Kollmorgen AKD 2G-S Series Installation Manual
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Kollmorgen AKD 2G-S Series Installation Manual

With functional safety option 1 sto - sil2
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®
AKD
2G-Sxx
STO - SIL2
Installation Manual
Manual Edition: C, July 2020
Safety Edition: S102, April 2020
®
Valid for AKD
2G-S Hardware Revision A
Part Number 907-200003-00
Original Document
For safe and proper use, follow these
instructions. Keep for future use.
Beta Drives: All approvals are pending.
with Functional Safety Option 1
, English

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Summary of Contents for Kollmorgen AKD 2G-S Series

  • Page 1 ® 2G-Sxx with Functional Safety Option 1 STO - SIL2 Installation Manual , English Manual Edition: C, July 2020 Safety Edition: S102, April 2020 ® 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.

  • Page 3: Table Of Contents

    6.5.1.4 Auxiliary voltage input data, 24VDC, type AKD2G-Sxx- (S) 6.5.1.5 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 | July 2020...

  • Page 4: X21: I/O, Feedback

    8.5.5.7 X21: I/O, Feedback 4 8.5.5.8 X22: I/O, EEO2, Feedback 5 8.5.5.9 X23: I/O, EEO1, Feedback 3 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) Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 5: X22: I/O, Eeo2, Feedback

    8.14 Modbus TCP (X20) 8.15 I/O Connection (X21/X22/X23) 8.15.1 Pinout 8.15.2 Technical data 8.15.3 Analog Input 8.15.4 Analog Output 8.15.5 Digital Inputs 8.15.5.1 Digital-In 1 and 2 8.15.5.2 Digital-In 3 to 12 8.15.5.3 Digital-In/Out 1 and 2 Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 6 10.3.1 Safety Properties Overview 10.3.2 Technical Data 10.3.3 STO (Safe Torque Off) 10.3.3.1 Important Notes 10.3.3.2 Activation 10.3.3.3 Restart 10.3.3.4 Timing 10.3.3.5 Safety Diagnostic view in WorkBench 10.3.3.6 Fault Reaction / Failure Messages 10.4 Settings Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 7 11 Approvals 11.1 Conformance with UL/cUL 11.2 Conformance with European Directives 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 | July 2020...
  • Page 8 AKD2G-S Installation Manual, Safety 1 | --- / --- Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 9: General

    AKD2G-S Installation Manual, 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 Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 10: About This Installation Manual

    Accessories Manual: provides information for accessories like cables and regen res- istors 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 | July 2020...

  • Page 12: Abbreviations Used

    FS1, FS2, FS3 Functional Safety Option 1, 2, 3 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) Most significant byte (or bit)

  • Page 13: Product Safety

    AKD2G-S Installation Manual, Safety 1 | 3   Product Safety 3 Product Safety 3.1 You should pay attention to this 3.2 Use as Directed 3.3 Prohibited Use 3.4 Warning note labels 3.5 Shock-hazard Protection 3.6 Stop / Emergency Stop / Emergency Off Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 14: You Should Pay Attention To This

    In case of using an undervoltage protection device, you must observe EN 60204-1:2006 chapter 7.5 . ATTENTION: The drive is ready to operate with pre-configured STO function. Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 15 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.

  • Page 16: 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 (➜ # 133) before using safety functionality. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 17: Prohibited Use

    3.4.2 Adhesive label in the package Follow the instructions given on the adhesive labels in the package. If a warning note label is damaged, it must be replaced immediately. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 18: 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 19: 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 | July 2020...

  • Page 20: 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 | July 2020...

  • Page 21: Product Life Cycle Handling

    AKD2G-S Installation Manual, 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 | July 2020...

  • Page 22: 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 KDN (Forming). Kollmorgen | kdn.kollmorgen.com | July 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 | July 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: Package

    AKD2G-S Installation Manual, Safety 1 | 5   Package 5 Package 5.1 Package Supplied 5.2 Nameplate 5.3 Part Number Scheme Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 26: 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 | July 2020...

  • Page 27: Part Number Scheme

    AKD2G IP20 housing, position indexer, EtherCAT, 120 V to 240 V mains supply, 2 x 3 A rated current, dual axis, Plattform Revision A, dual channel STO SIL2 PLd, with all possible connectors (X21 + X22 + X23), PCBs coated, with mating connectors. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 28: 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 Electrical Motor Braking 6.7 LCD Display and Push-buttons (B1, B2) 6.8 SD Card Slot Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 29: The Akd2G Family Of Digital Drives

    IEC 61800-5-1, between the power input / motor connections and the signal electronics. Soft-start, over voltage detection, short-circuit protection, phase-loss detection. Temperature monitoring of the drive and motor. Electronic motor overload protection: foldback mechanism or optional fault response. Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 30 EtherNet Fieldbus interface (➜ # 95) Accessories SFA (Smart Feedback Adapter) (➜ # 91). Hybrid motor cables, motor power cables, motor feedback cables. External regen resistors. For accessories refer to your regional Accessories Manual. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 31: Ambient Conditions, Ventilation, And Mounting Position

    6V03S, 7V03D, 6V03D, 7V03S, Units 6V06S, 7V06D, 6V06D 7V06S 6V12S 7V12S Weight Width Height, without connectors Height, with connectors Depth, without connectors Depth, with connectors Dimension Drawing see section Mechanical Installation (➜ # 42). Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 32: Performance Data

    Position Loop Update Period µs Current Loop Bandwidth 3000 3000 3000 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 | July 2020...

  • Page 33: Electrical Data

    Units 6V03S 6V06S 6V12S 7V03S 7V06S 7V12S Aux. voltage supply (PELV) 24 V (±10%, check voltage drop) - control current without motor brake < 1.0 - control current with one motor brake < 3.1 Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 34: Output Data, Type Akd2G-Sxx- (S)

    (➜ # 37) Brake output Voltage (±10%) Voltage power saving 12 to 24 Output under current fault 100 (required for fault detection) Output over current fault 2.25 (required for fault detection) Output current, maximum Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 35: Dual Axis Variants (D: I1=I2)

    7V03D 7V06D Aux. voltage supply (PELV) 24 V (±10%, check voltage drop) - current without motor brake <1 - control current with one motor brake <3.1 - control current with two motor brakes <5.2 Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 36: Output Data, Type Akd2G-Sxx- (D)

    Brake output Voltage (±10%) Voltage power saving 12 to 24 Output under current fault 100 (required for fault detection) Output over current fault 2.25 (required for fault detection) Output current, maximum 2.1 per brake Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 37: Electrical Motor Braking

    “F2006 Bus Over voltage". The ready to operate contact (terminals X21/B5-B6) is opened (➜ # 114). Observe the regeneration time (some minutes) after full load with peak brake power. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 38: Technical Data For Akd2G-Sxx-6V

    7V03S, 7V06S Absorption energy in capacitors (±20%) 30 / 18 DC Bus Capacitance µF 7V12S, 7V03D, Absorption energy in capacitors (±20%) 50 / 35 7V06D DC Bus Capacitance µF * depends on connected regen resistor power. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • 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 | July 2020...
  • 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 | July 2020...

  • Page 41: Sd Card Slot

    4GB to 32GB SDXC exFAT (Microsoft) >32GB to 2TB Features Boot AKD2G with data from SD card: Remove 24V. Apply 24V with buttons B1 and B2 pressed. Release buttons after the dis- play is updated. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 42: Mechanical Installation

    AKD2G-S Installation Manual, 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 | July 2020...

  • Page 43: Important Notes

    Assemble the drive and power supply near each other on the conductive, grounded mounting plate in the cabinet. 5. Ground the drive. For EMC-compliant shielding and grounding, (➜ # 52). Ground the mounting plate, motor housing and CNC-GND of the control system. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 44: Dimensions

    H M P 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 78 40 Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 45: Electrical Installation

    8.8 Regen resistor (X3) 8.9 Motor Power, Brake and Feedback connection 8.10 EEO, Electronic Gearing, Master-Slave 8.11 EtherNet Fieldbus Interface (X11/X12) 8.12 CAN-Bus Interface (X13/X14) 8.13 Service Interface (X20) 8.14 Modbus TCP (X20) 8.15 I/O Connection (X21/X22/X23) Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 46: 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 | July 2020...

  • Page 47: Guide To Electrical Installation

    AKD2G-S Installation Manual, 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 (➜ # 49). 2. Install shielding and ground the drive.

  • Page 48: Wiring

    0,5 mm², 21 awg I/O control signals Connector, 2x11 pol. 1.5 mm², 16 awg I/O control signals Connector, 2x10 pol. 1.5 mm², 16 awg Conventional feedback models SubD 15pol. HD (female) 0,5 mm², 21 awg Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 49: Cable And Wire Requirements

    8.3.3.1 Cable material For information on the chemical, mechanical, and electrical characteristics of the cables please refer to the Kollmorgen 2G Cable Guide or contact customer support. To reach the maximum permitted cable length, you must use cable material with the fol-...

  • Page 50: 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 | July 2020...

  • Page 51: 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 (➜ # 18). Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 52: Emi Noise Reduction

    (➜ # 51). Use Kollmorgen cables. Route power and control cables separately, Kollmorgen recom- mends a distance of at least 200 mm to improve interference immunity.

  • Page 53: Shielding With External Shielding Busbar

    AKD2G-S Installation Manual, 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 54: 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 55: 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 | July 2020...

  • Page 56: 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 57: 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 (➜ # 27). Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 58: Connector Position Akd2G-Sxx-7V

    AKD2G-S Installation Manual, 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 (➜ # 27). Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 59: Wiring Overview, Single Axis Drive

    AKD2G-S Installation Manual, Safety 1 | 8   Electrical Installation 8.5.3 Wiring overview, single axis drive Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 60: Wiring Overview, Dual Axis Drive

    AKD2G-S Installation Manual, Safety 1 | 8   Electrical Installation 8.5.4 Wiring overview, dual axis drive Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 61: 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 | July 2020...

  • Page 62: X10: 24 Vdc

    Supports automatic discovery in WorkBench if in the same sub-net. Interface Details: (➜ # 101) Pin Signal Description Pin Signal Description Transmit + Term. Termination Transmit - Receive - Receive + Term. Termination Term. Termination Term. Termination Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 63 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 | July 2020...
  • Page 64 EnDAT 2.2 Encoder Track A + Step + CW + CLK+ Track A - Step - CW - CLK- Track B + Dir + CCW + DAT+ Track B - Dir - CCW - DAT- Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 65: X23: I/O, Eeo1, Feedback

    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 | July 2020...

  • Page 66: X41: Sfa Feedback Converter, Eeo3/Eeo4 (Accessory)

    SIN- Step- S2 COS+ COS+ Dir+ CCW+ S4 COS- COS- Dir- CCW- CLK = CLOCK, DAT = DATA, SEN = SENSE, Th = Thermal control EEO3 / EEO4 connectivity (output) Incremental X41 Pin Encoder Zero+ Zero- Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 67: Power And Logic Voltage Supply (X3/X10)

    Protective earth Protective earth Protective earth Protective earth Phase L1 Phase L1 Phase L1 + DC n.c. n.c. Phase L2 n.c. Neutral N Phase L2 Phase L3 - DC For DC supply: observe notes (➜ # 70). Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 68: Wiring Examples Mains Power Supply

    Set VBUS.ACNOMINAL to desired nominal AC line voltage for lines other than nominal rated VAC. AC line filtering to be provided by the user. Use filter type FN2090, refer to the Accessor- ies Manual for more information. Use shielded cable between filter and drive. Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 69 Motor cable < 10 m: no filter, in industrial environment, category C3. Motor cable < 10 m: use filter FN 3288 in industrial environment, category C2. Motor cable ≥ 10 m: use filter FN 3288 in industrial environment, category C2. Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 70 Provide a means to safely absorb energy from the motor when slowing down/re- generating. If the DC power source is a battery energy absorption should just work. DC supply polarity must be properly wired. Improper polarity of DC power will damage the drive and void warranty. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 71: Fusing

    AKD2G-Sxx-6V06S 10 A (Time-Delay) LPJ10SP/DFJ10 AJT10/HSJ10 AKD2G-Sxx-6V03D AKD2G-Sxx-6V12S 15 A (Time-Delay) LPJ15SP/DFJ15 AJT15/HSJ15 AKD2G-Sxx-6V06D AKD2G-Sxx-7V03S 10 A (Time-Delay) LPJ10SP/DFJ10 AJT10/HSJ10 AKD2G-Sxx-7V06S 10 A (Time-Delay) LPJ10SP/DFJ10 AJT10/HSJ10 AKD2G-Sxx-7V03D AKD2G-Sxx-7V12S 15 A (Time-Delay) LPJ15SP/DFJ15 AJT15/HSJ15 AKD2G-Sxx-7V06D Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 72 FN maximum rating: 30 A FN recommended rating and regional approvals see table below: Ampere SCCR Example UL Example CE Drive Model rating rating Eaton or ABB Siemens AKD2G-Sxx-6V 15 A 35 kA SU203M-K30 3VA51954EC310 Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 73 3VA51954EC310A 12 A to 15 A 20 A 10 kA SU203M-K20 3VA51204EC310A 18 A to 24 A 30 A 10 kA SU203M-K30 3VA51304EC310A 27 A to 36 A 30 A 10 kA SU203M-K30 3VA51304EC310A Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 74 AKD2G-Sxx-6V06S 15 A (Time-Delay) DFJ-15 HP6M15 AKD2G-Sxx-6V03D AKD2G-Sxx-6V12S 15 A (Time-Delay) DFJ-15 HP6M15 AKD2G-Sxx-6V06D AKD2G-Sxx-7V03S 10 A (Time-Delay) FWP-10B HP10M10 AKD2G-Sxx-7V06S 10 A (Time-Delay) FWP-10B HP10M10 AKD2G-Sxx-7V03D AKD2G-Sxx-7V12S 15 A (Time-Delay) FWP-15B HP10M15 AKD2G-Sxx-7V06D Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 75: Auxiliary Voltage Power Supply 24 Vdc (X10)

    20 A. With the data given in the table above, you can connect for example: 6 single axis drives, or 4 dual axis drives, or 3 single + 2 dual axis drives. Wiring example with three phase power supply unit: Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 76: Dc Bus Link (X3)

    DC bus links interconnected. Interconnection of DC bus links works best in systems powered by 3-phase AC or DC power. Consult Kollmorgen for DC bus linking with single phase AC power input. 8 pin, pitch 7.62 mm optional T version Mating connector data (➜...

  • Page 77: Wiring Example With T Connectors

    If a device fails in this system due to a short-circuit, only its fuses (Fbus) are tripped and the rest of the network continues uninterrupted. The solid busbars can conduct significantly lar- ger currents than T connectors, because the compensating current does not flow through the connector as above. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 78: Regen Resistor (X3)

    Siba all AKD2G-Sxx Eaton 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 | July 2020...

  • Page 79: Motor Power, Brake And Feedback Connection

    Axis 1: dual cable connection (➜ # 82) commutation feedback: Resolver, SFD, EnDAT, HIPERFACE, BiSS, SinCos, ComCoder, Hall, SmartAbs etc. by using X23 position feedback: - X21: Step/Direction - X22: Step/Direction or incremental encoder Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 80: Motor Single Cable Connection

    Motors with two wire feedback systems like SFD3 or Hiperface DSL can be connected to AKD2G by using a single Kollmorgen hybrid cable. Depending on the AKD2G version (single or dual axis), one or two single cable motor connections are possible.

  • Page 81: Feedback Connectors

    Mating connector data (➜ # 48). Cable length: (➜ # 49) Connector Functionality Pinout, Wiring Step/Direction, CW/CCW (➜ # 88) Step/Direction, CW/CCW, Incr.Encoder, EnDAT, BiSS (➜ # 89) Several conventional feedback types (➜ # 90) Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 82: Motor Dual Cable Connection

    Feedback types: see X21 connectivity (➜ # 88) X22 (Feedback 5) 2 x 10 pins (left connector A, right connector B) Feedback types: see X22 connectivity (➜ # 89) Mating connector data (➜ # 48). Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 83: Motor Power And Motor Brake Connectors

    AKD2G-S Installation Manual, 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 (➜ # 84).

  • Page 84: 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 (➜ # 80). Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 85 5 rpm (AXIS#.ZEROV) for at least 6 ms (AXIS#.ZEROT). 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 | July 2020...

  • Page 86: Feedback Connection

    X23, X41 Sine Encoder + Hall X23, X41 Incremental Encoder X22, X23, X41 Incremental Encoder + Hall (Comcoder) X23, X41 Hall Sensors X23, X41 Step/Direction X21, X22, X23, X41 CW/CCW X21, X22, X23, X41 Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 87: Feedback Connector

    Rated voltage 11 V. Rated current is 350 mA simultaneously for X1 and X2. Pin Signal Description F+ COM+ SFD3 +, HIPERFACE DSL +, SFA + F- COM- SFD3 -, HIPERFACE DSL -, SFA - Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 88: Feedback Connector X21

    Input for commutation or position feedback. Input for Electronic Gearing, (➜ # 92) Mating connector data (➜ # 48). Wiring example X21 Pin Step/Direction CW/CCW Step Direction 24 VDC 24 VDC Common (DGND) Common (DGND) Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 89: Feedback Connector X22

    Direction + CCW + Track B + DAT+ DAT+ Direction - CCW - Track B - DAT- DAT- AGND AGND AGND AGND AGND Feedback power supply must be supplied and controlled by the user. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 90: Feedback Connector X23

    +5 V +5 V +5 V S1 SIN+ SIN+ Step+ CW+ S3 SIN- SIN- Step- CW- S2 COS+ COS+ Dir+ CCW+ S4 COS- COS- Dir- CCW- CLK = CLOCK, DAT = DATA, SEN = SENSE, Th = Thermal control Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 91: Feedback Connector X41 (Sfa, Accessory)

    DIN rail using a standard DIN rail clip. SFA adds a 15 pole HD SubD female connector X41 to the system for connection of a Kollmorgen motor feed- back cable (see Kollmorgen 2G Cable Guide). Dimensions (LxWxD): 88.6 x 55.6 x 21.2 (28.6 with rail clip). Order codes see regional Accessories Manual.

  • Page 92: Eeo, Electronic Gearing, Master-Slave

    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 | July 2020...
  • Page 93 EEO3/EEO4 output, index negative EEO3/EEO4 output, ground Track A+ EEO3/EEO4 output, channel A positive Track A- EEO3/EEO4 output, channel A negative Track B+ EEO3/EEO4 output, channel B positive Track B- EEO3/EEO4 output, channel B negative Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 94: Electronic Gearing

    8.10.3.2 Master-Slave using optional X23 or X41 The master is configured for EEO1 (➜ # 93) on X23 or EEO3/EEO4 ((➜ # 93) with SFA) on X41, the Slave uses X23 (or X41 with SFA) for command input. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 95: Ethernet Fieldbus Interface (X11/X12)

    Activity Static off: No link. 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®...

  • Page 96: Profinet (Available 2021)

    OFF = No connection to the EtherNet Flashing = Sends/receives EtherNet frames Bus topology example (PROFINET) We suggest to use Kollmorgen ENCP cables. For more possible system solutions refer to the WorkBench Online Help. Communication profile For PROFINET communication profile description refer to the manual "AKD2G PROFINET Communication".

  • Page 97: Ethernet/Ip (Available 2021)

    Activity Static off: No link. Bus topology example (EtherNet/IP) We suggest to use Kollmorgen ENCP cables. For more possible system solutions refer to the WorkBench Online Help. Communication profile For EtherNet/IP communication profile description refer to the manual "AKD2G EtherNet/IP Communication".

  • Page 98: 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 99: Can-Bus Wiring

    AKD2G-S Installation Manual, Safety 1 | 8   Electrical Installation 8.12.2 CAN-Bus Wiring Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 100: Baud Rate For Can-Bus

    X13 connector of the last drive in the CAN net- work. 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 | July 2020...

  • Page 101: 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 | July 2020...

  • Page 102: Modbus Tcp (X20)

    HMI’s IP address. The last octet must be different. Modbus TCP and WorkBench/KAS IDE can operate simultaneously if a switch is used. Communication profile For Modbus communication profile description refer to the WorkBench Online Help. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 103: 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 | July 2020...

  • Page 104: 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 | July 2020...

  • Page 105: 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 para- meter AXIS#.DIR in WorkBench. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 106: 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 | July 2020...

  • Page 107: 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 | July 2020...

  • Page 108: Digital-In 3 To

    Technical characteristics 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 | July 2020...

  • Page 109: 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 | July 2020...

  • Page 110: Digital-In/Out 3 To

    No wire break detection 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 | July 2020...

  • Page 111: Digital Outputs

    These outputs are programmable with the setup software. By default, all outputs are 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 | July 2020...

  • Page 112: 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 | July 2020...

  • Page 113: 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 | July 2020...

  • Page 114: Digital-Out 9, Relay Contacts

    If an inductive load (relay or similar) is used, a freewheeling diode must be added to the load. Technical characteristics Relay output, max. 30 VDC or 42 VAC, 1 A Galvanic isolation for 24 VDC from PE Time to close: max. 10 ms Time to open: max. 10 ms Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 115: Setup

    AKD2G-S Installation Manual, 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 Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 116: Important Notes

    Additional information on setting up the equipment: Programming parameters and control loop behavior are described in the AKD2G User Manual (Online Help) . The setup of any fieldbus is described in the corresponding manual on the DVD. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 117: 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 | July 2020...

  • Page 118: Confirm Connections (Example: Directly To Pc)

    The EtherCAT node address is assigned automatically by the EtherCAT master. CAN Node ID Set a CAN node ID for the drive in WorkBench (parameter CANBUS.NODEID). PROFINET The station name and IP address must be set manually through the PROFINET master. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 119: 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 120: 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 121: 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 122: Installation Under Windows 7/8/10

    Connect the interface cable to an EtherNet interface on your PC or to a Switch and to the AKD2G service interface X20 (➜ # 101). The LCD display shows a sign, if the connection between AKD2G and WorkBench is active. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 123: Switch-On And Switch-Off Behavior

    The Hardware Enable does not initiate a controlled stop but switches off the power stage immediately. Set parameter AXIS#.MOTOR.BRAKEIMM to 1 with vertical axes, to apply the brake immediately after faults or Hardware Disable. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 124: Switch-On Behavior In Standard Operation

    AKD2G-S Installation Manual, 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. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 125: Switch-Off Behavior

    AXIS#.ZEROV or timeout occurs brake is applied. Category 1 stop according to IEC 60204 (➜ # 19). If the drive detects the motor to be at zero velocity (AXIS#.ZEROV) or timeout occurs (AXIS#.ZEROT), the motor brake is applied (➜ # 84). Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 126: Switch-Off Behavior Using A Digital Input (Controlled Stop)

    If the drive detects the motor to be at zero velocity (AXIS#.ZEROV) or timeout occurs (AXIS#.ZEROT), the motor brake is applied (➜ # 84). Set parameter AXIS#.MOTOR. BRAKEIMM to 1 with vertical axes, to apply the motor holding brake immediately after STO. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 127: Switch-Off Behavior In The Event Of A Fault

    If the drive detects the motor to be at zero velocity (AXIS#.ZEROV) or timeout occurs (AXIS#.ZEROT), the motor brake is applied (➜ # 84). Set parameter AXIS#.MOTOR. BRAKEIMM to 1 with vertical axes, to apply the motor holding brake immediately after faults. Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 128 This is a category 2 stop according to IEC 60204 (➜ # 19). If the drive detects the motor to be at zero velocity (AXIS#.ZEROV) or timeout occurs (AXIS#.ZEROT), the motor brake is applied (➜ # 84). Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 129 This is a category 2 stop according to IEC 60204 (➜ # 19). If the drive detects the motor to be at zero velocity (AXIS#.ZEROV) or timeout occurs (AXIS#.ZEROT), the motor brake is applied (➜ # 84). Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 130: 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 User Manual . Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 131: Troubleshooting

    Drive runs roughly 1. AXIS#.VL.Kp (velocity) too high 1. reduce AXIS#.VL.KP (velocity) 2. AXIS#.VL.Ki (velocity) too high 2. reduce AXIS#.VL.KI (velocity) 3. filters set too low 3. refer to documentation regarding increas- ing filtering (AXIS#.VL.AR*) Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 132 AKD2G-S Installation Manual, Safety 1 | 9   Setup --- / --- Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 133: Safety Manual

    F9004/9005 updated, SFF = 75%, STO certified 10.1 General notes 10.2 Verification 10.3 Safety Function Option 1 (I/O, SIL2 PLd) 10.4 Settings 10.5 Safety Faults, Safety Warnings 10.6 Functional Safety Parameter Reference Kollmorgen | kdn.kollmorgen.com | S102, April 2020...

  • Page 134: General Notes

    The safety properties listed in this chapter can be reached with Kollmorgen components. The user must ensure the compliance of the application with all relevant directives and local electrical code. The user is responsible for implementation and validation of the drive sys- tem and safety system.

  • Page 135: Use As Directed

    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 Safe failure fraction Safety Integrity Level Safe Torque Off Mission time Kollmorgen | kdn.kollmorgen.com | S102, April 2020...

  • Page 136: Enclosure, Wiring

    (for example, by laying the cable in a duct, placed in different sheathed cables, or protected individually by grounding connection). When wiring the digital inputs and outputs, take care, that short circuits between the inputs, the outputs or to a supply line are avoided. Kollmorgen | kdn.kollmorgen.com | S102, April 2020...

  • Page 137: Verification

    IEC 62061:2015 Functional safety of electrical/electronic/programmable electronic safety- related systems Available Safety Functions Abbr. Function Activation Refer to Safe Torque Off Safe digital inputs for one or for both axis (➜ # 139) Kollmorgen | kdn.kollmorgen.com | S102, April 2020...

  • Page 138: Safety Properties Overview

    1 (default). For parameter description refer to the Safety Parameters Reference Guide(➜ # 146). Factory Default Settings The drive is ready to operate with pre-configured STO function. AXIS#.SAFE.STO.REPORTFAULT is set to 1. Kollmorgen | kdn.kollmorgen.com | S102, April 2020...

  • Page 139: Sto (Safe Torque Off)

    F9005 occurs (➜ # 142). Review the enclosure and wiring instructions (➜ # 136). Wiring example STO single axis, SIL2/PLd, Emergency Stop Note: AXIS#.SAFE.STO.REPORTFAULT should be set to 1 if STO is activated by a switch. Kollmorgen | kdn.kollmorgen.com | S102, April 2020...

  • Page 140: 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 | S102, April 2020...

  • Page 141: Timing

    10.3.3.5 Safety Diagnostic view in WorkBench The WorkBench view "Safety Diagnostic" shows the current status on the safe inputs (AXIS#.SAFE.STO.A / AXIS#.SAFE.STO.B) and the logical status of the STO function for every axis. Kollmorgen | kdn.kollmorgen.com | S102, April 2020...

  • Page 142: Fault Reaction / Failure Messages

    +24 V +24 V F9005* +24 V F9005* +24 V +24 V F9005* * different status of STO-A/B for more than 100 ms A#: A1 for axis 1 or A2 for axis 2. Kollmorgen | kdn.kollmorgen.com | S102, April 2020...

  • Page 143: Settings

    Boot from flash Remove the SD card, then press both buttons and hold them down fallback image while turning on the 24 V power supply to boot from an on-board recovery image. Kollmorgen | kdn.kollmorgen.com | S102, April 2020...

  • Page 144: 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 | S102, April 2020...

  • Page 145: Drive Safety Faults

    7. Check safety controller. Switch off OSSD. 8. STO channels are unequal for 8. Check external safety device. more than 100ms. Drive does not enable 1. STO is still active. 1. Deactivate STO prior to HW Enable. Kollmorgen | kdn.kollmorgen.com | S102, April 2020...

  • Page 146: Functional Safety Parameter Reference

    = not available, Y = Yes, N = No Parameters are sorted alphanumeric Parameters related to Parameter safety functions Acc. Default Package Index AXIS1.SAFE.STO.A 5007 AXIS2.SAFE.STO.A 5107 AXIS1.SAFE.STO.ACTIVE 5007 AXIS2.SAFE.STO.ACTIVE 5107 AXIS1.SAFE.STO.B 5007 AXIS2.SAFE.STO.B 5107 AXIS1.SAFE.STO.REPORTFAULT Drive 5007 AXIS2.SAFE.STO.REPORTFAULT Drive 5007 Kollmorgen | kdn.kollmorgen.com | S102, April 2020...

  • Page 147: Safety Parameters, Sorted Alphanumeric

    For full STO information refer to " STO (Safe Torque Off)" (➜ # 139). Versions Action Version Notes Implemented 02-00-00-000 General Information Type Read Only Units Range 0 or 1 Default Value Data Type Integer Stored in Non Volatile Memory Kollmorgen | kdn.kollmorgen.com | S102, April 2020...

  • Page 148: Axis#.Safe.sto.active

    For full STO information refer to " STO (Safe Torque Off)" (➜ # 139). Versions Action Version Notes Implemented 02-00-00-000 General Information Type Read/Write Units Range 0 or 1 Default Value Data Type Integer Stored in Non Volatile Memory Kollmorgen | kdn.kollmorgen.com | S102, April 2020...

  • Page 149: Approvals

    AKD2G-S Installation Manual, Safety 1 | 11   Approvals 11 Approvals Beta Drives: All approvals are pending. 11.1 Conformance with UL/cUL 11.2 Conformance with European Directives 11.3 Conformance with RoHS 11.4 Conformance with REACH 11.5 Functional Safety approval 11.6 Conformance with EAC Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 150: Conformance With Ul/Cul

    Pour plus de sécurité, mesurez la ten- bus link and wait until the voltage is below 50 V. sion dans la liaison de bus CC et attendez qu'elle soit inférieure à 50 V. Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 151: Conformance With European Directives

    Kollmorgen declares the conformity of the product series AKD2G with the following dir- ectives: EC Directive 2006/42/EU, Machinery Directive...

  • Page 152: Conformance With Rohs

    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 153: Index

    Mating Connectors Mechanical Data Modbus Electronic Gearing Motor dual cable connection Emergency Off Motor Holding Brake Connection Emergency Stop Function Motor interface Emulated Encoder Output Motor single cable connection Enclosure (FS) Encoder emulation, interface EtherCAT Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 154 Functional Safety Product Safety Safety Faults Safety Instructions Drive Setup Electrical Installation General Mechanical Installation Safety Properties Safety Warnings SD Card Slot Service Interface Setup Setup Software SFD3 Shield connection Shielding Shock-hazard protection Site Kollmorgen | kdn.kollmorgen.com | July 2020...

  • Page 155: Record Of Document Revisions

    EtherNet/IP added, X22 digital feedbacks added, breakers for 7V models removed Performance data table corrected, mounting M/P values synchronized, X23/X41 pinout C, 07/2020 Step/Dir&CW/CCW updated, chapter CAN termination improved, PROFINET/EtherNet-IP label CHx->Portx, UL Markings updated, Modbus added Kollmorgen | kdn.kollmorgen.com | July 2020...
  • Page 156 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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