Kollmorgen AKD 2G-S Series Installation Manual
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®
AKD
2G-Sxx
STO - SIL2
Installation Manual
Manual Edition: F, June, 2023
Safety Edition: S103, March 2023
®
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.
with Functional Safety Option 1
, English
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Troubleshooting
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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: F, June, 2023 Safety Edition: S103, March 2023 ® 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 3.01 First revision Trademarks Regal Rexnord and Kollmorgen are trademarks of Regal Rexnord Corporation or one of its affiliated companies. AKD is a registered trademark of Kollmorgen Corporation. SafeMotion is a registered trademark of Kollmorgen Corporation. SMM is a registered trademark of Kollmorgen Corporation.
- Page 3 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...
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Page 4: Table Of Contents
6.5.1.3 Mains supply data, DC, type AKD2G-Sxx- (S) 6.5.1.4 Output data, type AKD2G-Sxx- (S) 6.5.2 Dual axis variants (D: I1=I2) 6.5.2.1 Mains supply data, 1 phase AC, type AKD2G-Sxx- (D) 6.5.2.2 Mains supply data, 3 phase AC, type AKD2G-Sxx- (D) Kollmorgen | kdn.kollmorgen.com | June, 2023... - Page 5 8.5.5.2 X3: Mains, regen resistor, DC-Bus 8.5.5.3 X3A/X3B: Mains, regen resistor, DC-Bus 8.5.5.4 X4: Second Brake 8.5.5.5 X5: Feedback 2 8.5.5.6 X10: 24 VDC 8.5.5.7 X11, X12: EtherNet Fieldbus 8.5.5.8 X13, X14: CAN bus (optional) Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 6 8.10.10.4 X23 BiSS (Mode C) Digital Feedback 8.10.10.5 X23 EnDAT 2.1 Feedback (with 1V p-p analog signals) 8.10.10.6 X23 EnDAT 2.2 Digital Feedback 8.10.10.7 X23 HIPERFACE Feedback 8.10.10.8 X23 Sine Encoder Feedback 8.10.10.9 X23 Sine Encoder with Hall Feedback Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 7 8.16.4.2 Digital-In 3 to 12 8.16.4.3 Digital-In/Out 1 and 2 8.16.4.4 Digital-In/Out 3 to 6 8.16.5 Digital Outputs 8.16.5.1 Digital-Out 1 to 6 8.16.5.2 Digital-Out 7 and 8 8.16.5.3 Digital-In/Out 1 and 2 8.16.5.4 Digital-In/Out 3 to 6 Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 8 10.3.3.5 Safety Diagnostic view in WorkBench 10.3.3.6 Fault Reaction / Failure Messages 10.4 Settings 10.5 Safety Faults, Safety Warnings 10.5.1 LCD Display 10.5.2 Drive Safety Faults 10.5.3 Safety Warnings 10.5.4 Troubleshooting Functional Safety 10.6 Functional Safety Parameter Reference Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 9 14 Requirements to User Documentation, Revision 1.12 14.1 SDRS/SSRS 14.2 IEC 61508-2 Annex D Requirements to User Documentation 14.3 ISO 13849-1, clause 11, Requirements to User Documentation 14.4 IEC 61508-3 Annex D Requirements to User Documentation 14.5 Revisions Kollmorgen | kdn.kollmorgen.com | June, 2023...
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Page 10: 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 | June, 2023... -
Page 11: About This Installation Manual
Accessories Manual: provides information for accessories like cables and regen resistors used with AKD2G. Regional variants of this manual exist. All documents can be downloaded from the Kollmorgen website www.kollmorgen.com. 2.2 Using the PDF Format This document includes several features for ease of navigation Cross References Table of contents and index include active cross references. -
Page 12: 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 | June, 2023... -
Page 13: Abbreviations Used
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) Zero pulse... -
Page 14: 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 | June, 2023... -
Page 15: You Should Pay Attention To This
Automatic Restart at Power On) and ensure, that power on is not possible, while humans are in a dangerous zone of the machine. In case of using an undervoltage protection device, you must observe EN 60204-1:2006 chapter 7.5 . ATTENTION: The drive is ready to operate with pre-configured STO function. Kollmorgen | kdn.kollmorgen.com | June, 2023... - Page 16 Thermal sensors, motor holding brakes and feedback systems built into the connected motor must have reinforced insulation (according to IEC61800-5-1) against system components with power voltage, according to the required application test voltage. All Kollmorgen components meet these requirements. Never modify the drive! It is not allowed to modify the drive hardware without permission by the manufacturer.
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Page 17: Use As Directed
The user IT specialists shall analyze whether further security requirements are applicable to ensure functional safety. Review the chapter "Use as Directed" in the Functional Safety section before using safety functionality. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 18: 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 | June, 2023... -
Page 19: Shock-Hazard Protection
50 to 30 mA Protection against "indirect contact" (personal fire protection) for stationary equipment Recommendation: In order to protect against direct contact (with motor cables shorter than 5 m) Kollmorgen recommends that each drive be protected individually using a 30 mA RCD which is sensitive to all currents. -
Page 20: 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 | June, 2023... -
Page 21: Emergency Stop
Emergency Off is done by switching off the supply energy by electro-mechanical switching devices. This results in a category 0 stop. If this stop category is not possible in the application, then the Emergency Off function must be replaced by other measures (for example by protection against direct touching). Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 22: 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 | June, 2023... -
Page 23: Transport
Normal operation tested for environmental class 3K3 according to IEC 61800-2 (➜ # 33). The manufacturer of the machine defines the necessary end user expertise based on the risk assessment for the machine and describes the requirements for normal operation based on the application. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 24: Decommissioning
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 | June, 2023... -
Page 25: 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. The sender needs to incur the transport costs. Contact Kollmorgen and clarify the logistics. Send the devices in the original packaging to the manufacturer address:... -
Page 26: 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 | June, 2023... -
Page 27: Package Supplied
Feedback cable, assembled feedback cables are available for all regions SFA (Smart Feedback Adapter) 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 | June, 2023... -
Page 28: 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 | June, 2023... -
Page 29: Connector Options Availability
2 Single-ended input channels – X41 via X2 or X5 EEO4 Connector Options – Secondary Brake Availability: X4 only q The SFA (Smart Feedback Adapter) is optional and supplied seperately. w WorkBench confi guration Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 30: Technical Description And Data
6.1 The AKD2G Family of Digital Drives 6.2 Ambient Conditions, Ventilation and Mounting Position 6.3 Mechanical Data 6.4 Performance Data 6.5 Electrical data 6.6 Electrical Motor Braking 6.7 LCD Display and Push-buttons (B1, B2) 6.8 SD Card Slot Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 31: The Akd2G Family Of Digital Drives
Regenerative circuit with dynamic distribution of the generated power between several drives on the same DC bus link circuit. Internal regen resistor for all models, optional external regen resistor if required. Functional Safety Options FS1: STO; SIL2 PLd, command by I/O (➜ # 183). Kollmorgen | kdn.kollmorgen.com | June, 2023... - Page 32 EtherNet Fieldbus interface (➜ # 142) Accessories SFA (Smart Feedback Adapter) (➜ # 125). Hybrid motor cables, motor power cables, motor feedback cables. External regen resistors. For accessories refer to your regional Accessories Manual. Kollmorgen | kdn.kollmorgen.com | June, 2023...
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Page 33: Ambient Conditions, Ventilation And Mounting Position
Minimum cabinet size (WxHxD): 406 x 406 x 254 mm Ventilation Built-in fan in all drive variants The drive shuts down in case of excessively high temperature in the control cabinet. Make sure sufficient forced ventilation is supplied within the control cabinet. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 34: Mechanical Data
Max. Current Loop Bandwidth 3000 2400 1900 1700 1900 Max. Velocity Loop Bandwidth Max. 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 | June, 2023... -
Page 35: Electrical Data
Rated input power at 340 V (* at 680 V) 0.62 1.25 1.25* 2.5* 5.0* Rated input current Max. inrush current through AC input Rated DC bus link voltage 100 to 340 200 to 680 Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 36: Output Data, Type Akd2G-Sxx- (S)
(➜ # 40) 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 | June, 2023... -
Page 37: Dual Axis Variants (D: I1=I2)
Permitted switch on/off frequency Rated input power at 340 V (* at 680 V) 1.25 2.5* Rated input current Max. inrush current through AC input Rated DC bus link voltage 140 to 340 200 to 680 Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 38: 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 | June, 2023... -
Page 39: Steady State Control Current Per Brake Option
For example: 1. AKD2G-Sxx-6V06D with two brakes: Net 24 V current < 1 + 2•(1.8) = 4.6 A 2. AKD2G-Sxx-7V24S with one brake: Net 24 V current < 1.5 + 1.8 = 3.3 A Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 40: Electrical Motor Braking
When this happens, the drive power stage is immediately disabled and the load coasts to a stop with the fault message “F2006 Bus Over voltage". The ready to operate contact (terminals X21/B5-B6) is opened (➜ # 161). Observe the regeneration time (some minutes) after full load with peak brake power. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 41: Technical Data For Akd2G-Sxx-6V
6 / 23 6V03S, 6V06S DC Bus Capacitance µF 1640 Absorption energy in capacitors (± 20%) 9 / 35 6V12S, 6V03D, 6V06D DC Bus Capacitance µF 2460 * depends on connected regen resistor power. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 42: Technical Data For Akd2G-Sxx-7V
External regen resistor (recommended 10 Ω) Ω ≥15 Continuous brake power, external resistor Peak brake power, external (1s) Absorption energy in capacitors (±20%) 125 / 80 DC Bus Capacitance µF 1200 * depends on connected regen resistor power. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 43: 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 | June, 2023... - Page 44 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 visible: position, velocity, current. Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 45 The display shows the code of the fault or warning that occurred. If a fault occurs, the color of the left section switches to red. Navigate with B1 / B2 to the Fault screen to see a short description of the fault or warning. See WorkBench Onlinehelp for more details. Kollmorgen | kdn.kollmorgen.com | June, 2023...
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Page 46: Sd Card Slot
Note that if a fault occurs during Backup/Restore operations, the fault number shows up in the display, error codes (➜ # 177). Drive Firmware Backup/Restore Drive Parameters Save/Restore Storing drive logs Storing drive troubleshooting information in case of failure. Drive recovery in case of failure. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 47: Mechanical Installation
AKD2G-S Installation Manual, Safety 1 7 Mechanical Installation 7.1 Important Notes 7.2 Guide to Mechanical Installation 7.3 Dimensions Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 48: Important Notes
5. Assemble the drive and power supply next to each other on the conductive, grounded mounting plate in the cabinet. 6. Ground the mounting plate, motor housing and CNC-GND of the control system. For EMC-compliant shielding and grounding see (➜ # 58). Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 49: Dimensions
General 6V and 7V models with X3 connector 7V24S model with X3A and X3B connectors Outline width and height dimensions are measured on footprint level (mounting plate). Dimensions on the front plate are slightly smaller. Kollmorgen | kdn.kollmorgen.com | June, 2023... - Page 50 Model Unit AKD2G-Sxx-6V 221.5 11.5 (3 to 12 A) AKD2G-Sxx-7V 11.5 (3 to 12 A) AKD2G-Sxx-7V 450* 11.5 (24 A) *X3A and X3B with bracket option: P ≥ 125 mm, B1 ≥ 520 mm. Kollmorgen | kdn.kollmorgen.com | June, 2023...
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Page 51: Electrical Installation
8.9 Motor Power, Brake and Feedback connection 8.10 Feedback Connection 8.11 Gearing 8.12 Ethernet Fieldbus Interface Connector X11/X12 8.13 CAN-Bus Interface connector X13/X14 8.14 Service Interface connector X20 8.15 Modbus TCP connector X20 8.16 I/O Connectors X21/X22/X23 Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 52: Important Notes
The emergency off circuit must operate the supply contactor. It is permissible to use WorkBench to change the settings of the drive. Any other alteration will invalidate the warranty. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 53: Guide To Electrical Installation
AKD2G-S Installation Manual, Safety 1 8.2 Guide to electrical installation Kollmorgen recommends to install the drive electrical system as follows: 1. Select cables in accordance with IEC 60204 (➜ # 55). 2. Install shielding and ground the drive. For EMC-compliant shielding and grounding, see (➜ # 58). -
Page 54: 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 | June, 2023... -
Page 55: Cable And Wire Requirements
Cables should not exceed the maximum lengths stated below. The recommended maximum cable length of motor cables depends on the used cable material and the feedback type. Cable functionality is only guaranteed up to the maximum length when using unmodified Kollmorgen engineered cables. Motor cables (X1, X2, X4, X5, X23, X41) Length of motor power cables, feedback cables and motor brake cables is equal. -
Page 56: Cable Cross Sections And Requirements
2 brake lines & SFD3/DSL (4x6.0+(2x0.34)+(2x1.0)) 23A < I0rms ≤ 30A 2 SFD3/DSL signal lines Endat 2.2 (4x1.5+(2x0.75)+(2x2x0.14+2x0.25)) 10.1A < I0rms ≤ 13.1A Endat 2.2 (4x4.0+(2x1.0)+(2x2x0.14+2x0.25)) 17.4A < I0rms ≤ 23A 6 EnDat 2.2 signal lines Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 57: Protective Earth Connection
Wire the PE connections immediately after installing the devices as the first electrical 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 (➜ # 19). Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 58: Emi Noise Reduction
(➜ # 57). Use Kollmorgen cables. Route power and control cables separately, Kollmorgen recommends a distance of at least 200 mm to improve interference immunity. -
Page 59: Shielding With External Shielding Busbar
AKD2G-S Installation Manual, Safety 1 8.4.2 Shielding with external shielding busbar For best practice use of shielded cables Kollmorgen recommends a star point shield connection, for example, with a shielding busbar. 8.4.2.1 Shielding Concept Example with AKD2G-Sxx--6Vxx, EMC filter and external regen resistor. -
Page 60: 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 61: Shielding Connection To The Drive
8.4.3 Shielding connection to the drive You can connect cable shielding directly to the drive by using grounding plates, shield connection 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 | June, 2023... -
Page 62: Grounding Plates And Shield Connection Clamps
Kollmorgen recommends using Phoenix Contact SK14 shield clamps with cable clamp range of 6-13mm. 8.4.3.3 Motor connector X1/X2 with shielding connection Alternative connection of the motor power by mating connector with shield plate and strain relief. Kollmorgen motor power and hybrid motor cables are configured with shield plate. -
Page 63: Connection Overview
Feedback 4 Axis 1: Motor, Brake, Feedback 1 X21 I/O Feedback 5, EEO2 (optional) X23 Feedback 3 EEO1 (optional) Protective Earth (PE) Grounding Plate (Shield Connection) Bottom View X3 (8-pin) Power Supply DC-Bus Regen Resistor Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 64: Connector Position Akd2G-Sxx-7V
Feedback 4 Axis 1: Motor, Brake, Feedback 1 X21 I/O Feedback 5, EEO2 (optional) X23 Feedback 3 EEO1 (optional) Protective Earth (PE) Grounding Plate (Shield Connection) Bottom View X3 (8-pin) Power Supply DC-Bus Regen Resistor Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 65: Akd2G 480 Vac, 24 Amp Drive
Axis 1: Motor, Brake, X21 I/O Feedback 1 Feedback 5, EEO2 (optional) X23 Feedback 3 EEO1 (optional) Protective Earth (PE) Grounding Plate (Shield Connection) Bottom View X3A (4-pin) Power Supply X3B (4-pin) DC-Bus Regen Resistor Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 66: Wiring Overview, Single Axis Drive
AKD2G-S Installation Manual, Safety 1 | 8 Electrical Installation 8.5.3 Wiring overview, single axis drive AKD2G Sxx-xxS 3-12 Amp Drives Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 67: Akd2G Sxx-724S 24 Amp Drives
AKD2G-S Installation Manual, Safety 1 AKD2G Sxx-724S 24 Amp Drives Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 68: Wiring Overview, Dual Axis Drive
AKD2G-S Installation Manual, Safety 1 | 8 Electrical Installation 8.5.4 Wiring overview, dual axis drive AKD2G Sxx-xxS 3-12 Amp Drives Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 69: Connector Pinout
Motor phase V Motor phase W retention latch, shield screw Protective earth Motor holding brake + Motor holding brake - COM+ SFD3 + or HIPERFACE DSL + COM- SFD3 - or HIPERFACE DSL - Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 70: X3: Mains, Regen Resistor, Dc-Bus
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 | June, 2023... -
Page 71: X3A/X3B: Mains, Regen Resistor, Dc-Bus
3~ mains supply L3, 1~ supply N, DC supply - Label Signal Description RBint internal regen resistor external regen resistor - +DC (+RBext) DC Bus link+ and/or external regen resistor + DC Bus link - Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 72: X4: Second Brake
2 pin, pitch 5.08 mm Spring clamps T version 24 VDC supply voltage Wiring example: (➜ # 91) Signal Description + 24 V +24 VDC supply voltage, PELV Ground for 24 VDC supply voltage, PELV Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 73: X11, X12: Ethernet Fieldbus
Supports automatic discovery in WorkBench if in the same sub-net. Interface Details: (➜ # 148) Signal Description Signal Description Transmit + Term. Termination Transmit - Receive - Receive + Term. Termination Term. Termination Term. Termination Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 74: X21: I/O, Feedback
Slow, isolated, sink, fail-safe, STO axis 1 channel B *Feedback 4 connectivity, Step/Direction CW/CCW (input) Signal Description Step, CW Fast, isolated, sink, type EN 61131-2 type 1 Direction, CCW Fast, isolated, sink, type EN 61131-2 type 1 Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 75: X22: I/O, Eeo2, Feedback
Track A + Step + CW + CLK+ CLK+ Track A - Step - CW - CLK- CLK- Track B + Dir + CCW + DAT+ DAT+ Track B - Dir - CCW - DAT- DAT- Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 76: 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 | June, 2023... -
Page 77: X41: Sfa Feedback Converter, Eeo3/Eeo4 Exx3/Exx4 (Accessory)
(1) : Resolver with AKD2G-CON-SFA-R00 only, all other feedback devices with AKD2G-CON-SFA-E00 only █ = DC Terminated, can be overridden with DIO#.TERM █ = Optional EEO3 / EEO4 Connectivity (output) X41 Pin Incremental Encoder Zero+ Zero- Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 78: Power And Logic Voltage Supply (X3/X10)
3 ~ 100...240 V 3 ~ 100...240 V 3~ 400...480 V Drive Drive mains Isolating transformer mains 3 ~ 100...240 V 3 ~ 100...240 V 3~ 400...480 V Drive Drive mains Isolating transformer mains Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 79: Connection To Various Mains Supply Networks Akd2G-Sxx-7V (240V To 480V)
Isolating transformer 3~ 200...480 V 3~ 100...120 V 3~ 200...480 V Drive Drive mains mains Isolating transformer 3~ 200...480 V 3~ 100...120 V 3~ 200...480 V Drive Drive mains mains Isolating transformer Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 80: Mains Power Supply Connector X3/X3A
3 phase industrial AC supply networks (TN-S or TT, see KDN): (➜ # 37) DC supply networks: (➜ # 37) For connection to corner grounded delta supply networks contact Kollmorgen customer support. Periodic overvoltages between phases (L1, L2, L3) and the PE/housing of the drive must not exceed 1,000 V peak. -
Page 81: Wiring Examples Mains Power Supply
For complete information refer to WorkBench online help, AKD2G-S User Manual, section Power Setting. AC line filtering to be provided by the user. Use filter type FN2090, refer to the Accessories Manual for more information. Use shielded cable between filter and drive. Kollmorgen | kdn.kollmorgen.com | June, 2023... - Page 82 Length Motor Cable ≥ 10m: cat. C2 Drive contactor AKD2G-Sxx-7V EMI Category X3/X3A Motor AKD2G AKD2G Cable 3-12 A 24 A Length < 10 m 10 m Length Motor Cable < 10 m, cat. C3 Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 83 AC rectifier diodes prevents motor regeneration energy from returning to the dc power source. That is, by powering the drive from the AC line input connections, the drive’s energy absorption and energy dissipation mechanisms can work normally. Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 84 UL Rating for DC requires that DC is created from an AC source. Other forms of DC are not covered by the UL listing. DC supply polarity must be properly wired. Improper polarity of DC power will damage the drive and void warranty. Kollmorgen | kdn.kollmorgen.com | June, 2023...
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Page 85: Fusing
F1, F2, F3: depends on sum of application's required input currents and cabinet requirements. Filters for special EMC requirements only (➜ # 198). FN1, FN2, FN3 maximum rating: 30 A. FN1, FN2, FN3 recommended rating see table below: Kollmorgen | kdn.kollmorgen.com | June, 2023... - Page 86 AKD2G-Sxx-6V06S 10 A FWP-10G14F FR14GR69V10 AKD2G-Sxx-6V03D AKD2G-Sxx-6V12S 15 A FWP-16G14F FR14GR69V16 AKD2G-Sxx-6V06D AKD2G-Sxx-7V03S 10 A FWP-10G14F FR14GR69V10 AKD2G-Sxx-7V06S 10 A FWP-10G14F FR14GR69V10 AKD2G-Sxx-7V03D AKD2G-Sxx-7V12S 15 A FWP-16G14F FR14GR69V16 AKD2G-Sxx-7V06D AKD2G-Sxx-7V24S 32 A FWP-32G14F FR14GR69V32 Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 87 FN1, FN2, FN3: Group sum current Ampere rating Eaton Bussmann Mersen Example class J Example class J 30 A (Time-Delay) LPJ30SP, DFJ30 AJT30, HSJ30 6 A to 30 A Semiconductor Semiconductor 32 A FWP-32G14F FR14GR69V32 Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 88 FN recommended rating and regional approvals see table below: Drive Model Ampere SCCR Example ABB rating rating AKD2G-Sxx-6V 15 A 10 kA SU203M-K15 AKD2G-Sxx-7V 15 A 10 kA SU203M-K15 AKD2G-Sxx-7V24x 30 A 10 kA SU203M-K30 Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 89 15 A 10 kA SU203M-K15 12 A to 15 A 20 A 10 kA SU203M-K20 18 A to 24 A 30 A 10 kA SU203M-K30 27 A to 36 A 30 A 10 kA SU203M-K30 Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 90 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 AKD2G-Sxx-7V24S 25 A (Time-Delay) FWP-25B HP10M25 Kollmorgen | kdn.kollmorgen.com | June, 2023...
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Page 91: Auxiliary Voltage Power Supply Connector 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 | June, 2023... -
Page 92: Dc Bus Link Connector X3/X3B
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. 8/4 pin, pitch 7.62/10.16 mm Optional T version (not available for 7V24 drives) Mating connector data (➜... -
Page 93: Fusing
(with a group consisting of two or three devices, depending on the current) in order to limit any possible resulting damage. Fgroup fuses cannot avoid damage by current peaks completely. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 94: Wiring Example With Busbar
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 larger currents than T connectors, because the compensating current does not flow through the connector as above. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 95: Regen Resistor Connector X3/X3B
+RBext external Regen resistor + 8.8.1 Fusing and Wiring FB1 / FB2 fusing Ampere Ampere Drive Model rating@240V rating@480V Example: Eaton Example: Siba 110V to 400V: gRL(gS) all AKD2G-Sxx FWP-xxA14F 400V to 480V: aR Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 96: Motor Power, Brake And Feedback Connection
The AKD2G drive is able to protect the connected motor from overloading, if the parameters are set correctly and the thermal protection sensor is connected and supervised. With Kollmorgen motors the valid data are automatically set by the WorkBench motor database. Refer to parameter AXIS#.MOTOR.RTYPE for supported thermal sensors. -
Page 97: Single Motor 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 98: Feedback Connectors
Connector X4 is standard on AKD2G-7V24S drives and is used for applications that require a secondary brake. Mating connector data (➜ # 54). Cable length: (➜ # 55) Connector Functionality Pinout, Wiring For single axis drives only (➜ # 103) Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 99: Dual Motor Cable Connection
Feedback types: see X21 connectivity (➜ # 108) X22 (Feedback 5) 2 x 10 pins (left connector A, right connector B) Feedback types: see X22 connectivity (➜ # 109) Mating connector data (➜ # 54). Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 100: 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 (➜ # 101). -
Page 101: Motor Holding Brake Connection
Hardware Disable. Pinout X1 / X2 Signal Description Brake positive line Brake negative line Wiring Usually the brake lines are part of Kollmorgen cable connections to X1 and X2 (➜ # 97). Kollmorgen | kdn.kollmorgen.com | June, 2023... - Page 102 With default values the output for the brake is switched on when the speed has reached 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 | June, 2023...
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Page 103: Secondary Brake Connector X4
Connector X4 is standard on AKD2G-7V24S drives and is used for applications that require a secondary brake. 3 pin, pitch 3.81 mm Second motor brake Mating connector data (➜ # 54). X4 Pin Signal Description Protective earth BR2- Second (external) brake - BR2+ Second (external) brake + Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 104: Feedback Connection
Single axis drive using SFA on X5: velocity/position, command, safety (➜ # 125) Feedback 3 commutation feedback, velocity/position, command (➜ # 110) Feedback 4 commutation feedback, velocity/position, command (➜ # 108) Feedback 5 commutation feedback, velocity/position, command (➜ # 109) Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 105: Feedback Type To Connector
SFD Gen 3 (2 wire) Hiperface DSL BiSS (B) Analog BiSS (C) Digital EnDat (2.1) Analog EnDat (2.2) Digital Hiperface Analog 1 Vpp with/without Hall Inc Dig with/without Hall Hall Only Max. cable lengths in m. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 106: Feedback Connectors
Electrical data Rated voltage 11 V. Rated current is 350 mA simultaneously for X1 and X2. Signal Description COM+ SFD3 +, HIPERFACE DSL +, SFA + COM- SFD3 -, HIPERFACE DSL -, SFA - Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 107: Feedback Connector X5
See the SFA X41 connector pinout summary and available feedback pinouts starting on (➜ # 125). X5 Pin Signal Description Cable shield (PE) COM2- Safe HIPERFACE DSL - or SFD3 - or SFA- COM2+ Safe HIPERFACE DSL + or SFD3 + or SFA+ Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 108: Feedback Connector X21
Input for Electronic Gearing, (➜ # 139) Mating connector data (➜ # 54). Wiring example X21 Pin Step/Direction CW/CCW Incr. Encoder Step Direction 24 VDC 24 VDC 24 VDC Common (DGND) Common (DGND) Common (DGND) Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 109: Feedback Connector X22
CCW - Track B - DAT- DAT- DAT- AGND AGND AGND AGND AGND AGND █ = DC Terminated, can be overridden with DIO#.TERM Feedback power supply must be supplied and controlled by the user. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 110: Feedback Connector X23
Mating connector data (➜ # 54). 8.10.9.1 X23 Connector Pinout Summary AC / DC Selectable Termination: Older drives may not include a DC termination switch across pins 6 and 7. Please contact Kollmorgen Support for more information Kollmorgen | kdn.kollmorgen.com | June, 2023... - Page 111 S2 COS+ COS- COS- Dir- CCW- S4 COS- CL = CLOCK, D = DATA, S = SENSE, Th = Thermal control, Z = Zero █ = DC Terminated, can be overridden with DIO#.TERM █ = Optional Kollmorgen | kdn.kollmorgen.com | June, 2023...
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Page 112: X23 Feedback Wiring Pinout Diagrams
8.10.10 X23 Feedback Wiring Pinout Diagrams 8.10.10.1 X23 SFD Feedback The diagram below shows the connection of the four-wire Kollmorgen SFD feedback system. When SFD cable total resistance for 5V out (Up) and 5V return (0V) is less than 3.3 Ohm, then remote sensing is not needed. -
Page 113: X23 Resolver Feedback
Accuracy: 14 bit (0.022°), resolution: 16 bit (0.006°), frequency (fixed): 6875 Hz Resolver Sine/Cosine channels must be high impedance - DC termination switch open. DC termination is not compatible with the REF channel - DC termination switch open. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 114: X23 Biss (Mode B) Analog Feedback
If cable lengths of more than 50m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit BiSS (Mode B) Analog 5.1 V ± 3.5% 1 MHz, 250 kHz for encoders that require termination resistors DC terminated by default - DC switch closed. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 115: X23 Biss (Mode C) Digital Feedback
If cable lengths of more than 25m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit BiSS (Mode C) Digital 5.1 V ± 3.5% 1 MHz DC terminated by default - DC switch closed. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 116: X23 Endat 2.1 Feedback (With 1V P-P Analog Signals)
If cable lengths of more than 50m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit EnDAT 2.1 1 MHz, 250 kHz for encoders that require termination resistors DC terminated by default - DC switch closed. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 117: X23 Endat 2.2 Digital Feedback
From -: Analog I/O functionality must be selected in the related WorkBench screen. If the set limit is exceeded, then warning n256 is created. *For use as primary motor feedback, set parameters DRV.EMUEMODE, PL.FBSOURCE, IL.FBSOURCE, VL.FBSOURCE. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 118: X23 Hiperface Feedback
Frequency Limit HIPERFACE 1 MHz, 250 kHz for encoders that require termination resistors DC terminated by default - DC switch closed. Connecting pin 4 and 5 together causes Up to be 8 to 9V. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 119: X23 Sine Encoder Feedback
If cable lengths of more than 25m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit SinCos 1 V p-p (Wake & 5.1 V ± 1 MHz, 250 kHz for encoders that require termination Shake) 3.5% resistors DC terminated by default - DC switch closed. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 120: X23 Sine Encoder With Hall Feedback
If cable lengths of more than 25m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit SinCos 1 V p-p with Hall 5.1V ± 3.5% 1 MHz, 250 kHz for encoders that require termination resistors DC terminated by default - DC switch closed. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 121: X23 Incremental Encoder Feedback
If cable lengths of more than 25m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit Incremental Encoder (Wake and Shake) 5.1V ± 3.5% 2.5 MHz DC terminated by default - DC switch closed. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 122: X23 Incremental Encoder With Hall Feedback
If cable lengths of more than 25m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit Incremental Encoder with Hall Switches (Comcoder) 5.1V ± 3.5% 2.5 MHz DC terminated by default - DC switch closed. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 123: X23 Hall Feedback
If cable lengths of more than 25m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit SSI (Sychronous Serial Interface) 5.1V ± 3.5% 1 MHz DC terminated by default - DC switch closed. ■ Optional Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 124: X23 Step / Direction And Cw / Ccw Feedback
If cable lengths of more than 25m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit Step / Direcction 5.1V ± 3.5% 1 MHz CW / CCW 5.1V ± 3.5% DC terminated by default - DC switch closed. ■ Optional Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 125: Feedback Connector X41 (Sfa, Accessory)
DIN rail using a standard DIN rail clip. SFA provides a 15 pole HD Sub-D female connector X41 to the system for connection of a Kollmorgen motor feedback cable (see Kollmorgen 2G Cable Guide). Dimensions (LxWxD): 88.6 x 55.6 x 21.2 (28.6 with rail clip). -
Page 126: X41 Connector Pinout Summary
CL = CLOCK, D = DATA, S = SENSE, Th = Thermal control, Z = Zero (1) : Resolver with AKD2G-CON-SFA-R00 only, all other feedback devices with AKD2G-CON-SFA-E00 only █ = DC Terminated, can be overridden with DIO#.TERM █ = Optional Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 127: X41 Feedback Wiring Pinout Diagrams
8.10.12 X41 Feedback Wiring Pinout Diagrams 8.10.12.1 X41 SFD Feedback The diagram below shows the connection of the four-wire Kollmorgen SFD feedback system. When SFD cable total resistance for 5V out (Up) and 5V return (0V) is less than 3.3 Ohm, then remote sensing is not needed. -
Page 128: X41 Resolver Feedback
If cable lengths of more than 100m are planned, please contact customer support. Type FBx.INDENTIFIED Description Accuracy: 14 bit (0.022°), resolution: 16 bit (0.006°), Resolver frequency (fixed): 6875 Hz Resolver Sine/Cosine channels must be high impedance - DC termination switch open. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 129: X41 Biss (Mode B) Analog Feedback
If cable lengths of more than 50m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit BiSS (Mode B) Analog 5.1V ± 3.5% 1 MHz, 250 kHz for encoders that require termination resistors DC terminated by default - DC switch closed. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 130: X41 Biss (Mode C) Digital Feedback
Renishaw (specifically model Resolute RA26B) as a feedback system. If cable lengths of more than 25m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit BiSS (Mode C) Digital 5.1V ± 3.5% 1 MHz Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 131: X41 Endat 2.1 Feedback (With 1 V P-P Analog Signals)
If cable lengths of more than 50m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit EnDAT 2.1 1 MHz, 250 kHz for encoders that require termination resistors DC terminated by default - DC switch closed. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 132: X41 Endat 2.2 Digital Feedback
From -: Analog I/O functionality must be selected in the related WorkBench screen. If the set limit is exceeded, then warning n256 is created. *For use as primary motor feedback, set parameters DRV.EMUEMODE, PL.FBSOURCE, IL.FBSOURCE, VL.FBSOURCE. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 133: X41 Hiperface Feedback
Frequency Limit HIPERFACE 1 MHz, 250 kHz for encoders that require termination resistors DC terminated by default - DC switch closed. Connecting pin 4 and 5 together causes Up to be 8 to 9 V. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 134: X41 Sine Encoder Feedback
If cable lengths of more than 25m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit SinCos 1 V p-p (Wake & 5.1V ± 1 MHz, 250 kHz for encoders that require termination Shake) 3.5% resistors DC terminated by default - DC switch closed. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 135: X41 Sine Encoder With Hall Feedback
If cable lengths of more than 25m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit SinCos 1 V p-p with Hall 5.1V ± 3.5% 1 MHz, 250 kHz for encoders that require termination resistors DC terminated by default - DC switch closed. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 136: X41 Incremental Encoder Feedback
If cable lengths of more than 25m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit Incremental Encoder (Wake and Shake) 5.1V ± 3.5% 2.5 MHz DC terminated by default - DC switch closed. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 137: X41 Incremental Encoder With Hall Feedback
If cable lengths of more than 25m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit Incremental Encoder with Hall Switches (Comcoder) 5.1V ± 3.5% 2.5 MHz DC terminated by default - DC switch closed. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 138: X41 Hall Feedback
Sychronous Serial Interface (SSI) is a standard industrial serial interface based on RS-422 standards. If cable lengths of more than 25m are planned, please consult customer support. Type FBx.INDENTIFIED Frequency Limit SSI (Sychronous Serial Interface) 5.1V ± 3.5% 1 MHz ■ Optional Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 139: Gearing
Max. number of connected slaves is determined by the loading characteristics of the slaves. 32 slaves can be driven if the input impedance of the bias network is 10kΩ and only one slave has a DC termination resistor. Kollmorgen | kdn.kollmorgen.com | June, 2023... - Page 140 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 | June, 2023...
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Page 141: Master-Slave Control
Master-Slave using optional feedback connector X23 or X41 The master is configured for EEO1 (➜ # 140) on X23 or EEO3/EEO4 ((➜ # 139) with SFA) on X41, the slave uses X23 (or X41 with SFA) for command input. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 142: Ethernet Fieldbus Interface Connector
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® Communication". -
Page 143: Profinet
Flashing = Sends/receives EtherNet frames Bus topology example (PROFINET) Kollmorgen suggest to use 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 144: Ethernet/Ip
█Link/Activity No Ethernet Connection 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 145: Can-Bus Interface Connector
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 values are not assured limits: Characteristic impedance: 100–120 Ω... -
Page 146: Can-Bus Wiring
AKD2G-S Installation Manual, Safety 1 | 8 Electrical Installation 8.13.2 CAN-Bus Wiring Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 147: Baud Rate For Can-Bus
1&6. The termination plug should be inserted into the X13 connector of the last drive in the CAN network. Remove the termination connector if the AKD2G is not the last CAN-Bus device and use X13 for connecting the next CAN node. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 148: Service Interface Connector X20
Make sure that the link LED on the AKD2G (RJ45 connector) and on your PC (or network switch) are both illuminated. The electrical connection is well established if both LED's light up green. 8.14.1 Possible Network Configurations Router Network Switch Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 149: Modbus Tcp Connector 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 | June, 2023... -
Page 150: I/O Connectors
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 | June, 2023... -
Page 151: Technical Data
Safe digital inputs OFF: 0 VDC to 5 VDC, max.1 mA Axis 1: STO-A-A1, STO-B-A1 galvanic isolation for 60 VDC Axis 2: STO-A-A2, STO-B-A2 delay activation / dectivation about: 1.5 ms / 3.5 ms Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 152: 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 parameter AXIS#.DIR in WorkBench. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 153: 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 | June, 2023... -
Page 154: 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 | June, 2023... -
Page 155: Digital-In 3 To
Technical characteristics Floating, reference common line is DGND High: 15 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 | June, 2023... -
Page 156: 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 | June, 2023... -
Page 157: 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 | June, 2023... -
Page 158: Digital Outputs
These outputs are programmable with WorkBench. By default, all outputs are not programmed (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 | June, 2023... -
Page 159: 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 | June, 2023... -
Page 160: 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 | June, 2023... -
Page 161: 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 | June, 2023... -
Page 162: 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 | June, 2023... -
Page 163: Important Notes
Programming parameters and control loop behavior are described in the AKD2G User Manual (Online Help), see Configuring the Command Source and Operating Mode. The setup of any fieldbus is described in the corresponding manual on the DVD. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 164: Guide To Drive Setup
24 VD C OU 24V Supply Motor 2 X21/B3 24V I/O X21/A5 HW-Enable A1 X21/A6 HW-Enable A2 X21/B4 DGND X21/A11 STO-A-A1 Mains X21/B11 Power STO-B-A1 X22/A12 STO-A-A2 X22/B12 STO-B-A2 Fuses Motor 1 Power ON Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 165: Confirm Connections (Example: Directly To Pc)
The station name and IP address must be set manually through the PROFINET master. 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. -
Page 166: Enable The Axis (Hardware)
1. Select the Axis in WorkBench 2. Under Motion, select Service Motion 3. Select Reversing, check the default velocity and time settings for plausibility 4. Select Start. 9.2.1.9 Tune the axis Details see WorkBench Online Help Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 167: Workbench Installation
9.2.2 WorkBench Installation This chapter describes the installation of the WorkBench software for AKD2G drives. Kollmorgen offers training and familiarization courses on request. 9.2.2.1 Use as directed With the software to set up your drive you can alter and save the operating parameters for the AKD2G series of drives. -
Page 168: Software Description
An EtherNet cable connects the PC with the drive (➜ # 148) WorkBench establishes the communication between PC and drive. Please find the software to set up your drive on the accompanying DVD or in the download area of the Kollmorgen website. -
Page 169: 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 (➜ # 148). The LCD display shows a sign when AKD2G and WorkBench are connected. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 170: 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 | June, 2023... -
Page 171: Switch-On Behavior In Standard Operation
AKD2G-S Installation Manual, Safety 1 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 | June, 2023... -
Page 172: Switch-Off Behavior
Category 1 stop according to IEC 60204 (➜ # 20). If the drive detects the motor to be at zero velocity (AXIS#.ZEROV) or timeout occurs (AXIS#.ZEROT), the motor brake is applied (➜ # 101). Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 173: 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 (➜ # 101). Set parameter AXIS#.MOTOR. BRAKEIMM to 1 with vertical axes, to apply the motor holding brake immediately after STO. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 174: 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 (➜ # 101). Set parameter AXIS#.MOTOR. BRAKEIMM to 1 with vertical axes, to apply the motor holding brake immediately after faults. Kollmorgen | kdn.kollmorgen.com | June, 2023... - Page 175 This is a category 2 stop according to IEC 60204 (➜ # 20). If the drive detects the motor to be at zero velocity (AXIS#.ZEROV) or timeout occurs (AXIS#.ZEROT), the motor brake is applied (➜ # 101). Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 176 This is a category 2 stop according to IEC 60204 (➜ # 20). If the drive detects the motor to be at zero velocity (AXIS#.ZEROV) or timeout occurs (AXIS#.ZEROT), the motor brake is applied (➜ # 101). Kollmorgen | kdn.kollmorgen.com | June, 2023...
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Page 177: 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 | June, 2023... -
Page 178: Troubleshooting
1. reduce AXIS#.VL.KP (velocity) 1. AXIS#.VL.Kp (velocity) too high 2. reduce AXIS#.VL.KI (velocity) 2. AXIS#.VL.Ki (velocity) too high Drive runs roughly 3. refer to documentation regarding increasing 3. filters set too low filtering (AXIS#.VL.AR*) Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 179: Safety Manual For Fs1
Hardware Revision Drive Firmware WorkBench from 2.00 from 2.0 Contents: 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 | S103, March 2023... -
Page 180: 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 system and safety system. -
Page 181: 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 | S103, March 2023... -
Page 182: Enclosure, Wiring
When wiring the digital inputs and outputs, take care that short circuits between the inputs, outputs, or to supply lines are avoided. Kollmorgen | kdn.kollmorgen.com | S103, March 2023... -
Page 183: Verification
The systematic capability according to IEC 61508 for the safety-related subsystems of the drive are SC = 2. TM = 20 Years, SFF = 75%. Function MTTF PFH [1/h] Response 13849-1 Years 62061 time STO dual channel PL d, Cat. 3 ≥100 ≥60 SIL 2 2.18E-08 >65 < 3.5 ms Kollmorgen | kdn.kollmorgen.com | S103, March 2023... -
Page 184: Technical Data
F9000 and W9000 are triggered for axis # only, if set to 1 (default). For parameter description refer to the Safety Parameters Reference Guide(➜ # 192). 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 | S103, March 2023... -
Page 185: Sto (Safe Torque Off)
F9005 occurs (➜ # 188). Review the enclosure and wiring instructions (➜ # 182). 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 | S103, March 2023... -
Page 186: 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 | S103, March 2023... -
Page 187: Timing
Power section released. 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 | S103, March 2023... -
Page 188: 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 | S103, March 2023... -
Page 189: Settings
Press the buttons first, then hold it down while turning on the 24V power supply. Boot from flash Remove the SD card, then press both buttons and hold them down while fallback image turning on the 24V power supply to boot from an on-board recovery image. Kollmorgen | kdn.kollmorgen.com | S103, March 2023... -
Page 190: Safety Faults, Safety Warnings
Warnings follow the same pattern and are identified by a four digit code 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 Online Help for details. Kollmorgen | kdn.kollmorgen.com | S103, March 2023... -
Page 191: Drive Safety Faults
7. OSSD pulses too long 8. Check external safety device. (>1ms). 8. STO channels are unequal for more than 100ms. Drive does not enable 1. STO is still active. 1. Deactivate STO prior to HW Enable. Kollmorgen | kdn.kollmorgen.com | S103, March 2023... -
Page 192: Functional Safety Parameter Reference
Parameters are sorted alphanumerically CAN over EtherCAT Parameters related to Acc. Default Parameter Axis1 Axis2 safety functions Package Index Index 0x..0x..AXIS#.SAFE.STO.A 5007 5107 AXIS#.SAFE.STO.ACTIVE 5007 5107 AXIS#.SAFE.STO.B 5007 5107 AXIS#.SAFE.STO.REPORTFAULT Drive 5007 5007 Kollmorgen | kdn.kollmorgen.com | S103, March 2023... -
Page 193: Safety Parameters, Sorted Alphanumeric
For complete STO information refer to " STO (Safe Torque Off)" (➜ # 185). 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 | S103, March 2023... -
Page 194: Axis#.Safe.sto.active
For complete STO information refer to " STO (Safe Torque Off)" (➜ # 185). 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 | S103, March 2023... -
Page 195: Approvals
AKD2G-S Installation Manual, Safety 1 11 Approvals If the drive is labeled Beta, approvals are pending. 11.1 Conformance with UL/cUL 11.2 Conformance with EU 11.3 Conformance with UK Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 196: Conformance With Ul/Cul
DC tension. Pour plus de sécurité, mesurez la tension bus link and wait until the voltage is below 50 V. dans la liaison de bus CC et attendez qu'elle soit inférieure à 50 V. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 197: 7V24S 24 A Drives
DC tension. Pour plus de sécurité, mesurez la tension bus link and wait until the voltage is below 50 V. dans la liaison de bus CC et attendez qu'elle soit inférieure à 50 V. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 198: Conformance With Eu
Kollmorgen declares the conformity of the product series AKD2G with the following directives: EC Directive 2006/42/EU, Machinery Directive... -
Page 199: Functional Safety
11.3 Conformance with UK Declarations of Conformity can be found on the Kollmorgen website. Kollmorgen declares the conformity of the product series - with the following regulations: S.I. 2008/1597, Supply of Machinery (Safety) Regulations 2008 Used designated standards EN 61800-5-2 S.I. -
Page 200: Index
Motor dual cable connection Motor Holding Brake Connection Motor interface Electronic Gearing Motor single cable connection Emergency Off Emergency Stop Function Emulated Encoder Output Nameplate Enclosure (FS) EtherCAT EtherNet Operating systems WorkBench Modbus TCP Protocol EtherNet Fieldbus Kollmorgen | kdn.kollmorgen.com | June, 2023... - Page 201 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 Stop Function Switch-on, switch-off behavior Symbols used Tightening torque X1, X2 Kollmorgen | kdn.kollmorgen.com | June, 2023...
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Page 202: Record Of Document Revisions
X3A and X3B connector content, X4 and X5 content, individual X23 / X41 feedback wiring diagrams and specifications added, added connection to various mains supply network pages, addition to part number scheme, corrected table formatting, added connector options availability table. Kollmorgen | kdn.kollmorgen.com | June, 2023... - Page 203 AKD2G-S Installation Manual, Safety 1 | 13 Record of document revisions Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 204 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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Page 205: Requirements To User Documentation, Revision
➜ # 181) The drive shall be powered using a PELV WI-761 FS1 (Use 24 VDC ±15% PELV power supply , ➜ # 184) power supply with 24V DC (+-15%)..Kollmorgen | kdn.kollmorgen.com | June, 2023... - Page 206 The level of experience WI-2806 personnel with expertise appropriate to the complexity and shall be appropriate to the complexity and safety integrity level of the drive system., ➜ # 180) safety integrity level of the drive system. Kollmorgen | kdn.kollmorgen.com | June, 2023...
- Page 207 FS1 (The network the drive is connected to must be WI-3632, Internet. The machine operator shall analyze secured according to state-of-the-art information WI-3630 whether further security requirements are technology security requirements., ➜ # 181) applicable. Kollmorgen | kdn.kollmorgen.com | June, 2023...
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Page 208: Iec 61508-2 Annex D Requirements To User Documentation
Any instructions or constraints relating to the application of the compliant item, relevant to the 61508-33b FS1/2/3: Full Installation Manual including Safety Manual. function, that should be observed in order to prevent systematic failures of the compliant item. Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 209: Iso 13849-1, Clause 11, Requirements To User Documentation
FS1/2/3 (Resulting Functional Safety classification (SIL and/or PL 13849-12 applications for use relevant to the level) is calculated across the drive system. The drive system category to which reference is made; usually consists of the following:, ➜ # 180) Kollmorgen | kdn.kollmorgen.com | June, 2023... -
Page 210: Iec 61508-3 Annex D Requirements To User Documentation
ISO 13849 and EN 61508 requirements added 14.1/2/3: Table Header: green marking explained 14.3: Column "Planned Content" removed. 14: Additional WIs added/updated referring to "9D00-0657_Map Safety Traceability report Kollmorgen" table. 14.1 WI numbers sorted. 14.1 WI-1373 added 14.1 WI-231 etc: altitude 2000 m 14.3 Fault exclusion and deviation entries added (from Map Safety Manual Plan 9D00-0620)
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