page 12: Abbreviations Used
Incremental encoder (A quad B) Specific thermal resistance Safe Brake Control Safe Brake Test Super Capacitor SELV Safety Extra Low Voltage Safe torque off To be discussed (in process) Volts, alternating current Volts, direct current Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 13: Product Safety
MKD Installation Manual | 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 Use as Directed 3.5 Prohibited Use 3.6 Warning note labels Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 14: You Should Pay Attention To This
(Warning: Automatic Restart at Power On) and ensure, that power on is not pos- sible, while humans are in a dangerous zone of the machine. In case of using an under- voltage protection device, you must observe EN 60204-1:2006 chapter 7.5 . Kollmorgen | kdn.kollmorgen.com | February 2020... - Page 15 EN13849 or EN 62061 must finally be done by the user. Never modify the drive! It is not allowed to modify the drive hardware without permission by the manufacturer. Open- ing the housing causes loss of warranty. Kollmorgen | kdn.kollmorgen.com | February 2020...
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Page 16: Shock-Hazard Protection
(schematic connection (➜ # 80). A ground-leakage mon- itor can be used to monitor for short circuits. Keep the length of wiring between the transformer and the drive as short as possible. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 17: 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 | February 2020... -
Page 18: 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 | February 2020... -
Page 19: Use As Directed
/√2). nMotor For the cases of group installations and of DC powered drives MKD-C has not been evaluated by Kollmorgen, UL, or TÜV for group installations nor are rat- ings defined for DC input voltage. Auxiliary voltage supply, Standby power Standby power for the drive strings must only be used for supplying the MKD-N electronics. -
Page 20: Prohibited Use
Wiring the system with hybrid cables from other manufacturers than Kollmorgen is not allowed. Changing Kollmorgen cables or connectors is not allowed. 3.6 Warning note labels If these signs are damaged, they must be replaced immediately. -
Page 21: Product Life Cycle Handling
MKD Installation Manual | 4 Product life cycle handling 4 Product life cycle handling 4.1 Packaging 4.2 Transport 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 | February 2020... -
Page 22: Packaging
Less than 1 year: without restriction. More than 1 year: capacitors in the MKD-C must be re-formed before setting up and operating the system. Re-forming procedures are described in the Kollmorgen Developer Network (Forming). Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 23: 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 | February 2020... -
Page 24: System Repair
In accordance with the WEEE-2012/19/EU guideline and similar, the manufacturer accepts returns of old devices and accessories for professional disposal. Transport costs are the responsibility of the sender. Contact Kollmorgen and clarify the logistics. Send the devices in the original packaging to the manufacturer address: North America... -
Page 25: Approvals
MKD Installation Manual | 5 Approvals 5 Approvals 5.1 Conformance with UL/cUL 5.2 Conformance with REACH 5.3 Conformance with EU Low Voltage, EMC and RoHS Directives 5.4 Conformance with EU Machinery Directive, Functional Safety Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 26: Conformance With Ul/Cul
MKD Installation Manual | 5 Approvals 5.1 Conformance with UL/cUL MKD system products covered in UL file number E217428, Power Conversion Equipment: MKD (Modular Kollmorgen Drive) Decentral System, consisting of Power supply MKD-CXXXX07-XXXX-XXXX and Inverter module MKD-NXXXX07-XXXX-XXXX and/or AKD-N3/6/12 with connection cables cat. no. MKC-HYB-x-AKN-XXX, and/or CCNNN1-025-XXXXX-00. -
Page 27: Conformance With Reach
Kollmorgen declares the conformity of the MKD modules with the following directives: EC Directive 2014/35/EU, Low Voltage Directive Used harmonized standard EN 61800-5-1... -
Page 28: Conformance With Eu Machinery Directive, Functional Safety
5.4 Conformance with EU Machinery Directive, Functional Safety Conformance with the EC Machinery Directive 2006/42/EU is mandatory for the supply of safety components within the European Community. Kollmorgen declares the conformity of the MKD modules with the following directives: EC Directive 2006/42/EU, Machinery Directive... -
Page 29: Package
MKD Installation Manual | 6 Package 6 Package 6.1 Package Supplied 6.2 Nameplate 6.3 Part Number Scheme Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 30: Package Supplied
Cables (➜ # 143) Cabinet grommets (➜ # 86) Accessories for AKD-N see regional Accessories Manual or AKD-N Installation Manual. Spare parts Connectors and Connector Kits can be ordered as spare parts (➜ # 144). Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 31: Nameplate
The nameplates depicted below are attached to the side of the device. Pictures are similar to the nameplates on the device. 6.2.1 MKD-C modules Example for MKD-C-NA 6.2.2 MKD-N modules Example for MKD-N single axis, 6A Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 32: Part Number Scheme
06 A 06 A MKD-N1200 12 A MKD-N1206 12 A 06 A MKD-N2400 24 A MKD-N1212 12 A 12 A MKD-N4800 48 A Customization code coding for customer specials (not relevant for functional safety). Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 33: Technical Description And Data
7.7 Ground System 7.8 Connectors 7.9 Recommended Tightening Torques 7.10 Cable Requirements 7.11 Cable Length Definition 7.12 Dynamic Braking 7.13 Regen circuit 7.14 LED signals 7.15 Push-button (B1) 7.16 Rotary Switch (S1), Setting IP address Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 34: The Mkd Multi Axes System
STO voltage 24V DC (functional safety circuits) From an external, 24 V ±10% PELV power supply, or from safety controller. Power depends on application. Operation and parameter setting Using the setup software WorkBench for setup via TCP/IP. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 35: Mechanical Data
Switching frequency of output stage Voltage rise speed dU/dt kV/µs Bandwidth of current controller Bandwidth of velocity controller (scalable) 0 to 750 0 to 600 Bandwidth of position controller (scalable) 1 to 250 Maximum motor frequency Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 36: Electrical Data
Protection class IP20 * Do not exceed continuous rating of 30 kW over the profile cycle. ** Two MKD-C CA are operated in parallel via DC bus sharing with a current limit set to 20A Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 37: Mkd-N, Single Axis
250 / 300 250 / 250 Thermal dissipation, output stage disable Thermal dissipation at rated current Efficiency factor (IE2) 96.5 Motor holding brake current, max. 1.6 / 1.6 1.6 / 1.6 1.6 / 1.6 Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 38: Fusing
CE Region DC-Bus link fusing 50 A (Time-Delay) Eaton: Siba (FD1/2) FWP-50A14F 400V to 480V: aR 50A Supercap fusing max. 32 A Mersen: HP10M25 (25 A) or HP10M30 (30 A) or (FD1/2) HP10M32 (32 A) Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 39: Ambient Conditions In Normal Operation
I/O connector MKD-C 24 V supply ground MKD-C STO-GND STO 24 V ground MKD-C internal digital ground, service channel MKD-N DCOM common line for digital inputs on I/O connector MKD-N STO-GND STO 24 V ground Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 40: Connectors
Secondary Feedback 1 SubD 9 (male) / axis 0,5 mm², 21 awg <100 V single-line connection single-line connection with recommended conductor cross section (➜ # 42) rated voltage with pollution level 2 (lowest values allowed by UL61800-5-1 / IEC60664) Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 41: Recommended Tightening Torques
Feedback DSL/SFD3 0.3 to 0.5 2.6 to 4.4 X32A/B Feedback, Con- 0.3 to 0.5 2.6 to 4.4 ventional X33A/B Feedback , 2. Feed- 0.3 to 0.5 2.6 to 4.4 back PE Bolt Protective Earth 15.0 Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 42: Cable Requirements
IEC 60204. For information on the chemical, mechanical, and electrical characteristics of the cables please contact our customer support. Use Kollmorgen hybrid, motor, and feedback cables only. You will lose system warranty, if you use hybrid, motor or feedback cables from a manufacturer other than Kollmorgen. -
Page 43: Mkd-N
Motor Feedback 7x2x0.25 mm² (24 awg) twisted pairs, Encoder+Hall, shielded EnDat2.1, BiSS B Motor Feedback 5x2x0.25 mm² (24 awg) twisted pairs, EnDat2.2, BiSS C shielded Secondary Feedback, 5x2x0.25 mm² (24 awg) twisted pairs, Encoder shielded Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 44: Cable Length Definition
X13, X15, X16, X24, X26 If total motor cable capacitance exceeds 2.25 nF (phase / phase) or 3.75 nF (phase / shield), then a motor choke must be used with cables longer than 25 m. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 45: Dynamic Braking
External regen resistor Maximum continuous regen power Regen chopper current Peak regen power, external (1s) Absorption energy in capacitors (+/- 20%) DC Bus Capacitance (nominal) µF 1500 1500 * depends on connected regen resistor power Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 46: Led Signals
RUN (Green) and Error (RED) status. EtherCAT L/A LEDs: These are the EtherCAT Link/Activity LEDs associated with the Motion Bus IN (X10) and OUT (X11) ports. Activity description seetable above. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 47: Mkd-N
ON = active, OFF = not active LED12 7.15 Push-button (B1) The push-button on the MKD-C can be used to start predefined functions. Press short to display the IP address in the LED display Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 48: Rotary Switch (S1), Setting Ip Address
IP address independent of the rotary switch is available. More information is available in the MKD-C User Guide or in the Settings Screen-> Fieldbus-> TCP/IP screen in WorkBench. Kollmorgen recommends to use AutoIP addressing. Set S1 to 0 (zero) for DHCP/AutoIP address. Dynamic IP addressing (DHCP and Auto-IP) -
Page 49: Mechanical Installation
MKD Installation Manual | 8 Mechanical Installation 8 Mechanical Installation 8.1 Important Notes 8.2 Guide to Mechanical Installation 8.3 Dimension Drawing 8.4 Mounting Example Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 50: Important Notes
5. Ground the modules. For EMC-compliant shielding and grounding, (➜ # 60). Ground the mounting plate, the motor housing, the GND of the 24 V supply and CNC-GND of the control system. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 51: Dimension Drawing
MKD Installation Manual | 8 Mechanical Installation 8.3 Dimension Drawing Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 52: Mounting Example
MKD Installation Manual | 8 Mechanical Installation 8.4 Mounting Example Mounting material: M5 hexagon socket screws to ISO 4762, 4 mm T-handle Allen key. Cabinet example: Width 600 mm, String 1 with 6 drive modules (10 axes) Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 53: Electrical Installation
9.8 Drive String Connection 9.9 DC Bus link (X20, X23, X25) 9.10 External Regen resistor (X14) 9.11 Motor Connection 9.12 Secondary Feedback Connection (X33) 9.13 I/O Connection 9.14 Motion Bus Interface (X10/X11) 9.15 Service Interface (X18) Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 54: Important Notes
Implement the wiring according to the connection diagrams: (➜ # 64). It is permissible to use the setup software to alter the settings of the device. Any other alter- ations will invalidate the warranty. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 55: Guide To Electrical Installation
Check proper use of residual-current circuit breakers (RCD, (➜ # 16)) l. Connect the PC (➜ # 107) for setting up the drive system. 6. Check the wiring and observe the system topology limits (➜ # 61). Reinstall the front protection cover: Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 56: Mkd-N (String 1)
Single cable motor connection: Connect the hybrid motor cable to X4, max. length 5 m. 4. Check the wiring against the planned system topology (➜ # 61) and the wiring diagrams in the AKD-N Installation manual. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 57: Wiring
(➜ # 87) Regen resistor (➜ # 91) Motor, Brake, Primary Feedback (➜ # 92) Secondary Feedback (➜ # 98) I/O connection (➜ # 99) Motion Bus (➜ # 106) Service interface (➜ # 107) Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 58: Emi Noise Reduction
Use Kollmorgen cables. Route unshielded power and control cables separately, Koll- morgen recommends a distance of at least 200 mm to improve interference immunity. -
Page 59: Shielding Connection To The System Modules
9.4.2.3 Local fieldbus connectors X21A, X21B The shield of local fieldbus cables is connected via the connector to the housing. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 60: Example For System Earthing
MKD Installation Manual | 9 Electrical Installation 9.4.2.4 Example for system earthing Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 61: System Topology Of An Mkd Drive System
You can control up to 3 motor brakes per string. Available power for brakes is 76 W per string (= 3.2 A @ 24 VDC). Service Interface X18 Ethernet TCP/IP, 100 Mbit/s, max. cable distance 100 m Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 62: Topology Example With Two External Strings
MKD Installation Manual | 9 Electrical Installation 9.5.2 Topology example with two external strings Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 63: Topology Example With One External String Migrated To Cabinet
MKD Installation Manual | 9 Electrical Installation 9.5.3 Topology example with one external string migrated to cabinet Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 64: Connection Overview
MKD Installation Manual | 9 Electrical Installation 9.6 Connection Overview 9.6.1 Connector Position MKD-C Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 65: Connector Position Mkd-N (6A, 12A)
MKD Installation Manual | 9 Electrical Installation 9.6.2 Connector Position MKD-N (6A, 12A) Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 66: Connector Position Mkd-N (24A)
MKD Installation Manual | 9 Electrical Installation 9.6.3 Connector Position MKD-N (24A) Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 67: Connector Position Mkd-N (48A)
MKD Installation Manual | 9 Electrical Installation 9.6.4 Connector Position MKD-N (48A) Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 68: Connection Diagrams
MKD Installation Manual | 9 Electrical Installation 9.6.5 Connection diagrams 9.6.5.1 MKD-C Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 69: Mkd-N (6A, 12A)
MKD Installation Manual | 9 Electrical Installation 9.6.5.2 MKD-N (6A, 12A) Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 70: Mkd-N (24A, 48A)
MKD Installation Manual | 9 Electrical Installation 9.6.5.3 MKD-N (24A, 48A) Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 71: Connector Pin Assignments
Wiring example power supply: (➜ # 81) Pin Signal Description 3~ mains supply L1, 1~ supply L, DC supply + 3~ mains supply L2 3~ mains supply L3, 1~ supply N, DC supply - Protective earth Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 72: X13: Mkd-C, 24V Dc Logic Supply
Slow, isolated, sink, type EN 61131-2 type 1 Digital-In 3 Slow, isolated, sink, type EN 61131-2 type 1 DCOM Ground for digital I/O Digital-Out+ Slow, isolated, sink, type EN 61131-2 type 1 Digital-Out- Slow, isolated, sink, type EN 61131-2 type 1 Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 73: X16A, X16B: Mkd-C, Global Sto String 2 And
Supports automatic discovery in WorkBench if in the same sub-net. Interface Details: (➜ # 107) Signal Description Tx + Transmit + Tx - Transmit - Rx + Receive + Rx - Receive - Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 74: X20A, X20B: Mkd-C, String 2/3 Dc Power
MKD-C, MKD-N, front 3 slide contacts with screws Connects DC-Bus link between modules Details: (➜ # 87) Pin Signal Description + DC DC bus link + - DC DC bus link - Protective earth Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 75: X24A, X24B: Mkd-N, I/O
9.6.6.14 X25: MKD-C, DC Bus sharing MKD-C, bottom 3 pin, pitch 10.16 mm With shield plate Wiring example DC-Bus: (➜ # 87) Pin Signal Description + DC DC-Bus link + - DC DC-Bus link - n.c. not connected Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 76: X26A, X26B: Mkd-N, Local Sto
X27 IN port, X28 OUT port Node ID to be set by WorkBench Interface Details: (➜ # 84) Signal Description Transmit + Tx - Transmit - Rx + Receive + Rx - Receive - Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 77: X29A, X29B: Mkd-N 6A Or 12A, Motor Power, Brake
9.6.6.19 X30A: MKD-N 24A or 48A, Motor Brake MKD-N, bottom 2 pin, pitch 3.81 mm required for SIL3 brake control Wiring example motor brake: (➜ # 92) Pin Signal Description Motor holding brake + Motor holding brake - Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 78: X31A, X31B: Mkd-N, Primary Feedback
DAT+ Zero+ Zero+ COM- DAT- DAT- DAT- DAT- Zero- Zero- +5 V +5 V +5 V +5 V +5 V +5 V +5 V CLK = Clock, DAT = Data, Th = thermal control Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 79: X33A, X33B: Mkd-N, Secondary Feedback
Input for secondary feedback X33A for Axis 1, X33B for Axis 2 if applicable Wiring examples secondary Feedback: (➜ # Sine / Cos Incr. Enc. Shield Shield Zero+ Zero+ Zero- Zero- +5 V +5 V Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 80: Electrical Supply Connection
This page illustrates all the possible connection variations for different electrical supply net- works. Rated supply voltage (TT network) for MKD-C is 400/480 VAC. An isolating transformer is required for non TT networks or other voltage ratings. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 81: Mains Supply Connection (X12)
Directly to 3-phase supply network (➜ # 80), 400/480 VAC, 50/60 Hz Fusing (such as fusible cut-outs, FN1/2/3) to be provided by the user: (➜ # 38). Available Mains Chokes: (➜ # 140) Signal Description Line 1 Line 2 Line 3 Protective Earth Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 82: Logic Supply Voltage 24 Vdc (X13)
Fusing (such as fusible cut-outs, FA1) to be provided by the user: "Fusing" (➜ # 38). Signal Description +24 VDC Auxiliary voltage 24V Supply GND Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 83: Drive String Connection
24 VDC supply for emergency ramp down or brake situations. Cable which exit the cabinet, should be threaded through grommets. To ensure protection class IP67, Kollmorgen recommends cable entry system KDL/S com- bined with cable entry grommet KDT/S manufactured by: Murrplastik Systemtechnik GmbH Fabrikstraße 10... -
Page 84: String 1 (Central)
X22 to X27 or X28 to X27 are connected via the short EtherCAT Module cable (➜ # 143). Signal Description Transmit + Tx - Transmit - Rx + Receive + Rx - Receive - These port may not be directly connected to standard EtherCAT or Ethernet TCP/IP nodes. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 85: Strings 1 And 2 (Central)
Adapter String 2 (➜ # 143). Front and RJ45 LED signals (➜ # 46). MKD-C MKD-N MKD-N Signal Description Rx + Receive + Rx - Receive - Tx + Transmit + Tx - Transmit - Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 86: Strings 2 And 3 (Decentral)
The DC power lines supply DC power for up to 14 AKD-N drives in one string. Connection for the DC power must be done by a mating connector with strain relief due to EMC reasons. This interface is connected via the Kollmorgen MKC-HYB-z-AKN cable. Pin Signal Description... -
Page 87: Dc Bus Link (X20, X23, X25)
(➜ # 42). Use external fusing for device protection. Fusing (such as fusible cut-outs, FD1/FD2) to be provided by the user: (➜ # 38) . Signal Description DC Bus link positive DC Bus link negative n.c. not connected Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 88: Dc Bus Sharing Mkd-C-Ca To Supercapacitor (Sc)
The supercapacitor must be discharged via an external regen resistor. Example wiring for discharging (➜ # 90). The manufacturer of the machine must generate a risk assessment for the sytem with super- cap. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 89: Dc Bus Sharing Examples
Check or set the current regulator value (max. 20A) via keyword VBUS.MAINSCURRENTLIMIT Adjust Precharge timeout or set to 0 s via keyword VBUS.PRECHARGETO Save to Device The supercapacitor must be discharged via an external regen resistor. Example wiring for discharging (➜ # 90). Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 90: Discharging
2. Switch of power supply for the MKD-C-CA devices ('Lock' contact closes). 3. Close switch S0 (discharge) and keep it closed for the discharging time analyzed during the risk assessment. 4. Switch off mains power. Regen resistor (R1) sizing Contact Kollmorgen support for help, please. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 91: External Regen Resistor (X14)
The regen circuit +RB/-RB is short circuit proof. Observe the prohibition of continuous, oper- ational short circuits to the external regen resistor contacts (➜ # 20). Pin Signal Description External Regen Resistor positive External Regen Resistor negative Protective Earth Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 92: Motor Connection
Only install motors with insulation class F (acc. to IEC60085) or above. Only install Kollmorgen cables that meet the requirements: (➜ # 42). Motor Brakes A 24 V holding brake in the motor can be controlled directly by the drive. The brake works with sufficient 24 V voltage level only. -
Page 93: Motor Single Cable Connection (X29, X30, X31)
MKD-N 24 A or 48 A axes Signal Description Motor phase U Motor phase V Motor phase W Protective earth (motor housing) Signal Description Motor Brake positive Motor Brake negative Signal Description COM+ SFD3/DSL positive COM- SFD3/DSL positive Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 94: Motor Power And Motor Brake X29, Motor Feedback X31
9.11.1.1 Motor Power and Motor Brake X29, Motor Feedback X31 Valid for MKD-N axes with 6 A or 12 A. 9.11.1.2 Motor Power X29, Motor Brake X30, Motor Feedback X31 Valid for MKD-N axes with 24 A or 48 A. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 95: Motor Dual Cable Connection (X29, X30, X32)
MKD-N 24 A or 48 A axes Signal Description Motor phase U Motor phase V Motor phase W Protective earth (motor housing) Signal Description Motor Brake positive Motor Brake negative Signal Description 1...15 See (➜ # 97) Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 96: Motor Power And Motor Brake X29
9.11.2.1 Motor Power and Motor Brake X29 Valid for MKD-N axes with 6 A or 12 A. 9.11.2.2 Motor Power X29, Motor Brake X30 Valid for MKD-N axes with 24 A or 48 A. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 97: Motor Feedback X32
Zero- +5 V +5 V +5 V +5 V +5 V +5 V +5 V CLK = Clock, DAT = Data, Th = thermal control BiSS Mode C interface from Renishaw (model Resolute RA26B) Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 98: Secondary Feedback Connection (X33)
Input for secondary feedback X33A for Axis 1, X33B for Axis 2 if applicable X33B is available in dual-axis modules only. Sine / Cos Incr. Enc. Shield Shield Zero+ Zero+ Zero- Zero- +5 V +5 V Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 99: I/O Connection
OFF: 0 VDC to 12 VDC, < 50 mA immunity 60 VDC STO outputs (X24) as per IEC61131-2 type 1 max. 30 VDC, 100 mA short circuit proof galvanic isolation for 30 VDC Update rate 62.5 µs Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 100: Pinout Mkd-C I/O Connectors X15 And X16
STO-Enable String 3 + STO String 3 + Global STO Enable String of 3 (➜ # 115) STO-Enable String 3 - STO String 3 - STO Ground GND STO Ground of 24 V STO supply Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 101: Pinout Mkd-N I/O Connectors X24 And X26
+ 24 V STO 24V STO supply voltage STO-Enable + STO + Local STO Enable + (➜ # 119) STO-Enable - STO - Local STO Enable - STO Ground GND STO Ground of 24 V STO supply Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 102: Wiring Of Digital Inputs (X15, X16, X24, X26)
ENABLE signal (Terminal X15B/1). Enable is possible only if the input STO-String 2 or 3 (valid for DC power strings 2 or 3) have a 24 V signal (➜ # 109) and Software Enable is set. In the disabled state the connected motors have no torque. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 103: Digital Inputs Mkd-N (X24)
Connector X26 on MKD-N offers access to local STO input signals of the included axes in the MKD-N module. There is one local STO-Enable input for each axis. For description of STO interface and functionality refer to (➜ # 109). Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 104: Wiring Of Digital Outputs (X15, X24)
- Contact closed when there is no fault and the drive is enabled. Technical characteristics: Relay output, max. 30 VDC or 42 VAC, 1 A Time to close: max. 10 ms Time to open: max. 10 ms Wiring diagram: Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 105: Sto Status Outputs (X15A, X24)
Can be wired as sink or source (current sourcing in the example below) Update rate: 250 µs Wiring diagram: * On MKD-N connector X24A is used for axis 1, X24B is used for axis 2 if built-in. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 106: Motion Bus Interface (X10/X11)
4, 5 n.c. n.c. Receive- Transmit - 7, 8 n.c. n.c. 9.14.2 EtherCAT MKD-C can be connected as slaves to the EtherCAT network (CoE) via RJ-45 connectors X10 (in port) and X11 (out port). Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 107: Service Interface (X18)
Signal Transmit + n.c. Transmit - Receive- Receive+ n.c. n.c. n.c. 9.15.2 Service Bus Protocols Protocol Type Ethernet TCP/IP Service Bus, 100 Mbit/s Network hubs and transfer rate of 10 Mbit/s are not supported. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 108: Functional Safety
MKD Installation Manual | 10 Functional Safety 10 Functional Safety Valid for MKD Hardware Revision -. 10.1 STO (Safe Torque Off) 10.2 Brake interruption contact Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 109: Sto (Safe Torque Off)
STO. Even if the STO function will be issued for a whole year, this event will only hap- pen every 100 Billion years. The STO Status signals are informal and not relevant for functional safety. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 110: Use As Directed
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. MKD-N have not to be used for driving elevators. -
Page 111: Topology Overview
Test pulses with T1 ≤ 300 µs and T2 ≥ 200 ms will not have any influence to the safety rel- evant STO function. Test pulses, which are outside of this specification, will switch the STO function, but will not create a dangerous situation. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 112: Sto 24 Vdc Voltage Supply
The delay from falling edge at global STO Enable input until energy supply to the motors is interrupted, depends on the number of connected MKD-N to the string. Maximum reaction time is 10 ms. The more MKD-N are connected to the string, the shorter is the reaction time. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 113: Signal Diagram (Sequence)
Based on the standards according to EN60204-1 or EN 13849-1, you must implement a restart interlock. The design and execution depends on the respective risk assessment of the application and its safety level as well as safety rating. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 114: Global Safe Torque Off (Strings 2 Or 3)
10.1.11.1 General information (global STO) The global STO function uses the following devices: MKD-C, AKD-N without option "DS" or "DT", Kollmorgen hybrid connection string cable. There is one STO input and one STO-Status output for every DC Power string. The string STO input release the power output stage of all AKD-N (without option DS/DT) connected to the string as long as a 24 V signal is applied to this input. -
Page 115: Application Example (Global Sto)
STO inputs of an MKD-C device to SIL2, PLd. Both drive strings are switched independently. Kollmorgen KSM modules cannot be used. Environment notes and wiring requirements: (➜ # 110). Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 116: Functional Description (Global Sto)
When wiring the STO circuits within a enclosure, the cables and the enclosure must 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. Use Kollmorgen cables only. -
Page 117: Functional Test (Global Sto)
2. Activate the global STO function, for example, by opening protective screen (voltage at STO input = 0V). 3. The corresponding string STO-Status message changes the voltage level, the string can- not be enabled. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 118: Local Sto On Mkd-N
Pinout connector STO output signals X24 A Axis 1 X24 B Axis 2 1...3 Digital In 1...3 1...3 Digital In 1...3 DCOM DCOM 5...6 Digital Out 5...6 Digital Out STO-Status + STO-Status + STO-Status - STO-Status - Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 119: Application Example (Local Sto)
STO inputs of a dual-axis MKD-N drive module to SIL2, PLd. Both axes strings are switched independently. Kollmorgen KSM modules cannot be used. Environment notes and wiring requirements: (➜ # 110). Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 120: Functional Description (Local Sto)
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 input STO = 0V) 3. The drive cannot be enabled. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 121: Local Sto On Akd-N
The local STO input on the AKD-N and MKD-N have no influence to the global STO as well. The local AKD-N STO functionality is described in the AKD-N installation manual. Refer to the AKD-N Installation Manual for full information. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 122: Brake Interruption Contact
Ensure that the jumper is removed (➜ # 123). Test the brake function regularly, for example with a standardized SBT. 10.2.3 Signal diagram (sequence) Fault F305 will be activated, if the sequence requirements given below are not fulfilled. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 123: Enclosure, Wiring
Ensure that the jumper is removed, if you want to connect the external safety device. Pinout connector X9 X9 A Axis 1 X9 B Axis 2 BrInt Out BrInt Out BrInt In BrInt In Wiring Example for axis 1 Environment notes and wiring requirements: (➜ # 122). Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 124: Setup
MKD Installation Manual | 11 Setup 11 Setup 11.1 Important Notes 11.2 Guide to setup 11.3 Setup software WorkBench 11.4 Initial System Test Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 125: Important Notes
Use ear protection if the control cabinet has to be opened during normal operation. If the MKD-C has been stored for more than 1 year, you must re-form the capacitors in the DC bus link circuit. Re-forming procedures are described in the Kollmorgen Developer Net- work (Forming). -
Page 126: Guide To Setup
All connected devices must have static IP addresses. Refer to the WorkBench Online Help for more information. EtherCAT Node Address The EtherCAT node address is assigned automatically by the EtherCAT master. Refer to WorkBench Online Help and EtherCAT manual for more information. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 127: System Setup
The MKD-C forwards the Ethernet packets to all connected drives and returns the response packets. Every connected axis has a unique MAC address and can be viewed as standalone Ethernet device (client). Example Auto-IP system Refer to the WorkBench Online Help for more information. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 128: Setup Software Workbench
This chapter describes the installation of the setup software WorkBench for MKD-C and MKD-N drives. Kollmorgen offers training and familiarization courses on request. 11.3.1 Use as directed The setup software is intended to be used for altering and saving the operating parameters for the MKD and AKD series of products. -
Page 129: Software Description
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 130: Installation Under Windows
Connection to the Ethernet interface of the PC Connect the interface cable to an Ethernet interface on your PC or to a Switch and to the service interface X18 of the MKD-C (➜ # 107). Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 131: Initial System Test
Using WorkBench, you can now configure the drive through this connection. 11.4.3 Install and start WorkBench WorkBench is available from the DVD included with the drive and on the Kollmorgen Web- site: www.kollmorgen.com. Select the install file and follow the instructions given by the installer. -
Page 132: Appendix
MKD Installation Manual | 12 Appendix 12 Appendix 12.1 Fault and Warning Messages 12.2 Troubleshooting the MKD System 12.3 Accessories 12.4 Spare Parts Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 133: Fault And Warning Messages
Power board EEPROM corrupted serial number data. F213 Power board EEPROM corrupted parameter stamp. F214 Power board EEPROM corrupted parameter data. F219 Control board EEPROM write failed. F230 Power board EEPROM write failed. F232 Power board EEPROM invalid data. Kollmorgen | kdn.kollmorgen.com | February 2020... - Page 134 String 1 over current. F581 String 2 over current. F582 String 3 over current. F583 Rectifier desaturated. F584 Total string current over peak limit. F587 All AC input phases lost while drive was enabled. Kollmorgen | kdn.kollmorgen.com | February 2020...
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Page 135: Mkd-N And Akd-N Faults
F139 Target position overshot due to invalid motion task activation. n151 Not enough distance to move; motion exception. n152 Not enough distance to move; following motion exception. n153 Velocity limit violation, exceeding max limit. Kollmorgen | kdn.kollmorgen.com | February 2020... - Page 136 Brake open circuit. F306 Brake short circuit. F307 Brake applied during enable state. F308 Voltage exceeds motor rating. n309 Motor I²t load. F312 Brake released when it should be applied. F401 Failed to set feedback type. Kollmorgen | kdn.kollmorgen.com | February 2020...
- Page 137 Wake & Shake - Motor V phase missing. F485 Wake & Shake - Motor W phase missing. F486 Input change rate exceeds maximum speed of emulated encoder. F487 Wake & Shake - Validating positive movement Failed. Kollmorgen | kdn.kollmorgen.com | February 2020...
- Page 138 EMUEMODE incompatible with DRV.HANDWHEELSRC. F621 Control Board CRC fault. F623 Power Board CRC fault. F624 Power Board Watchdog fault. F625 Power Board Communication fault. F626 Power Board FPGA not configured. F627 Control Board Watchdog fault. Kollmorgen | kdn.kollmorgen.com | February 2020...
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Page 139: Troubleshooting The Mkd System
Drive problems occur for a variety of reasons, depending on the conditions in your applic- ation. The causes of faults in multi-axis systems can be very complex. If you cannot resolve a fault, Kollmorgen customer support can give you further assistance. Eliminate errors and faults in compliance with work safety rules. Troubleshooting only by qualified and trained staff. -
Page 140: Accessories
Mounting: 50 mm free space required above and below the device. Connection diagram: see (➜ # 81) Technical Data Inducti- Nominal Termi- Weight vity Current nals Type [mH] [%] [mm] [mm] [mm] [mm] [mm] [mm] [mm²] [kg] 3L 0,5-63-4 0.47 8x12 9.65 Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 141: Regen Resistors
Use fusing (e.g. FPS) to prevent the resistor from being overloaded (➜ # 38). Regen resistor Device Resis- Rated Max. Order code tance Power Power [Ω] BAS(U) 2000-10 2000 3200 DE-103874 MKD-C003007 BAS(U) 3000-10 3000 4800 DE-103875 BAS(U) 6000-10 6000 9600 DE-103876 Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 142: Dimensions And Data
12.3.2.2 Dimensions and Data Protection class: IP20 High Temperature! The surface temperature can exceed 250°C. Risk of burns and fire! Measure the temperature before touching. Use fusing (e.g. FPS) to prevent the resistor from being overloaded. Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 143: Cables
MKD-N 48A Power, 16 mm² MKH-16N-z-M40 MKD-N 48A Power, Brake, 16 mm² MKH-16B-z-M40 AKD-N Power, 1.5 mm² CM0NA2-015 AKD-N Power, Brake, 1.5 mm² CM1NA2-015 AKD-N Power, 2.5 mm² CM0NA2-025 AKD-N Power, Brake, 2.5 mm² CM1NA2-025 Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 144: Spare Parts
MKD-N-ConKit Axis B Connector 6...12A X29A (6 pin, shield plate etc.) CON-MKD-N-06-12-X29A Connector 6...12A X29B (6 pin, shield plate etc.) CON-MKD-N-X29B Connector 24...48A X29A (4 pin, shield plate etc.) CON-MKD-N-24-48-X29A Connector 24...48A X30A (2 pin) CON-MKD-N-X30A Kollmorgen | kdn.kollmorgen.com | February 2020... -
Page 145: Index
Disassemble Marquages UL Disposal Mechanical Data Document Revisions MKD Multiaxes System Dynamic Braking Motor interface Motor overload protection Mounting position Electrical Data Emergency Off Emergency Stop Function Nameplate ENABLE Noise Emission Enclosure protection EtherCAT Kollmorgen | kdn.kollmorgen.com | February 2020... - Page 146 Hardware requirements Functional Safety Installation Product Safety Operating systems Safety Instructions Brake Interruption Drive Setup Electrical Installation General Mechanical Installation Service Interface Setup Setup Software Shielding Shock-hazard protection Site Site altitude Stacking Height Storage Transport Kollmorgen | kdn.kollmorgen.com | February 2020...
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Page 147: Record Of Document Revisions
Chapter used standards removed, electrical data completed, 42kA rating, DC-Bus chapter com- C, 09/2019 pleted, SuperCap notes added, Brake interruption contact completed, UL markings updated, Chapter functional safety completed D, 02/2020 Thermal dissipation and efficiency factor added Kollmorgen | kdn.kollmorgen.com | February 2020... - Page 148 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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