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AKD Installation Manual english

1. 40 Switch On and Switch Off Behavior 43 Stop Emergency Stop Emergency Off 50 Safe Torque Off STO pabasa L Dc EPDDU DOO Ee Ge DE De DR REDDIT cc se 52 Shock hazard Protection ESE EES EES EE nee eee Ee Ee ee Ee ee ee ee ee ee ee ee 58 Kollmorgen September 2013 29 AKD Installation 6 Technical description and data 6 1 The AKD Family of Digital Drives Available AKD versions Variant short Description Current Housing Connectivity AKD B Base drive is controlled by 3 to 24 A Standard Analog SynqNet analog torque amp velocity com mands electronic gearing AKD P Position Indexer drive adds the 3 to 24 A Standard Analog CANopen ability to command multiple EtherCAT PRO motions process I O make FINET RT Eth decisions add time delays emet IP and modify drive process var iables to the base drive AKD M MC Motion Controller PD MM Etherj 3 to 24 A Extended EtherCAT CAT master drive Includes all width five IEC 61131 languages PLC Open and Pipes Network This drive is called AKD PDMM AKD T Simple BASIC pro 3to 24 A Standard Analog grammability added to theBase drive This drive is called AKD BASIC AKD T IC AKD BASIC with I O expan 3 to 24 A Extended A
2. 111 8 11 8 Sine Encoder with Hiperface 112 8 11 9 Sine Encoder 113 8 11 10 Incremental Encoder 114 8 11 11 Tamagawa Smart Abs Encoder 115 8 12 Electronic gearing Master slave operation 116 8 12 1 Technical characteristics and pinout 116 8 12 1 1 Connector X7 Input 116 8 12 1 2 Connector X9 Input 117 8 12 1 3 Connector X9 Output 117 8 12 2 Command encoder signal connection 118 8 12 2 1 Incremental encoder input 5 V X9 118 8 12 2 2 Incremental encoder input 24 V X7 118 8 12 2 3 Encoder with EnDat 2 2 input 5 V X9
3. 143 8 15 1 Rotary switches S1 and S2 with AKD B P T 143 8 15 2 Rotary switch RS1 with AKD M 143 8 16 Pushbuttons B1 B2 B3 144 8 16 1 Pushbutton B1 with AKD B P T _ 144 8 16 2 Pushbuttons B1 B2 B3 with AKD M 145 8 17 SD Card Slot 146 8 17 1 SD Card Slot with I O option card 146 8 17 2 SD Card Slot with AKD M 147 8 18 Service Interface X11 X32 _ 148 8 18 1 Pinout X11 X32 _ 148 8 18 2 Service Bus Protocols X11 X32 _ 148 8 18 3 Possible Network Configurations 148 8 18 4 Setting the IP AddressAKD B AKD P AKD T
4. 80 8 6 3 Connector assignment AKD M02406 and AKD Mzzz07 81 8 6 4 Connection diagram AKD M00306 AKD M00606 82 8 6 5 Connection diagram AKD MO1206 83 8 6 6 Connection diagram AKD M02406 and AKD Mzzz07 84 8 7 EMI Noise Reduction 85 8 7 1 Recommendations for EMI noise reduction 85 8 7 2 Shielding with external shielding busbar 86 8 7 2 1 Shielding Concept 0 0 0 cece cece cece cccccecececccccceeeeccccceceeececcceeeeeeececeeeees 86 8 7 2 2 Shielding Busbar 87 8 7 3 Shielding connection to the drive 88 8 7 3 1 Grounding plates 88 8 7 3 2 Shield connection clamps 88 8 7 3 3 Motor connector X2 with shielding connection
5. 162 9 3 Setup AKD M J u uuu 2 u EE EE EE ee 168 9 4 Fault and Warning Messages 178 9 5 Troubleshooting the AKD 192 Kollmorgen September 2013 AKD Installation 9 Setup 9 1 Important Notes DANGER The equipment produces potentially lethal voltages up to 900 V Check that all connection components that are live in operation are safely pro tected against bodily contact Never remove the electrical connections to the drive while it is live Capacitors can still have dangerous residual charges up to 7 minutes after switching off the supply voltage A The heat sink of the drive can reach temperatures up to 80 C in oper ation Check the heat sink temperature before handling the drive Wait until the heat sink has cooled down to 40 C before touching it A Before testing and setup the manufacturer of the machine must generate a risk assessment for the machine and take appropriate measures so that unforeseen movements cannot cause injury or damage to any person or property Only professional personnel with extensive knowledge in the fields of electrical engineering and drive technology are allowed to test and set up the drive NOTICE If the drive has been stored for more than 1 year you must re form the capac
6. Kollmorgen September 2013 AKD Installation 5 Package 5 1 Package Supplied When a drive from the AKD series is ordered the following items are included in the drive package e AKD e Printed copy of AKD Installation Manual EU only e Printed copy of AKD Quick Start not in EU e Printed copy of fault and waming card not in EU e DVD containing the setup software WorkBench and all product documentation in digital format e Mating connectors X1 X2 X3 X4 if required X7 and X8 X35 and X36 if required e Grounding plate with AKD voltage type 07 with voltage type 06 for EU only The mating SubD and RJ45 connectors are not included in the package Accessories Sold Separately Accessories must be ordered separately if required refer to your regional accessories man ual e EMC filters for 24 V and mains supply voltage categories C2 or C3 e External regen resistor e Motor cable Assembled motor cables are available for all regions e Feedback cable Assembled feedback cables are available for all regions e Motor choke for motor cables longer than 25 m e CAN termination connector with CAN drives only e Service cable to the network e Power cable control cables and fieldbus cables as cutoff lengths 5 2 Nameplate The nameplate depicted below is attached to the side of the drive sample data entries are for a 12A type erar North America 1 540 633 3400 2
7. 40 6 13 1 2 Technical data for AKD xzzz06 41 6 13 1 3 Technical data for AKD xzzz07 42 6 14 Switch On and Switch Off Behavior 43 6 14 1 Switch on behavior in standard operation 44 6 14 2 Switch off behavior 45 6 14 2 1 Switch off behavior using the DRV DIS command 45 6 14 2 2 Switch off behavior using a digital input controlled stop 46 6 14 2 3 Switch off behavior using HW Enable input uncontrolled stop 46 6 14 2 4 Switch off behavior in the event of a fault 47 6 15 Stop Emergency Stop Emergency Off 50 6 10 Stop RE RENE E 50 6 15 2 Emergency Stop 51 6 15 3 Emergency ON si Uu l u u uuu Dulu see a a EER secede 51 6 16 Safe Torque Off STO 52 6 16 1 Safety characteristic data _
8. 36 6 8 Recommended Tightening Torques 36 69 FUSIN MENOR NNI MP EER DE EE EE OE EE biuk E 37 6 9 1 External power supply fusing 37 6 9 2 External 24 V supply fusing 37 6 9 3 External regen resistor fusing 37 Kollmorgen September 2013 3 AKD Installation Table of Contents 6 10 Grounding System 37 6 11 Connectors 38 6 12 Cable and Wire Requirements 39 6 12 1 General 39 6 12 2 Cable cross sections and requirements 39 6 13 Dynamic Braking 40 6 13 1 Regen circuit _ 40 6 13 1 1 Functional description
9. 149 8 18 5 Setting the IP Address AKD M 151 8 18 6 Modbus TCP 152 8 19 CAN Bus Interface X12 X13 152 8 19 1 CAN Bus activation with AKD CC models 153 8 19 2 Baudrate for CAN Bus 154 8 19 3 Node Address for CAN BUS 155 8 19 4 CAN Bus Termination 155 8 19 5 CAN Bus Cable 155 8 19 6 CAN Bus Wiring 156 8 20 Motion Bus Interface X5 X6 X11 157 8 20 1 Pinout X5 X6 X11 EE nn a nn nn 157 8 20 2 Bus Protocols X5 X6 X11 157 8 20 3 EtherCAT rs l EES SEE SS lel SE GR u GE SG GE EE EE Ge GE EE GE Ge Ge E 158 8 20 3 1 EtherCAT activation with AKD CC models
10. 52 6 106 2 Uses directed is uuu u uuu EE EE EN OR sa tuya SE EE r ied Ee le xi EE ER ES Ee els 52 6 16 3 Prohibited use 52 6 16 4 Safety instructions 53 6 16 5 Technical data and pinning 54 6 16 6 Enclosure wiring 54 6 16 7 Functional description 54 6 16 7 1 Signal diagram sequence 55 6 16 7 2 Functional test 55 6 16 7 3 Control circuit example 56 6 16 7 4 Mains supply circuit example 57 6 17 Shock hazard Protection 58 6 17 1 Leakage current 58 6 17 2 Residual current protective device RCD
11. 119 8 12 3 Pulse Direction signal connection 120 8 12 3 1 Pulse Direction input 5 V X9 120 8 12 3 2 Pulse Direction Input 5V XT 120 8 12 4 Up Down signal connection 121 8 12 4 1 Up Down input 5 V X9 LL nn nn n nn nn nn nn nn nn n nn 121 8 12 4 2 Up Down input 24 V X7 121 8 12 5 Emulated Encoder Output EEO 122 8 12 6 Master Slave control nn nn nn 123 8 13 I O Connection EE EE GE Ee 124 8 13 1 VO connectors X7 and X8 all AKD variants SESSE nn 124 8 13 2 I O connectors X21 X22 X23 and X24 AKD T with I O option card only 125 8 13 31 O connectors X35 and X36 AKD M only 127 8 13 4 Analog Input X8 X24 128 8 13 5 Analog Output X8 X23 129 8 13 6 Digital Inputs X7 X8 se e esee RIRs sese e Ea EEES EEEa 130 8 13 6 1 Digit
12. 158 8 20 4 SynqNet 2 rende Ince EE owes LANG oe Se tss SE tag acs SERE N 159 8 20 SPROFINE B ie NaN EN bn EE DE SONE n LI TA NAMA DUA NG ng 159 8 20 6 Ethernet IP U 2 159 AA 160 9 1 Important Notes 161 9 2 Setup AKD B AKD P AKD T 162 9 2 1 Setup software WorkBench 162 Kollmorgen September 2013 7 AKD Installation Table of Contents 9 2 2 Use as directed 162 9 2 3 Software description 163 9 2 4 Hardware requirements 163 9 2 5 Operating systems 163 9 2 6 Installation under Windows 2000 XP VISTA 7 164 9 2 7 Initial Drive Test AKD B AKD P AKD T 165 9 2 7 1 Unpacking mounting and wiring the AKD
13. 155 CANopen interface 152 Node address 155 Termination 155 Capacitor Modules 96 CE conformance 22 Comcoder interface 114 Connection Diagrams B P T Variants 71 M variants 82 Connection Overview B P T Variants 75 M Variants 80 Connector Assignments B P T Variants 75 M Variants 80 Connectors 38 D DC Bus Capacitance 41 DC bus link interface 94 Dig Encoder emulation interface 122 Digital inputs all Variants _ 130 I O option 135 M Variant 139 Dimensions Extended Width 67 Standard Width 63 Disposal eese 19 Document Revisions 193 AKD Installation 11 Index DSL L AA u anam aa RENS 107 Dynamic Braking 40 E EC Declaration of Conformity 24 Emergency Off
14. 24V referred to VO GND thermal control X10 DCOM7 included DIGITAL IN7 Feedback 1 Cj Feedback 1 DIGITAL IN4 O X9 DIGITAL IN3 FM DIGITAL OUT2 Electronic Gearing Encoder Emulatioi DIGITAL OUT2 DIGITAL OUT1 Digital E m DIGITAL OUT1 o Bt KE e Ref Point Lok DIGITAL IN2 o PE Fg Home Switch oe DIGITAL IN1 U1 2 L L o C Vi E Dm e C w3 a Emergency T sil L Stop Circuit Remove jumper if 3 external regen resistor is Connected DCOM8 VO GND FB1 4 le sa EE e ENABLE C Brake i Iresi 5 NSTOP joe DIGITAL IN6 6 PSTOP DIGITAL INS 24V referred to I O GND T AGND tachometer A H Se Analog Out O 10V 9 Analog In O ANE 10V speed 10 Setpoint Analog In or V Participant Motion Bus Out Participant X12 CAN X13 CAN ER Participant E TCP IP Service X21 22 23 24 Motion Bus In x5 X6 Mains con i Control VO Option Card PE connection protective earth ik chassis ground connection panel shield connection via plug The I O option is available for AKD T drives only L1 L2 L3 PE 78 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 5 6 Connection diagram AKD x02406 and AKD xzzz07 Reference Safety Instructions AKD x02406 xxxx07 Control and Use As Directed 24V referred i 5d to I O GND ermal contro VO GND included DEOMI DIGITAL
15. 58 6 17 3 Isolating transformers 58 7 Mechanical Installation 59 7 1 Important Notes 60 7 2 Guide to Mechanical Installation 60 7 3 Mechanical Drawings Standard Width 61 7 3 1 Control cabinet layout AKD xzzz06 standard width 61 7 3 2 Control cabinet layout AKD xzzz07 standard width 62 7 3 3 Dimensions AKD xzzz06 standard width 63 7 3 4 Dimensions AKD xzzz07 standard width 64 7 4 Mechanical Drawings Extended Width 65 4 Kollmorgen September 2013 AKD Installation Table of Contents 7 4 1 Control cabinet layout example with AKD M00306 65 7 4 2 Control cabinet layout example with AKD M00307 66 7 4 3 Dimensions AKD xzzz06 extended width 67 7 4 4 Dimensions AKD xzzz07 exten
16. 193 dd dade esse ee a aaa RE E A DE 195 8 Kollmorgen September 2013 AKD Installation 2 General 2 General 2 4 About this Manual 10 2 2 Using the PDF Format 10 2 3 Notes for the printed edition paper version 10 24 Symbols Used 2 sewwi Bi GA na Gama suga Vn ees EE DE nl ose bk SEDES eee ee eels 11 2 5 Abbreviations Used LESER EES EE cee Ee ee Ee eee nee eee eee ee ee ee ee ee ee ee ee see ee 12 2 6 Standards Used Ee eb eno EE DEE EE DIOE De eg RE Y de cfi DE EE De He ee 13 Kollmorgen September 2013 9 AKD Installation 2 General 2 1 Aboutthis Manual This manual AKD Installation Manual Instructions Manual according to EC Machinery Directive 2006 42 EC describes the AKD series of digital drives drive and includes infor mation needed to safely install an AKD A digital version of this manual pdf format is avail able on the DVD included with your drive Manual updates can be downloaded from the Kollmorgen website www kollmorgen com Additional documents include the following e User Guide describes how to use your drive in common applications It also provides tips for maximizing your system performance with the AKD The User Guide includes the Parameter and
17. 8 6 2 Connector assignment AKD M01206 X1 24 V Supply X32 Service STO X6 Motion Bus X7 8 VO X2 X35 36 VO Motor Holding Brake SD Slot X3 8 pin Power Supply DC Bus X10 Feedback Brake Resistor x9 Encoder Emulation additional Feedback Protective Earth PE Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 6 3 Connector assignment AKD M02406 and AKD Mzzz07 X32 Service x1 X6 Motion Bus 24 V Supply STO X7 8 VO X2 Motor Holding Brake X35 36 VO X3 4 pin DC Bus SD Slot Brake Resistor X10 Feedback X4 4 pin Power Supply x9 Encoder Emulation additional Feedback Protective Earth PE Kollmorgen September 2013 81 AKD Installation 8 Electrical Installation 8 6 4 Connection diagram AKD M00306 AKD M00606 Reference Safety Instructions and Use As Directed thermal control included Feedback 1 U Mai con L1 L2 L3 is t 82 Kollmorgen September 2013 AKD PDMM 00306 00606 Feedback 1 X9 Feedback 2 3 Electronic Gearing Encoder Emulatio DCOM7 DIGITAL IN7 DIGITAL IN4 DIGITAL IN3 DIGITAL OUT2 DIGITAL OUT2 DIGITAL OUT1 DIGITAL OUT1 DIGITAL IN2 DIGITAL IN1 Fault DCOM8 ENABLE DIGITAL ING DIGITAL INS AGND Analog Out Analog In Analog In X35 DCOM35 DIGITAL IN21 DIGITAL IN22 DIGITAL IN23 DIGITAL OUT21 DIGITAL OUT21 X36 DCOM36 DIGITAL IN24 DIGITAL IN
18. 50 Emergency Stop Function 50 Emulated Encoder Connector 116 Emulated Encoder Output 122 ENABLE aaan aaan anaana a 2a2a2a 132 Enclosure protection 32 EnDat 2 1 encoder interface 110 EnDat 2 2 encoder interface 111 EtherCAT 00 158 EtherNet EtherCAT Protocol 158 Ethernet IP Protocol 159 Modbus TCP Protocol 152 PROFINET RT Protocol 159 SynqNet Protocol 159 Ethernet IP U 159 F Fault messages 178 FAULT relay sess 134 Feedback 103 Feedback Connection 104 FUSING si A a ce 37 G Grounding 71 Grounding Plates 88 H Hardware requirements KASD Eyecare ete hes 169 WorkBench 163 Hiperface DSL 107 Hiperface encoder interface 112 Humidity in operation 32 Storage 18 Transport 18 l l O Connection 124 Initial Drive Test B P T Va
19. 76 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 5 4 Connection diagram AKD x00306 AKD x00606 Reference Safety Instructions Control i AKD x00306 x00606 and Use As Directed 24V referred to VO GND thermal control 1 included DCOM7 MOND 2 Feedback 1 Feedback 1 DIGITAL IN7 DIGITAL IN4 X9 DIGITAL IN3 Feedback 2 3 Electronic Gearing DIGITAL OUT2 Encoder Emulatio DIGITAL OUT2 7 DIGITAL OUT1 Digital1 B A s if O DIGITAL OUT1 O B LI 9 Ref Point VI DIGITAL IN2 o PE lI 10 Home Switch gt je DIGITAL IN1 DD n V1 LI 1 AN IE E X8 a Fault Emergency T t 2 5 Stop Circuit 3 DCOMS VO GND 4 ENABLE 5 NSTOP DIGITAL IN6 6 PSTOP DIGITAL IN5 O 24V referred Analog In 7 to VO GND AGND O tachometer TR ag Analog Out c 10V 9 H 7 10V speed 10 setpoint U U X5 8 Participant Motion Bus In X6 8 Motion Bus Out Participant X12 3 CAN GAN in Participant X13 3 CAN CASONI Participant 8 X11 TCP IP X21 22 23 24 VO Option Card Control jat PE connection protective earth L1 L2 L3 PEJ 9 ka sb chassis ground connection panel shield connection via plug The I O option is available for AKD T drives only Kollmorgen September 2013 7 7 AKD Installation 8 Electrical Installation 8 5 5 Connection diagram AKD x01206 Control Reference Safety Instructions and Use As Directed AKD x01206
20. AKD Installation 9 Setup 9 2 7 3 Set IP address Set the drive IP address as described in Setting the IP AddressAKD B AKD P AKD T 3 p 149 9 2 7 4 Confirm connections You can turn on logic power to the drive through the X1 connector bus voltage is not needed for communications After power is supplied the drive displays a sequence of LED flashes I I P Drive IP address flashed sequentially for example 192 168 0 25 Drive status opmode o0 01 or 02 or fault code if the drive is in a fault condition DAAN Confirm that the link LEDs on the drive green LED on the RJ45 connector and on your PC are both illuminated If both LEDs are illuminated then you have a working electrical con nection LED is green if drive is connectec through a network device While the PC is connecting your statusbar will show the following acquiring icon EES Pr aa Acquiring drive connection Wait for this icon to change to the limited functionality icon this process can take up to one minute Drive connection complete HE LEE Although Windows displays this limited functionality icon for the drive connection the PC can communicate fully with the drive Using WorkBench you can now configure the drive through this connection 166 Kollmorgen September 2013 AKD Installation 9 Setup 9 2 7 5 Install and start WorkBench WorkBench installs automatically from the D
21. Itis not possible to perform a controlled brake if the drive controlled STO Enable is off If controlled braking before the use of the STO function is necessary the drive must be braked and the input STO must be sep arated time delayed from 24 V The STO function does not provide an electrical separation from the power output If access to the motor power terminals is necessary the drive must be disconnected from mains supply considering the dis charging time of the intermediate circuit There is a danger of electrical shock and personnel injury Use the following functional sequence when the STO function is used 1 Brake the drive in a controlled manner speed setpoint 0 V 2 When speed 0 rpm disable the drive enable 0 V 3 If a suspended load is present block the drive mechanically 4 Activate the STO function Kollmorgen September 2013 53 AKD Installation 6 Technical description and data 6 16 5 Technical data and pinning 24V 1 S afety switchgear internod Description 24 VDC Auxiliary voltage 24V Supply GND STO enable Safe Torque Off TR 6 16 6 Enclosure wiring Since the drive meets IP20 you must select an enclosure that permits safe operation of the drive The enclosure must at least meet IP54 If you are wiring leads that are outside the specified enclosure IP54 the cables must be laid durably firmly protected from outside damage for example by laying t
22. Peak output current fords 53 fams 9 8 39 4 Continuous output power asav wal 06 12 25 5 at 3x480 V E 3 167 20 gt p 40 Motor inductance min at 240 V at 400V aL480 V Motrmdwlanema mer 600 30 25 w 48 58 Noise emission low speed high speed fan a 34 43 34 43 44 52 Aux voltage supply 24 V 410 check voltage drop current B P T types without with motor brake 1 2 5 1 2 5 1 2 5 current M type without with motor brake 13 28 13 28 13 28 23 43 Kollmorgen September 2013 35 AKD Installation 6 Technical description and data 6 7 Performance Data AKD xzzz06 Performance Data Units up to AKD AKD AKD x00606 x01206 x02406 Switching frequency of output stage kHz 10 8 8 Voltage rise speed dU dt kV us Bandwidth of current controller 2 5to4 Bandwidth of velocity controller scalable 0to1000 0to800 Oto 600 Bandwidth of position controller scalable 1 to 250 AKD xzzz07 Performance Data Units AKD AKD AKD AKD x00307 x00607 x01207 x02407 Switching frequency of output stage KHz 8 8 6 8 Voizzersespessajat Wwe o 7 6 8 Recommended Tightening Torques Tightening Torque Nm Connector up to AKD x00606 AKD x01206 AKD x02406 and AKD xzzz07 0 22 to 0 25 0 22 to 0 25 0 22 to 0 25 0 5to 0 6 0 7 to 0 8 0 7 to 0 8 0 5 to 0 6 0 5 to 0 6 0 7 to 0 8 OE L 071008 XT X8 X21 X22 0 2 to 0 25 0 2 to 0 25 0 2 to 0
23. Kollmorgen September 2013 plug cable into the correct sockets on the drive and PC select correct interface connect HW Enable X8 pin 4 Apply 24V to HW Enable and select SW Enable in WorkBench Fieldbus apply ENABLE signal set software enable check setpoint cable correct motor phase sequence check brake control check mechanism set motor pole no set up feedback correctly reduce VL KP speed controller replace feedback cable join AGND to CNC GND verify motor drive sizing verify that IL LIMITN P VL LIMITN P are not limiting the drive reduce DRV ACC DRV DEC verify motor drive sizing verify motor continuous and peak cur rent values are set correctly increase VL KP speed controller increase VL KI Speed controller refer to documentation regarding reduc ing filtering VL AR reduce VL KP speed controller reduce VL KI speed controller refer to documentation regarding increasing filtering VL AR Cancel the installation Relaunch the installer you may need to try several times the problem is random Make sure that you have enough disk space on your hard disk 500MB to allow Windows NET update if nec essary if not make some space AKD Installation 10 Record of document revisions 10 Record of document revisions Revision 11 2009 12 2009 A 03 2010 B 06 2010 C 07 2010 D 01 2011 E 04 2011 F 10 2011 G 03 2012 H 05 2012 08 2012 K 11 2012 L 05 2013
24. September 2013 185 AKD Installation 9 Setup 9 4 2 Additional fault messages AKD T AKD BASIC runtime faults are displayed in the two digits 7 segment display of the drive The two digits LED display indicates the fault code The additional runtime fault messages for AKD T are coded with numbers starting from F801 All faults activate the fault relais and can be cleared with DRV CLRFAULTS More information about fault messages and clearing faults can be found in the WorkBench online help Remedy for all errors Clear Fault fix user program recompile download and attempt to run the program again Error Description Cause F801 Divide by zero User Program attempted to divide by zero F802 Stack Overflow User Program contains an infinite recursion or incorrectly array F803 Insufficient Memory User program creates an excessive demand for memory F804 No interrupt handler defined User program is missing an interrupt service routine but an inter rupt is called F805 Interrupt error User program contains an error in an interrupt routine F806 Max string length exceeded User program attempted to use a string exceeding 255 char acters F807 String overflow User program has a exception causing excessive string usage F808 Array out of bounds User program exception caused an array to exceed its bounds does not support ware or hardware error ware F813 User program contains a parameter access error
25. gt 128 such as MT MOVE 130 n164 Motion task is not initialized Appears with n160 when you try to trigger a non initial ized motion task n165 Motion task target position is out Appears with n160 when you try to trigger a motion task with an absolute target position outside of the selected modulo range see also MT CNTL mer SW limit switch traversed Ct EE n168 Invalid bit combination in the motion Appears with n160 when you try to trigger a motion task task control word with an invalid bit combination in the motion task control word see also MT CNTL Kollmorgen September 2013 AKD Installation 9 Setup Message Warning 1 1 profile cannot be triggered on the Appears with n160 when you try to trigger a 1 1 profile fly table motion task while another motion task is currently running Customer profile table is not initial Appears with n160 when you try to trigger a motion task ized that uses a customer profile table for generating the veloc ity profile and when the selected profile table is empty see MT CNTL and MT TNUM Internal RAM failed Hardware failure detected External RAM failed Hardware failure detected Code integrity failed Software failure detected FPGA register access failure occurred F204 to F232 EEPROM failure detected EEPROM failure detected F234 to F237 Temperature sensor high High temperature limit reached F240 to F243 Temperature sensor low Low temperature limit r
26. 20 AKD Installation 4 Approvals 4 Approvals 4 1 Conformance with UL cUL 4 2 CE Conformance Kollmorgen September 2013 AKD Installation 4 Approvals 4 1 Conformance with UL cUL This drive is listed under UL Underwriters Laboratories Inc file number E141084 Vol 3 Sec 5 USL CNL Power conversion equipment NMMS NMMS7 Models AKD followed by B P S T MorF followed by 003 006 012 and 024 followed by 06 or 07 followed by addi tional suffixes USL Indicates Investigated to United States Standard for Power Conversion Equipment UL 508C Third Edition Revised February 15 2008 CNL Indicates investigation to Canadian Standard for Industrial Control Equipment CAN CSA C22 2 No 14 2005 Second Edition Revised April 2008 Note CNL Canadian National Standards Listed USL United States Standards Listed 4 1 1 UL Markings e Identification of the terminals on the controller are coded so they may be identified in the instructions The instructions shall identify power connections for power supply load con trol and ground e Integral solid state short circuit protection does not provide branch circuit protection Branch circuit protection must be provided in accordance with the National Electrical Code and any addit
27. 91 177 pna 220 256 es zre vo se 217 AKD Extended Width AKD Extended Width AKD Extended Width 110V to 230V 3A to 6A 110V to 230V 12A 110V to 230V 24A Kollmorgen September 2013 67 AKD Installation 7 Mechanical Installation 7 4 4 Dimensions AKD xzzz07 extended width e S i o c c o o z a A1 with connectors Extended Width 480V AKD Extended Width AKD Extended Width 480V 3A 12A 480V 24A 68 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 Electrical Installation 8 1 Important Notes 70 8 2 Guide to electrical installation a 71 8 3 Wirima s u ee ge DE EE A Ma 72 8 4 Components of a servosystem 73 8 5 Connection Overview AKD B AKD P AKD T 75 8 6 Connection Overview AKD M Gee 80 8 7 EMI Noise Reduction 85 8 8 Electrical Supply Connection 89 8 9 DC Bus link X3 ES EE l a a ee EE ee YN ua sanan Sei 94 8 10 Motor Connection EES EES SEE EE Se Ee EE Ee ESE EE ee ee ee ee ee ee ee ee ee ee ee ee ee ee 100 8 11 Feedback Conn
28. Dum Lt J 8 20 3 1 EtherCAT activation with AKD CC models NOTE AKD CC drive models are Drives which support EtherCAT and CAN fieldbus types within one common software CC drive models are delivered with EtherCAT set active If you must change a drive from CANopen to EtherCAT the DRV TYPE parameter must be changed 1 by software connect the PC to the AKD and change the parameter DRV TYPE inthe WorkBench terminal screen see DRV TYPE parameter documentation or 2 by hardware with the rotary switches S1 amp S2 at the front and the button B1 on the top side of the Drive The following steps are needed for changing the fieldbus type from CAN to EtherCAT with the rotary switches 1 Setthe rotary switches on the front side of the AKD to the value of 89 s S S1 MSB u NY S2 LSB Set S1 to 8 and S2 to 9 2 Press the button B1 for about 3 seconds starts DRV NVSAVE Press B1 for 3 seconds The display shows En during the process of changing DRV TYPE to EtherCAT Do not switch off the 24 V power supply while the seven segment shows En 3 Wait until the display returns to the original state now the drive is prepared for EtherCA T 4 Power cycle the drive by switching the 24 V power supply off and then on again The seven segment display shows Er Error in case that the DRV TYPE instruction failed In this case please power cycle the drive and contact the Kollmorgen customer support for further help Kollmorgen
29. September 2013 AKD Installation 6 Technical description and data Integrated safety e Appropriate insulation creepage distances and electrical isolation for safe electrical sep aration per IEC 61800 5 1 between the power input motor connections and the signal electronics e Soft start overvoltage detection short circuit protection phase failure monitoring e Temperature monitoring of the drive and motor e Motor overload protection foldback mechanism e SIL 2 safe torque off in accordance with IEC 61508 gt p 52 Auxiliary supply voltage 24V DC e From an external safety approved 24 V 410 power supply Operation and parameter setting e Using the setup software WorkBench for setup via TCP IP or KAS IDE for AKD PDMM setup Full digital control e Digital current controller 670 ns e Adjustable digital velocity controller 62 5 us e Software option position controller 250 us Inputs Outputs e 1 programmable analog input 3 p 128 e 1 programmable analog output gt p 129 e 7 programmable digital inputs gt p 130 e 2 programmable digital outputs 3 p 133 e 1 Enable input 3 p 130 e 1STO input 3 p 52 e additional digital inputs and outputs depending on variants for example AKD PDMM Option Cards Integrated option cards affect the device width e IC additional digital inputs and outputs e MC Motion Controller card with additional digital inputs and outputs Extends the AKD to AKD PDMM type
30. be applied to the machine plant Kollmorgen only guarantees the conformance of the servosystem with the standards cited in this chapter if the components motor cables chokes etc are those supplied by Koll morgen Kollmorgen September 2013 23 AKD Installation 4 Approvals 4 2 2 EC Declaration of Conformity EC Declaration of Conformity Document No GL 11 29 14 13 We the company KOLLMORGEN Corp 201 Rock Road Radford VA 24141 USA hereby in sole responsibility declare the conformity of the product series Servo drive AKD types AKD x0030x AKD x0240x with the following directives EC Directive 2006 42 EG Directive for machinery Used harmonized standards EN 61800 5 2 2007 EN ISO 13849 1 2008 EN ISO 13849 2 2012 EC Directive 2004 1 08 EC Electromagnetic compatibility Used harmonized standard EN61800 3 2004 EC Directive 2006 95 EC Electrical devices for use in special voltage limits Used harmonized standard EN61800 5 1 2007 Year of EC Declaration 2009 Issued by Engineering Manager Steven Mcclellan Radford 02 04 2013 uA EM Legally valid signature The above mentioned company has the following technical documentation for examination Proper operating instructions Setup Software Diagrams software source codes for EU authority only Test certificates for EU authority only Other technical documentation for EU authority only The special technical product doc
31. j Ref Point Home Switch Emergency Stop Circuit VO GND 24 l NSTOP PSTOP Wg K tachometer volt 9 ro NT SUA Vasa dy U _ of4is Io Is I of rd os ro VO GND 24v Participant 8 Participant QD PE connection protective earth ah chassis ground connection panel shield connection via plug L1 L2 L3 PE Kollmorgen September 2013 83 AKD Installation 8 Electrical Installation 8 6 6 Connection diagram AKD M02406 and AKD Mzzz07 Reference Safety Instructions AKD PDMM 02406 xxx07 Control and Use As Directed 24V referred to 1 O GND thermal control included DCOM7 VO GND DIGITAL IN7 Feedback 1 Fond DIGITAL IN4 DIGITAL IN3 x9 DIGITAL OUT2 Feedback 2 3 Electronic Gearing DIGITAL OUT2 gt Encoder Emulatio DIGITAL OUT1 ot DIGITAL OUT1 Ref Point B je DIGITAL IN2 o i C Home Switch Bt LI C DIGITAL IN1 c Fg PE 2 LL o c U1 Fg r Emergency NN o Fault s V1 NI Stop Circuit 2 o C 54 amp wi EE s DCOM8 VO GND gay ENABLE Remove jumper if l NSTOP external regen a resistor is Connected DIGITAL IN6 PSTOP gt N DIGITAL IN5 o r xq a cro M d and AGND 10V 4 Ip al I Analog Out MAL 4 tachometer volt ez Analog In 9 i 10V speed Analog In 10 oH un setpoint ref DCOMS35 O VO GND 24y DIGITAL IN21 DIGITAL IN22 DIGITAL IN23 DIGITAL OUT21 DIGIT
32. part number scheme AKD M a master drive for multiaxis syn chronized drive systems Connectivity e Inputs Outputs p 124 e Encoder feedback output 2 p 122 e Service Interface 3 p 148 e CANopen gt p 152 optional e Motion Bus interface 3 p 157 m SynqNet 2 p 159 optional m EtherCAT gt p 158 optional a PROFINET RT 9 p 159 optional Ethernet IP 2 p 159 optional Kollmorgen September 2013 AKD Installation 6 Technical description and data 6 2 Ambient Conditions Ventilation and Mounting Position Ambient temperature 0 to 40 C under rated conditions in operation 40 to 55 C with continuous current derating 4 per Kelvin Humidity in operation Relative humidity 5 to 85 no condensation class 3K3 Site altitude Up to 1000 meters above mean sea level without restriction 1 000 to 2 500 meters above mean sea level with power der ating 1 5 100 m Built in fan except AKD x00306 type The drive shuts down fault F234 p 178 motor has no NOTICE torque in case of Asian high aie in the control cabinet Make sure sufficient forced ventilation is supplied within the control cabinet 6 3 Mechanical Data Mechanical data Units AKD AKD AKD AKD x00306 X00606 x01206 X02406 0 96 100 6 Mechanical data i AKD AKD AKD AKD x00307 x00607 x01207 x02407 Weight standard width Extended Width front back mm 95 100 99 105 Depth without connectors mm Kollmorgen S
33. unable to Clean up the flash memory by removing log files memory available write to flash application programs recipes or other data files Out of NVRAM NVRAM is full Change application to reduce the amount of space for retained retained variables variables Reset to Factory Flash memory could not be for Try reset to factory defaults again from power on If Defaults failed matted during a Reset to Fac problem persists return hardware for repair tory Defaults procedure Cannot read write SD card is not plugged in or the Insert a valid SD card or re format the SD card files from to a SD filesystem is corrupt and cannot using Settings gt SD card Format button card be mounted Not enough space SD cardis full unable to write to Clean up SD card space by deleting files or re for available on the the SD card mat the card using Settings 7 SD card Format but SD card ton Runtime plug in KAS runtime or application code Power off on Reset to factory defaults If prob process thread or failed to auto start at boot lem is recurrent check release notes for firmware application failed to updates or download firmware start Runtime plug in KAS runtime code failed during Power off on If problem is recurrent check process orthread normal operation release notes for firmware updates failed to respond during operation Fatal error in PLC Virtual machine failed to Re compile application download an
34. 2 CE Conformance 22 4 2 1 European Directives and Standards for the Machine Builder 23 4 2 2 EC Declaration of Conformity 24 4 3 Safe Torque Off STO 25 5 Package RUPEE 26 5 1 Package Supplied 27 5 2 HA 27 5 3 Part Number Scheme 28 6 Technical description and data 29 6 1 The AKD Family of Digital Drives 30 6 2 Ambient Conditions Ventilation and Mounting Position 32 6 3 Mechanical Data 32 6 4 Inputs Outputs 33 6 5 Electrical Data AKD xzzz06 34 6 6 Electrical Data AKD xzzz07 35 6 7 Performance Data
35. 25 X23 X24 X35 X36 PE block See Conformance with UL cUL 29 p 21 for in Ibs values Kollmorgen September 2013 6 9 Fusing AKD Installation 6 Technical description and data US fuses Class J 600 VAC 200 kA time delay The fuse must be UL and CSA listed UL recognized is not sufficient EU fuses types gRL or gL 400 V 500 V time delay Fuse holders Combined with the standard fuse blocks finger safe fuse holders must be used according to IEC 60529 Examples Bussmann CH Series Modular Fuse Holders fuse size 0 to 30A class J 3 poles CH30J3 Ferraz Ultrasafe Fuse holders fuse size 0 to 30A class J 3 poles US3J3I 6 9 1 External power supply fusing Model Ampere rating Cooper Bussmann Ferraz Shawmut ere 6 9 2 External 24 V supply fusing Drive Max Example class J Example class J Model Ampere rating Cooper Bussmann Ferraz Shawmut all AKD 8A Time Delay 3 LPJ8SP DFJ8 AJT8 6 9 3 External regen resistor fusing Drive Model Ampere UL region CE Region rating AKD x003 to x012 example example Siba Cooper Bussmann 110V to 400V gRL gS AKD x024 type FWP xxA14F 400V to 480V aR 6 10 Grounding System There are several ground networks in the drive AGND snaogground DCOM7 DCOM8 common line for digital inputs on I O connector X7 X8 DCOM21 DCOM22 common line for digital inputs on I O connector X21 X22 I O option card only DCOM35 DCOM36 common line for digital i
36. 250x 222 AKD x0T206 158 x 394 x 292 AKDx02407 156x394x292 87 89 3 4 3 Storage Store the AKD in accordance with IEC 61800 2 as follows e Storeonly in the manufacturer s original recyclable packaging e Store at or below maximum stacking height AKD x0306 to 0606 models 8 cartons all other models 6 cartons e Store only within specified temperature ranges 25 to 55 C max rate of change 20 K hour class 1K4 e Storage only within specified humidity 5 to 95 relative humidity no condensation class 1K3 e 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 To re form the capacitors remove all electrical connections and apply single phase 120 VAC for about 30 minutes to the L1 L2 terminals Kollmorgen September 2013 AKD Installation 3 Safety 3 4 4 Maintenance and Cleaning The drive does not reguire maintenance Opening the drive voids the warranty The inside of the unit can only be cleaned by the manufacturer To clean the drive exterior e Casing Clean with isopropanol or similar cleaning solution e Protective grill on fan Clean with a dry brush NOTICE Do not immerse or spray the drive 3 4 5 Uninstalling If a drive must be uninstalled such as for replacement remove the drive as follows 1 Switch off the main switch of the switchgear cabinet and
37. 27 Noise Emission 32 O Operating systems KAS IDE x m ka SES EE SEG RES 169 WorkBench 163 Outputs Analog DER Leu cei aa pin 129 Basic Data 33 Digital all Variants 133 Digital M Variant 141 Digital VO option 137 Fault Relay 134 Relay I O option 138 P Package supplied 0 27 Packaging 18 Kollmorgen September 2013 Part number scheme 28 PC connection 148 Pollution level 32 PROFINET 159 Prohibited Use General 17 STE NTC DER Ee AE 52 Pulse Direction interface 120 Pushbuttons 144 R Re forming 161 Regen circuit 40 Regen resistor interface 95 Relay Output VO option 138 Repair 19 Resolver interface 105 ROD 5V with Hall interface 114 S Safe Torque Off STO 52 S
38. 8 5 Connection Overview AKD B AKD P AKD T 8 5 1 Connector assignment AKD x00306 AKD x00606 X13 CAN Out VO Option V0 X1 24 V Supply STO X5 6 Motion Bus Xo X7 8 VO Motor Holding Brake X10 Feedback X3 7 pin Power Suppl DEBU d lt Se X23 24 Brake Resistor VO X9 Protective Earth Encoder Emulation SD Slot PE additional Feedback The I O option is available for AKD T drives only 8 5 2 Connector assignment AKD x01206 on SAR ip i X11 Service u Ba VO Option X21 22 I O KOLLMORGEN ORGENT 24V miga X5 6 Motion Bus STO e X7 8 VO X2 Motor Holding Brake X10 Feedback X3 8 pin Power Supply 4 DC Bus ES Brake Resistor X23 24 VO Protective Earth X9 PE Encoder Emulation SD Slot additional Feedback The I O option is available for AKD T drives only Kollmorgen September 2013 75 AKD Installation 8 Electrical Installation 8 5 3 Connector assignment AKD x02406 and AKD xzzz07 X11 Service VO Option X21 22 VO X12 CAN In X13 CAN Out mmm Mta X1 24 V Supply STO X5 6 Motion Bus X2 Motor Holding Brake X7 8 VO X10 Feedback X23124 I O e m WEE _ SD Slot X3 4 pin DC Bus Brake Resistor X4 4 pin Power Supply mg Encoder Emulation additional Feedback i Eed veer Protective Earth POTERE 2222225 PE 9 Pa a jo The I O option is available for AKD T drives only
39. BASIC programs and non volatile parameters can be saved loaded If a fault occurs during save load operations the fault number is displayed in the display with E followed by four digits Error codes gt p 178 Supported SD card types SD cards are preformatted by the manufacturer The following table outlines the SD card types and AKD support SD Type File System Capacity Supported SD SDSC FATI6 Features Ifan SD card is plugged into the SD slot and the drive is disabled and no programm is run ning set rotary switches as described below and press B1 for 5s to start the set function Function S1 S2 Remarks 1 Save data to SD card 1 IPress B1 for 5s for save data from the drive to the SD card Load data from SD card UM Press B1 for 5s for loading data from the SD card to the drive Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 17 2 SD Card Slot with AKD M AKD PDMM offers a SD card slot and pushbuttons B2 and B3 to activate file transfers from to the AKD PDMM and SD Memory Card These features can be started from the KAS IDE software as well Detailled description can be found in the AKD PDMM User s Guide The backup restore operations AKD PDMM to SD or SD to AKD PDMM will not be pos sible if an application is running Stop the application from the web browser or use the B2 B3 stop action before initiating any SD card functionality If a fault occurs during save load o
40. DC otherwise AKD will switch off before KCM P provides energy to the DC bus link e KCM E assembled and connected to the KCM P with connection cable X1 and PE line e Discharge aids plug in bridge are removed Proceed as instructed below 1 Switch on the line voltage 2 The KCM P begins the charging process at approx 470 V DC the LED flashes 98 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 9 2 4 Discharging KCM modules NOTICE The aids supplied with each KCM module plug in bridge connecting cables allows dis charging the modules safely When the charging LED on top of the modules flashes the capacitors are charged Please note however that the LED does not allow you to draw a definite conclusion about the state of discharge as it is not monitored for failures DC Bus link terminals in servo systems carry high DC voltage of up to 900 V Touching the terminals while they are carrying voltage is extremely dangerous Switch off the line voltage disconnect the system You must only work on the connections when the system is disconnected Check the state of charge of the capacitors with a measuring device that is suitable for a DC voltage of up to 1 000 V Wait until the voltage meas ured between the DC DC terminals or to ground has sunk below 40 V It can take over an hour for the modules to self discharge If you cannot wait for the duration of the self discharge time you mus
41. DCOM8 e Sink or Source type sensors possible e High 3 5 to 30 V 2 to 15 mA Low 2 to 2 V lt 15 mA e Update rate Software 250 us 8 13 6 3 Digital Input 8 ENABLE NOTE Digital Input 8 terminal X8 4 is set to Enable function e Floating reference common line is DCOMS e Sink or Source type wiring is possible e High 3 5 to 30 V 2 to 15 mA Low 2 to 2 V 15 mA e Update rate direct connection to hardware FPGA The Hardware Enable input and the Software Enable signal via fieldbus or WorkBench are serial that means wiring of Hardware Enable is mandatory The output stage of the drive is enabled by applying the ENABLE signal Terminal X8 4 active high Enable is possible only if input STO has a 24 V signal see Safe Torque Off STO on page 52 In the disabled state low signal the connected motor has no torque A software enable by means of the setup software is also required AND link although this can also be permanently enabled with WorkBench Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 13 7 Digital Outputs X7 X8 8 13 7 1 Digital Outputs 1 and 2 The drive supplies 2 digital outputs X7 5 to X7 8 gt p 124 Choose the required function in the setup software Messages from pre programmed functions stored in the drive can be out put here A list of these pre programmed functions can be found in the setup software If an output is to be assigned to a pre progra
42. Emergency Stop function will be triggered by the manual actions of a single person It must be fully functional and available at all times The user must understand instantly how to operate this mechanism without consulting references or instructions The Stop Category for the Emergency Stop must be determined by a risk evaluation of the machine In addition to the requirements for stop the Emergency Stop must fulfil the following require ments e Emergency Stop must have priority over all other functions and controls in all operating modes e The energy supply to any drive machinery that could cause dangerous situations must be Switched off as fast as possible without causing any further hazards Stop Category 0 or must be controlled in such a way that any movement that causes danger is stopped as fast as possible Stop Category 1 e Thereset must not initiate a restart 6 15 3 Emergency Off NOTE The Emergency Off function is used to switch off the electrical power supply of the machine This is done to prevent users from any risk from electrical energy for example electrical impact Functional aspects for Emergency Off are defined in IEC 60364 5 53 The Emergency Off function will be triggered by the manual actions of a single person The result of a risk evaluation of the machine determines the necessity for an Emergency Off function Emergency Off is done by switching off the supply energy by electro mechanical switch
43. F814 Data not found User program attempted writing an invalid recorder parameter F815 Data invalid User program attempted executing an invalid command range range range by two F820 Invalid position modulo setting User program contains an incorrectly configured modulo setting F821 Cannot read from command User program attempted to perform a read of parameter that is a d usss 823 Enable Drive first User program is attempting to execute motion that requires the 6 dd 824 IDRV OPMODE must be 2 position User program is attempting to execute motion that requires the drive to be in program mode Kollmorgen September 2013 AKD Installation 9 Setup Error Description Cause F825 DRV CMDSOURCE must be 5 pro User program is attempting to execute motion that requires the gram drive to be in position mode Cannot execute during a move User program is attempting an invalid execution during a move Writing to read only parameter User program attempted writing to a read only parameter F828 Disable Drive first User program tries to execute a function that requires a disabled drive F829 Opcode not supported upgrade firm User program contains unsupported Opcode ware F830 No negative values allowed User program uses illegal negative value F831 IBASIC program is invalid May need JUser program contains invalid c firmware upgrade F832 BASIC program is missing User program is missing F901 User prog
44. Format 10 2 3 Notes for the printed edition paper version 10 2 4 Symbols Used AA 11 2 5 Abbreviations Used uu 12 2 6 Standards Used 000000 13 3 al oe EE EE EE I uM MM Ln UE E 14 3 1 You should pay attention to this U U 15 3 2 Use as Directed AA be imu ied 17 3 3 Prohibited Use UJU od DE EE EIE DEE ANG Sol See AD DE ika ERG SE EA tot Ve SE ee Ene bes 17 3 4 Handling 18 3 4 1 Transport sse is ee uy uu EE 18 3 4 2 Packaging 18 3 43 HOKAGE AE RE OE EE OE RE EE N EE N 18 3 4 4 Maintenance and Cleaning 19 3 4 5 Uninstalling 19 3 4 6 Repair and Disposal 19 4 CORRER 20 4 1 Conformance with UL cUL 21 4 1 1 UL Markings 21 4
45. Hardware Disable Behavior when undervoltage condition is present The behavior in an undervoltage condition depends on the VBUS UVMODE setting VBUS UVMODE DC Bus Undervoltage Mode Consult the AKD User Guide for con Ni EP AG rOue The drive will report a F502 undervoltage fault any time an undervoltage fault if the drive is enabled when the condition occurs or an attempt is made to enable while an under voltage condition occurs kas The drive will report a warning n502 if not enabled The drive will report a Safety function STO With the personnel safe function STO the drive can be secured on standstill using its inter nal electronics so that even when power is being supplied the drive shaft is protected against unintentional restart The chapter Safe Torque Off S TO describes how to use the STO function 2 p 52 Kollmorgen September 2013 43 44 AKD Installation 6 Technical description and data 6 14 1 Switch on behavior in standard operation The diagram below illustrates the correct functional seguence for switching the drive on U 24V FAULT Relay 15s boot time L1L2 3 DC Bus Link c x 500ms STO c gt 100ms HW ENABLE amp SW ENABLE Power Stage enable Motor Speed t Fault F602 occurs when STO 9 p 52 does not have current when HW enable becomes active Kollmorgen September 2013 AKD Installation 6 Technical description and data 6 1
46. IN 25 Programmable Digital Input 26 DIGITAL IN 26 Programmable Digital Common X21 5_7 DCOM21 5_7 Common line for X21 pins 5 6 7 Digital Input 27 DIGITAL IN 27 Programmable gt p 135 Digital Input 28 DIGITAL IN 28 Programmable Digital Input 29 DIGITAL IN 29 Programmable Digital Common X22 1 3 DCOM22 1_3 Common line for X22 pins 1 2 3 Digital Input 30 DIGITAL IN 30 Programmable EE S gt x21 6 B N N gt N N XIX gt NIN N NIN N Digital Input 31 DIGITAL IN 31 Programmable Digital Input 32 DIGITAL IN 32 Programmable Digital Common X22 5 7 DCOM22 5 7 Common line for X22 pins 5 6 7 XIX NIN NIN Kollmorgen September 2013 125 AKD Installation 8 Electrical Installation eO e 3 55 Pin Signal Abbreviation Function Wiring Diagram Analog Output 2 Analog Out2 Programmable gt p 129 n c n c gt N e EE NIN Co C5 gt N e BB NIN w Digital Output 227 Digital Output 247 DIGITAL OUT 24 Relay Output 25 DIGITAL OUT 25 Programmable gt p 138 relay Relay Output 25 DIGITAL OUT 25 Programmable relay Analog Input 2 Analog In2 Programmable gt p 128 gt N O BB N I N Co Co gt N e o 8 N O XIX NIN Q O N oo R Ma EE N X2 358 Digital Output 25 Relay Output 30 DIGITAL OUT 30 Programmable p 138 relay Relay Output 30 DIGITAL OUT 30 Program
47. Installation 6 Technical description and data Switch off behavior for faults that cause a controlled stop This is a category 1 stop according to IEC 60204 2 p 50 Standard Operation F306 Example Brake short circuit controlled stop 24V F306 example FAULT Relay t DC Bus Power Stage enable STO ENABLE extern Motor Speed Dynamic braking Motor Holding Brake t If velocity drops below threshold CS VTHRESH or timeout occurs brake is applied 3 p 102 Kollmorgen September 2013 49 50 AKD Installation 6 Technical description and data 6 15 Stop Emergency Stop Emergency Off NOTE 6 15 1 Stop NOTE The control functions Stop Emergency Stop and Emergency Off are defined by IEC 60204 Notes for safety aspects of these functions can be found in ISO 13849 and IEC 62061 The parameter DRV DISMODE must be set to 2 to implement the different stop categories Consult the AKD User Guide for configuring the parameter Functional safety e g with hanging load vertical axes requires an addi tional mechanical brake which must be safely operated for example by a safety control Set parameter MOTOR BRAKEIMM to 1 with vertical axes to apply the motor holding brake 3 p 102 immediately after faults or Hardware Dis able The stop function shuts down the machine in normal operation The stop function is defined by IEC 60204 The Stop Category must be determined by a ris
48. M 09 2013 Remarks Beta launch version Digital VO corrections several updates CAN termination connector optional data dynamic brake updated resolver signals renamed CE certificate X9 description updated technical data completed Several updates typos dimensions corrected switch on off timing diagrams Switch on off timing diagrams typos cover layout Hardware Revison C STO certified voltage level digital inputs changed Analog In Out specification extended single two phase mains supply updated EnDat 2 2 X9 STOP chapter updated dimension drawings AKD T IC added I O option card signals added PDMM error codes updated Kollmorgen September 2013 193 AKD Installation 10 Record of document revisions This page intentionally left blank Kollmorgen September 2013 11 Index A Abbreviations 12 AKD Family 30 Ambient temperature 32 Analog inputs 128 Analog setpoints 128 Aux supply 24V interface 91 B BISS encoder 108 C Cabinet Assembly Extended Width 65 Standard Width 61 Cable and Wire Requirements 39 CANbus Baudrate 154 Cable
49. Radford VA 24141 USA 40880 Ratingen Germany 22 Jianguomen Wai Street Web www kollmorgen com Web www kollmorgen com Web www kollmorgen com Mail support kollmorgen com Mail technik kollmorgen com Mail sales asia kollmorgen com Tel 1 540 633 3545 Tel 49 2102 9394 0 Tel 86 400 666 1802 Fax 1 540 639 4162 Fax 49 2102 9394 3155 Fax 86 106515 0263 7777 KOLLMORGEN f Because Motion Matters
50. SFF Mode 1 h 79 STO STOsingle PLd CAT3 SIL 2 20 100 channel 6 16 2 Use as directed The STO function is exclusively intended to provide a functional safe stop of the motion sys tem To achieve this functional safety the wiring of the safety circuits must meet the safety requirements of IEC 60204 ISO 12100 and ISO 13849 6 16 3 Prohibited use The STO function must not be used if the drive is to be made inactive for the following rea Sons e Cleaning maintenance and repair operations long inoperative periods In such cases the entire system should be disconnected from the supply and secured main switch e Emergency Off situations In an Emergency Off situation the main contactor is switched off by the Emergency Off button Kollmorgen September 2013 AKD Installation 6 Technical description and data 6 16 4 Safety instructions Drives with a suspended load must have an additional safe mechanical blocking for instance by a motor holding brake The drive cannot hold the load when STO is active Serious injury could result when load is not properly blocked If the safety function STO is automatically activated by a control system then make sure that the output of the control is monitored for possible mal function The monitoring can be used to prevent a faulty output from unin tentionally activating the STO function Since the STO function is a single channel system erroneous engaging will not be recognized
51. STO function is a single channel system erroneous engaging will not be rec ognized When wiring the input STO within one enclosure the cables and the enclosure must meet the requirements of IEC 60204 1 If you are wiring leads outside the specified enclo sure then the cables must be laid durably and protected from outside damage Kollmorgen September 2013 AKD Installation 6 Technical description and data 6 16 7 1 Signal diagram sequence The diagram below shows how to use STO function for a safe drive stop and fault free oper ation of the drive 1 Brake the drive in a controlled manner speed setpoint O V 2 When speed 0 rpm disable the drive Enable 0 V 3 Activate the STO function STO 0 V n speed t U Enable t U STO t 6 16 7 2 Functional test You must test the restart lock function after initial start of the drive after each interference into the wiring of the drive or after exchange of one or several components of the drive First Method 1 Stop drive with setpoint 0 V Keep drive enabled DANGER Do not enter hazardous area 2 Activate the STO function for example by opening protective screen voltage at X1 3 OV 3 The fault contact opens the net contactor releases and the drive displays fault F602 Second Method 1 Stop all drives with setpoint O V disable drive 2 Activate the STO function for example by opening protective screen voltage at X1 3 0V 3 The drive dis
52. September 2013 AKD Installation 8 Electrical Installation 8 20 4 SynqNet You can connect to the SynqNet Network via RJ 45 connectors X5 in port and X6 out port The communication status is indicated by the built in LEDs Connector LED Z Name Function X5 LED1 LINK IN ON receive valid IN port O qe N LED2 CYCLIC ON network cyclic BLINK network not cyclic OFF power off or reset LED3 LINK OUT ON receive valid OUT port OFF not valid power off or reset LED4 REPEATER JON repeater on network cyclic BLINK repeater on network not cyclic OFF repeater off power off or reset 8 20 5 PROFINET AKD with connectivity option PN can be connected to a PROFINET network via RJ 45 con nector X11 PROFINET RT protocol is used The communication status is indicated by the built in LEDs Connector LED Name Function LED1 IN port Link ON active OFF not active EEN LED2 ON running OFF not running Connect the service interface X11 of the drive to an Ethernet interface on the PROFINET Master directly or via a network switch while the supply to the equipment is switched off Use standard Cat 5 Ethernet cables for connection Confirm that the link LED on the AKD the green LED on the RJ45 connector and on your Master or Switch are both illuminated If both lights are illuminated then you have a good electrical connection The subnet mask of the AKD is 255 255 255 0 The first three octets of the
53. complex mechan ics belts and compliant loads are present Target Position Overshot due to The drive cannot decelerate from its current speed to invalid Motion task activation reach the end point of the second motion task without moving past it F103 F104 F105 F106 F121 F123 n123 F125 n125 F126 n126 F128 F129 F130 F131 F132 F133 F134 F135 n135 F136 F138 F139 Kollmorgen September 2013 179 AKD Installation 9 Setup Fault Message Warning n140 VBUS HALFVOLT has changed The user has changed the numerical value of VBUS HAL FVOLT This change only takes effect after a DRV NVSAVE command and after rebooting the drive n151 Not enough distance to move motion For trapezoidal and customer table motion tasks The tar exception get velocity specified in the motion task cannot be reached via using the selected acceleration and decel eration since the distance to travel is not sufficient For a 1 1 profile The selected acceleration and decel eration will be extended since there is too much distance to travel and the motion task would exceed its maximum allowed velocity n152 Not enough distance to move fol A new motion task activated when one motion task is lowing motion exception already active and the target position specified in the motion task parameters cannot be reached with specified target velocity acceleration and deceleration parameters n153 Velocity limit violation exceeding A new ta
54. connect the PC to the AKD and change the parameter DRV TYPE in the WorkBench terminal screen see DRV TYPE parameter documentation or 2 by hardware with the rotary switches S1 amp S2 at the front and the button B1 on the top side of the Drive The following steps are needed for changing the fieldbus type from EtherCAT to CAN with the rotary switches 1 Setthe rotary switches on the front side of the AKD to the value of 89 Set S1 to 8 and S2109 2 Press the button B1 for about 3 seconds starts DRV NVSAVE Press B1 for 3 seconds The seven segment display shows Cn during the process of changing DRV TYPE to CAN Do not switch off the 24 V power supply while the seven segment shows Cn 3 Wait until the seven segment display goes back to the original state no the drive is pre pared for CAN 4 Power cycle the drive by switching the 24 V power supply off and then on again NOTE The seven segment display shows Er Error in case that the DRV TYPE instruction failed In this case please power cycle the drive and contact the Kollmorgen customer support for further help Kollmorgen September 2013 153 AKD Installation 8 Electrical Installation 8 19 2 Baudrate for CAN Bus The user can decide to use a fixed baud rate or an auto baud detection algorithm for the startup behaviour of the drive The transmission rate can be set via the parameter FBUS PARAM O1 The parameter FBUS PARAMO1 can either be set via WorkBench or
55. digital input controlled stop This is a category 2 stop according to IEC 60204 p 50 A digital input can be configured to bring the motor to a controlled stop and then disable the drive and apply the holding brake if present See the AKD User Guide for information on con figuring Digital Inputs Standard Operation Dinx mode 13 24V Digital Input x Power Stage enable controlled Motor Speed If velocity drops below threshold CS VTHRESH or timeout occurs brake is applied 3 p 102 6 14 2 3 Switch off behavior using HW Enable input uncontrolled stop This is a category O stop according to IEC 60204 p 50 The hardware enable input disables the power stage immediately Standard Operation Disable 24V HW Enable X8 4 Power Stage enable uncontrolled Motor Speed If velocity drops below threshold CS VTHRESH or timeout occurs the motor holding brake is applied 3 p 102 Set parameter MOTOR BRAKEIMM to 1 with vertical axes to apply the motor holding brake immediately after Hardware Disable Kollmorgen September 2013 AKD Installation 6 Technical description and data 6 14 2 4 Switch off behavior in the event of a fault The behavior of the drive always depends on the fault type and the setting of a number of dif ferent parameters DRV DISMODE VBUS UVFTHRESH CS VTHRESH and others see the AKD User Guide or WorkBench help for more details See the Drive Fault
56. direction angle timed out stopped responding to commands Wake and Shake Validating Comm After applying a current the motor moved too far 5 15 angle moved too far Bad Comm electrical degrees Angle Wake and Shake Validating Comm A current larger than MOTOR ICONT was used to excite angle required more than the motor MOTOR ICONT F465 F467 F468 F469 F473 F475 F476 F478 n478 F479 n479 F480 F481 F482 F483 F484 F485 F486 F487 F489 F490 F491 F492 Kollmorgen September 2013 183 184 AKD Installation 9 Setup Message Warning Invalid commutation detected A commutation error occured when current has another motor accelerating in the wrong direc sign than accelaration and velocity over a defined time tion Bus voltage too high Usually this problem is load related Bus under voltage Bus voltage below threshold value Single phase AC input on a drive only rated for three phase input or excessive single phase power load F504 to F518 Internal supply voltage fault Internal supply voltage fault detected Regen short circuit Regen resistor short circuit Regen over power Too much power stored in regen resistor Bus over voltage FPGA Bus over voltage hard fault has been limited to protect the drive Drive motor parameters setup incom Before a motor can be enabled you must configure a mini plete mum set of parameters These parameters have not been configured Failed t
57. during preop mode munication error Kollmorgen September 2013 189 AKD Installation 9 Setup Error Description Cause E32 EtherCAT com EtherCAT network operation Check the EtherCAT network wiring and devices munication failure failed due to a network com state Re start the application during bootstrap munication error mode E33 EtherCAT failed to EtherCAT network initialization Check the EtherCAT network wiring and devices initialize into oper failed due to a network initial state Re start the application ational mode ization or communication error E34 EtherCAT failed to EtherCAT network initialization Check the EtherCAT network wiring and devices initialize into preop failed due to a network com state Re start the application munication error E35 EtherCAT failed to EtherCAT network initialization Check the EtherCAT network wiring and devices initialize into boot failed due to a network com state Re start the application strap mode munication error E36 EtherCAT failed to EtherCAT network discovery Check the EtherCAT devices and wiring order discover the failed due to a mismatch Correct the device order wiring or re scan the net expected devices between the discovered and work re compile and download the updated appli expected devices cation Re start the application E37 EtherCAT failed to EtherCAT network initialization Check the EtherCAT network wiring and devices retu
58. in the setup software Messages from pre programmed functions stored in the drive can be output here A list of these pre pro grammed functions can be found in the setup software If an output is to be assigned to a pre programmed function then the parameter set must be saved in the drive Technical characteristics e 24 V IO power supply at terminals X35 8 and X36 8 20 VDC to 30 VDC e All digital outputs are floating max 100 mA e Canbe wired as active low or active high see examples below e Update rate 250 us Wiring diagram Control O Digital 21 er R gt 240 Ohm ACTIVE LOW pH DIGITAL OUT 22 O Digital 22 EM R 240 Ohm DIGITAL OUT 22 VO GND Control X35 DIGITAL OUT 21 o Digital 21 Er R gt 240 Ohm DIGITAL OUT 21 VO GND ACTIVE HIGH O Digital 22 FR R 240 Ohm VO GND Kollmorgen September 2013 141 AKD Installation 8 Electrical Installation 8 14 LED display The LED seven segment display indicates the status of the drive after the 24 V supply is switched on If the service connection to the PC or to the PAC doesn t work then the LED display is the only way to get information AKD two digits AKD M two one digits KOLLMORGEN BB AB AKD fault codes or warning codes The two digits LED display indicates the AKD mes are displayed constantly if present sages Fault messages are coded with F warnings Fault messages are coded with F are coded with
59. inputs for analog torgue velocity or position control The standard drive offers one analog input on X8 drives with built in I O option card offer a sec ond input on X24 Technical characteristics e Differential input voltage range 4 12 5 V e Maximum input voltage referring to I O Return 12 5 16 0 V e Resolution 16 Bit and fully monotonic e Unadjusted offset lt 50 mV e Offset drift typ 250 uV C e Gain or slope tolerance 3 e Nonlinearity 0 196 of full scale or 12 5 mV e Common Mode Rejection Ratio 30 dB at 60 Hz e Input impedance gt 13k Ohms e Signal to noise ratio referred to full scale m AIN CUTOFF 3000 Hz 14 bit AIN CUTOFF 800 Hz 16 bit Analog Input Wiring Diagram Drive control Application examples for set point input Analog In e reduced sensitivity input for setting up jog operation e pre control override Defining the direction of rotation 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 the DRV DIR parameter in the Feedback 1 screen page Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 13 5 Analog Output X8 X23 Analog Outputs can be used to output converted analog values of digital measurements recorded in the drive The standard drive offers one
60. is set to 5 the IP address is 192 168 0 25 The PC subnet mask must be set to 255 255 255 0 or 255 255 255 128 When connecting the AKD directly to a PC use static IP addressing not 00 Static IP addressing When connecting the drive directly to a PC static IP addressing must be used Set rotary switches S1 and S2 to a number different from 00 This setting generates addresses in a range from 192 168 0 001 to 192 168 0 099 Dynamic IP addressing DHCP and Auto IP With S1 and S2 both set to O the drive is in DHCP mode The drive will acquire its IP address from an external DHCP server if present in the network If a DHCP server is not present the drive will assume an Automatic Private IP Address of the form 169 254 x x If your PC is directly connected to the drive and set to obtain an IP address automatically in the TCP IP settings a connection will be established with both devices using compatible automatically generated addresses It can take up to 60 seconds for a PC to configure an Automatic Private IP Address 169 254 x x Changing the IP address If the switches are altered while 24 V Logic power is supplied to the drive you must switch off and then switch on again the 24 V supply voltage This action will reset the address Kollmorgen September 2013 149 AKD Installation 8 Electrical Installation IP address mode By default the drive utilizes the method described above to aguire its IP address A method of
61. method to slow down a servo system by dissipating the mechanical energy driven by the motor back EMF The AKD has a built in advanced dynamic braking mode which operates fully in hardware When activated the drive shorts the motor terminals in phase with the back EMF q axis but continues to operate the non force producing current loop d axis with 0 current This forces all of the dynamic braking current to be stopping cur rent and insures the fastest stopping amp of motor terminal current e When current is not being limited the mechanical energy is being dissipated in the motor resistance e When current is being limited energy is returned to the drive bus capacitors e The drive also limits the maximum dynamic braking motor terminal current via the DRV DBILIMIT parameter to insure that the drive motor and customer load do not see excessive currents forces Whether and how the AKD uses dynamic braking depends on DRV DISMODE 6 13 1 Regen circuit When the amount of returned energy builds the bus capacitor voltage up enough the drive acti vates the regen circuit to start dumping the returned energy in the regen resistor also called regenerative or brake resistor This resistor could be internal or connected external to the drive depending on drive model and drive wiring AKD x00306 to AKD x00606 No internal regen resistor Depending on the application requirements an external resistor can be connected AKD x01206 to AKD x02406 a
62. n or E warnings are coded with The one digit LED indicates the PDMM messages of n The IP address can be flashed the AKD PDMM Error messages are coded with E across the LED display if the B1 warnings alarms are coded with A Status of appli button is pressed cation programs are indicated as well With push buttons B2 and B3 a menu with several functions can be started 3 p 145 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 15 Rotary Switches S1 S2 RS1 Rotary switches can be used to select IP address or predefined funtions for executing S2 AKD PDMM RS1 s St MSB oe EA S2 LSB 8 15 1 Rotary switches S1 and S2 with AKD B P T S1 S2 Function Set while Remarks GAN onora sessen p e nal DHCP server details see gt p 149 GEN a a S are 01 to 99 details see gt p 149 AKD x CC only DRV TYPE 24 Vis ON and Press B1 for 3s to switch over from CAN to toggle drive is disabled EtherCAT fieldbus or vice versa 3 p 153 and gt p 158 Switch 24V off and on again AKD with VO option card only ENE SE P 6 _ AKD is disabled card to the drive details see gt p 146 e N Ed AKD is disabled 8 the SD card details see gt p 146 AKD T only Stop program 24 V is ON Press B1 for 5s for stopping the BASIC pro gram Restart pro 24Vis ON Press B1 for 5s for restarting the BASIC pro gram gram 8 15 2 Rotary switch RS1 with AKD
63. of change of pulse frequency 8 12 3 1 Pulse Direction input 5 V X9 Connection to 5 V signal level stepper motor controllers Controller Pulse Pulse Direction Direction OV Shield 8 12 3 2 Pulse Direction Input 5V X7 Connection industry standard 5V logic stepper motor controllers with Pulse Direction or Step Direction outputs Note that the X7 opto inputs can work with 5V up to 24V logic and so these inputs can be driven by 24V logic inputs as well Controller Pulse TTL Direction TTL 5V 24V Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 12 4 Up Down signal connection 8 12 4 1 Up Down input 5 V X9 The drive can be connected to a third party controller which delivers 5 V up down signals Controller Up Up Shield 8 12 4 2 Up Down input 24 V X7 The drive can be connected to a third party controller which delivers 24 V up down signals Drive Controller i amp DIGITAL IN2 i Te sen i DCOM7 GND 24V Kollmorgen September 2013 121 AKD Installation 8 Electrical Installation 8 12 5 Emulated Encoder Output EEO The drive calculates the motor shaft position from the cyclic absolute signals of the primary feedback generating incremental encoder compatible pulses from this information Pulse out puts on the SubD connector X9 are 3 signals A B and Index with 90 phase difference i e in guadrature hence
64. on the DVD accompanying the product and on the Kollmorgen website Kollmorgen September 2013 AKD Installation 2 General 2 4 Symbols Used Warning Symbols Indication Indicates a hazardous situation which if not avoided will result in death or serious injury Indicates a hazardous situation which if not avoided could result in death or serious injury Indicates a hazardous situation which if not avoided could result in minor or moderate injury This is not a safety symbol NO TICE Indicates situations which if not avoided could result in property damage This is not a safety symbol NO TE This symbol indicates important notes Warning of a danger general The type of danger is specified by the text next to the sym bol Warning of danger from electricity and its effects Warning of hot surfaces Warning of suspended loads Drawing symbols Symbol Description Symbol Description Taai Protective earth K Relays switch off delayed ET r Kollmorgen September 2013 11 AKD Installation 2 General 2 5 Abbreviations Used Abbreviation AGND li m Communit Europ enne OM Serial interface for a personal computer Communication line for digital inputs with x 7 or 8 Magnetic storage diskette hard disk Electrically erasable programmable memory Electromagnetic compatibility Fiber optic cable connector according to IEC 60874 2 Kollmorgen Automation Suite Setup sof
65. p 77 ff AKD M variant gt p 82 ff Shielding gt p 85 Mains power gt p 92 DC Bus Link gt p 94 Motor p 100 Feedback gt p 103 Electronic gearing gt p 116 Encoder emulation gt p 118 Digital and analog inputs and outputs gt p 124 Service interface gt p 148 CAN Bus interface gt p 152 Motion bus interface gt p 157 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 4 Components of a servosystem With AKD xzzz06 NOTE Cables drawn bold are shielded Electrical ground is drawn with dash dotted lines Optional devices are connected with dashed lines to the drive The reduired accessories are described in the accessories manual r 1 Pc B Regen resistor optional Mains Filter E Ro MM e Drive cut outi Motor choke optional Terminals Mains Supply Kollmorgen September 2013 73 AKD Installation 8 Electrical Installation With AKD xzzz07 Cables drawn bold are shielded Electrical ground is drawn with dash dotted lines Optional devices are connected with dashed lines to the drive The reduired accessories are described in the accessories manual 1 KOLLMORGEN AKD CAT P i Regen resistor optional Motor choke optional Terminals p eae U soe Mains supply Kollmorgen September 2013 AKD Installation 8 Electrical Installation
66. regen resistor o 3 Ek 2 3 Peak regen power internal resistor 0 5s Extemal regen resistor O Olc x Maximum continuous regen power external resistor Peak regen power external resistor 1s 3 Absorption energy in capacitors 20 S 15 110 60 DC Bus Capacitance 680 depends on connected regen resistor power Continuous power internal resistor Maximum continuous regen power external resistor Peak regen power external resistor 1s Kollmorgen September 2013 AKD Installation 6 Technical description and data 6 14 Switch On and Switch Off Behavior This chapter describes the switch on and switch off behavior of the AKD Behavior of holding brake function Drives with an enabled holding brake function have a special timing for switching on and off the output stage 2 p 102 Events that remove the DRV ACTIVE signal trigger the holding brake to apply As with all electronic circuits the general rule applies that there is a pos sibility of the internal holding brake module failing Functional safety e g with hanging load vertical axes requires an additional mechanical brake which must be safely operated for example by a safety control If velocity drops below threshold CS VTHRESH or timeout occurs during a stop procedure the brake is applied Set parameter MOTOR BRAKEIMM to 1 with vertical axes to apply the motor holding brake 3 p 102 immediately after faults or
67. the drive is obtained from the DHCP server on your network If no DHCP server is found the IP addresses is an AutolP address it is intemally gen erated following the AutolP protocol and will be of the form 169 254 xx xx Static IP Address The IP address is software configurable from a web browser The default IP address at switch position 1 is 192 168 1 101 To configure the IP address open a web browser and type the IP address in the URL box The AKD PDMM web page will appear Navigate to the Settings tab and then the Net work tab to configure the static IP address for the AKD PDMM 2to9 Static IP Address The IP address is 192 168 0 10n where n is the number from the rotary switch This setting generates addresses in a range from 192 168 0 102 to 192 168 0 109 Example if RS1 is set to 5 the IP address is 192 168 0 105 The PC subnet mask must be set to 255 255 255 0 or 255 255 255 128 Static IP addressing When connecting the drive directly to a PC static IP addressing must be used Set rotary Switch RS1 to a number from 2 to 9 This setting generates addresses in a range from 192 168 0 102 to 192 168 0 109 Example if RS1 is set to 5 the IP address is 192 168 0 105 Dynamic IP addressing DHCP and Auto IP With RS1 set to 0 the drive is in DHCP mode The drive will acquire its IP address from an external DHCP server if present in the network If a DHCP serveris not present the drive will assume an Automatic Pri
68. 0085 or above e Only install cables that meet the requirements p 39 Connector X2 AKD xzzz06 2 3 6A 12 24A Pin Signal Description TA ER Motor holding brake negative e w MotorphaseW 3d MB Connector X2 AKD xzzz07 3 24A Pin Signal Description I BR Motor holding brake negative e W MotorphaseW 100 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 10 1 Motor power X2 8 10 1 1 Cable length S 25 m 8 10 1 2 Cable length gt 25 m NOTICE With long motor cables leakage currents endanger the output stage of the drive For cable lengths from 25 m to 50 m a motor choke must be wired into the motor cable near the drive Kollmorgen September 2013 101 AKD Installation 8 Electrical Installation 8 10 2 Motor holding brake X2 A 24 V holding brake in the motor can be controlled directly by the drive The brake only works with sufficient 24 V voltage level 3 p 34 or 3 p 35 Check voltage drop measure the voltage at brake input and check brake function brake and no brake This function does not ensure functional safety Functional safety requires and additional external mechanical brake operated by a safety con troller The Hardware Enable connector X8 pin4 does not initiate a con trolled stop but switches off the power stage immediately Set parameter MOTOR BRAKEIMM to 1 with vertical axes to apply the brake immed
69. 01 W Rock Road Europe 49 0 203 9790 Radford VA 24141 Italy 99 0 362 594260 Wil I i III l f l i i Tin ii lI i ii il l ll in LI C inl i M ll N II il lI DI l il l MAUI TY il M MAC Address 00 00 00 00 00 00 INPUT OUTPUT t us 480 Vac 0 480 Vac 50 60 Hz 0 600 Hz 3 Ph 9 2 Arms rf kVA Before use refer to CDfor installaton and safety information Assembled in USA Patents Pending www kollmorgen com Kollmorgen September 2013 27 AKD Installation 5 Package 5 3 Part Number Scheme The part number is identical to the order code AKD P 003 06 NAAN 0000 Family Customization AKU EP 0000 Standard USA C000 Standard China D000 Standard EU german Drive Version E000 Standard EU english Base Position Indexer BASIC Motion Control FOOO Standard EU french 1000 Standard EU italian J000 Standard Japan K000 Standard Korea R000 Standard Russia Connectivity Options AN Analog Current Rating EC EtherCAT 003 3Arms EI Ethernet IP 006 6Arms 012 12A CN CANopen BO 3 Plae CC EtherCAT amp CANopen ms PN PROFINET RT SQ SynqNet S3 sercos Ill Voltage Rating i 1 Extension Options NB None rev 8 IC VO option card MC Motion Card 07 240 480 Vac 3 Customization this code includes language version of printed material and customer spe cials Connectivity Options The drive models with connectivity option CC are fitted with both the EtherCAT X5 and X6 and CANopen X
70. 1 and wait until the blinking stops During that time the parameter FBUS PARAMO1 is set to the new value and all parameters are stored to the non volatile memory The new setting will be taken with the next power up of the drive If an error occurred the following error messages will flash 5 times e E1 Driveis enabled e E2 Non volatile storage of the new setting failed e E3 Invalid rotary switch selection Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 19 3 Node Address for CAN Bus After changing the node address you must turn off the 24 V auxiliary supply for the drive and then tum it on again During setup use the rotary switches on the AKD front panel to preset the station address for communication LIE The rotary switches on the front of the AKD S1 amp S2 correspond to the CAN node address The S1 amp S2 switches also correspond to the IP address setting of the drive Both CAN and IP network address schemes have to be configured to account for this dependence if both TCP IP and CAN networks are running at the same time in an application Example The IP address setting can be decoupled from the Rotary switches using settings in the drive Use Settings gt Fieldbus gt TCP IP to adjust these settings 8 19 4 CAN Bus Termination NOTE The last bus device on both ends of the CAN Bus system must have termination resistors The AKD has built in 132 ohms resistors that can be activ
71. 12 and X13 fieldbus connectors A software param eter DRV TYPE allows you to select what features the drive supports you cannot use EtherCAT and CANopen at the same time PROFINET is possible with Position Indexer drives only P version 28 Kollmorgen September 2013 AKD Installation 6 Technical description and data 6 Technical description and data 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 6 12 6 13 6 14 6 15 6 16 6 17 The AKD Family of Digital Drives 30 Ambient Conditions Ventilation and Mounting Position _ 32 Mechanical Data UU eet Sunes GE Ee DE Ee Bee ER GEE EE SE DE DEE Ee ir EE EE EE de e GE De EE 32 Inputs Outputs 33 Electrical Data AKD xzzz06 EES SEE GEE GEE ess ssl iii 34 Electrical Data AKD xzzz07 anaana anaona aoaaa oaaao aa nanan r naian nn nnnanna 35 Performance Data eser ee ee ee 36 Recommended Tightening Torques 36 Fasingt noi e o ee t ete A ee M 37 Grounding System 37 Connectors ll aaa 38 Cable and Wire Requirements 39 Dynamic Braking
72. 148 Network HUB Switch l I I 170 Kollmorgen September 2013 AKD Installation 9 Setup 9 3 7 Initial Drive Test AKD M 9 3 7 1 Unpacking mounting and wiring the AKD PDMM e Unpack the drive and accessories Observe the safety instructions in the documentation e Mount the drive e Wire the drive or apply the minimum wiring for drive testing as described below e Make sure you have on hand the following information about the drive components m rated mains supply voltage motortype motor data if the motor type is not listed in the motor database m feedback unit built into the motor type poles lines protocol moment of inertia of the load 9 3 7 2 Minimum wiring for drive test without load This wiring diagram is for general illustration only and does not fulfill any requirements for EMC safety or functionality of your application 24V ON L M HAN DC 24V GNE Logic Power X8 3 Power Brake Mains Power Power ON Feedback When connecting the AKD PDMM directly to a PC static IP addressing not 0 is rec ommended Kollmorgen September 2013 171 AKD Installation 9 Setup 9 3 7 3 Set IP address Set the drive IP address as described in Setting the IP Address AKD M 2 p 151 9 3 7 4 Confirm connections You can turn on logic power to the drive through the X1 connector bus voltage is not needed for communications After power is supplied the drive displays a sequence of LE
73. 165 9 2 7 2 Minimum wiring for drive test without load 165 9 2 7 3 Set IP address 166 9 2 7 4 Confirm connections 166 9 2 7 5 Install and start WorkBench 167 9 2 7 6 Set drive IP address in WorkBench 167 9 2 7 7 Enable the drive using the setup wizard 167 9 3 Setup AKD M 2 2 n a usu nu TA lp nG GEE iD eU Ae tien 168 9 3 1 Setup software KAS IDE 168 9 3 2 Use as directed esc A g creed 168 9 3 3 Software description 169 9 3 4 Hardware requirements 169 9 3 5 Operatind SYSteMS uuu u l uu SE EE GE EE DEE SS SE gees Se had Sindee lees Gacy De Ee EE De oe 169 9 3 6 Installation under Windows XP 7 170 9 3 7 Initial Drive Test AKD M 171 9 3 7 1 Unpacking mou
74. 2 The table and figure below describe wiring of a single turn or multi tum encoder with EnDat 2 2 interface as a feedback system The thermal control in the motor is connected via the encoder cable and evaluated in the drive All signals are connected using our pre assembled encoder connection cable If cable lengths of more than 50 m are planned please consult customer support FBTYPE Frequency Limit ENDAT 2 2 Adjust on screen page FEEDBACK The pin assignment shown on the encoder side relates to Kollmorgen motors Encoder EnDat 2 2 DATA DATA Up 5 1 V 5 max 350mA min 5VDC 5mA Kollmorgen September 2013 111 AKD Installation 8 Electrical Installation 8 11 8 Sine Encoder with Hiperface The diagram below shows the wiring of a single tum or multi tum sine cosine encoder with Hiperface interface as afeedback system The thermal control in the motor is connected via the encoder cable and evaluated in the drive All signals are connected using our pre assembled encoder connection cable If cable lengths of more than 50 m are planned please consult customer support FBTYPE Frequency Limit Hiperface 33 1MHz Connecting pin 4 and 5 together causes Up to be 8 to 9 V The pin assignment shown on the encoder side relates to Kollmorgen motors Encoder p HIPERFACE D SIN REFSIN COS REFCOS Up OV Up Up 2 voltage supply BV 9V max 350mA 4 1 7 ME 9 therm
75. 2013 63 AKD Installation 7 Mechanical Installation 7 3 4 Dimensions AKD xzzz07 standard width with connectors Standard Width pv jista jen Ta je Apa 228 2es sos 40 105 ee 275_ AKD Standard Width AKD Standard Width 480V 3A 12A 480V 24A 64 Kollmorgen September 2013 AKD Installation 7 Mechanical Installation 7 4 Mechanical Drawings Extended Width 7 4 1 Control cabinet layout example with AKD M00306 Material M4 hexagon socket screws to ISO 4762 3 mm T handle Allen key AKD M00306 or AKD x00306 or AKD M00606 AKD x00606 AKD x01206 AKD x02406 32 49 KUNG a KOLLMORGEN Keep hatched space free Dimensions in mm Air flow with cable lt ZO iN h Kollmorgen September 2013 65 AKD Installation 7 Mechanical Installation 7 4 2 Control cabinet layout example with AKD M00307 Material M4 hexagon socket screws to ISO 4762 3 mm T handle Allen key AKD M00307 AKD x00307 N AKD M01207 AKD x01207 AKD x02407 AKD x02407 104 72 89 5 IERE O mn a ED qa mc mo AI EE d gt 1 43 Keep hatched space free Dimensions in mm with cable 26 Kollmorgen September 2013 AKD Installation 7 Mechanical Installation 7 4 3 Dimensions AKD xzzz06 extended width p 8 o c c 8 z m Extended Width 110 to 230V pio 407 215 106 225 96
76. 25 DIGITAL IN26 DIGITAL OUT22 DIGITAL OUT22 X6 Motion Bus Out x32 TCP IP ModBus Control 24V referred to VO GND VO GND Digital1 1 2 3 4 5 6 7 8 9 Ref Point 10 Home Switch Emergency 2 t Stop Circuit 3 o VO GND 24V 5 NSTOP so 7 10V 8 MAL 4 tachometer volt 9 j 10V speed 10 MU Setpoint ref U U oF NIBS Io IN I Sff JOINI 8 8 PE connection protective earth al chassis ground connection panel shield connection via plug Reference Safety Instructions and Use As Directed thermal control included Feedback 1 C Remove jumper if external regen resistor is Connected 3 I I I I I J l Brake l resistor AKD Installation 8 Electrical Installation 8 6 5 Connection diagram AKD M01206 AKD PDMM 01206 DCOM7 DIGITAL IN7 DIGITAL IN4 DIGITAL IN3 DIGITAL OUT2 DIGITAL OUT2 DIGITAL OUT1 DIGITAL OUT1 DIGITAL IN2 Feedback 1 X9 Feedback 2 3 Electronic Gearing Encoder Emulatio DIGITAL IN1 Fault DCOM8 ENABLE DIGITAL ING DIGITAL INS AGND RB DO Analog Out Analog In Analog In X35 DCOM35 DIGITAL IN21 DIGITAL IN22 DIGITAL IN23 DIGITAL OUT21 DIGITAL OUT21 X36 DCOM36 DIGITAL IN24 DIGITAL IN25 DIGITAL IN26 DIGITAL OUT22 DIGITAL OUT22 X6 Motion Bus Out X32 TCP IP ModBus 2 3 4 5 6 T 8 9 10 Control 24V referred to VO GND VO GND
77. 4 2 Switch off behavior NOTE The drive s 24 V supply must remain constant Hardware Enable input disables the power stage immediately Configured Digital Inputs and fieldbus commands can be used to per form controlled stops 6 14 2 1 Switch off behavior using the DRV DIS command The enable disable button in WorkBench issues a drv dis command internally to the drive See AKD User Guide for configuring inputs and software commands Sometimes this enable signal is called Software Enable SW Enable DRV DISMODE DRV DISMODE controls the behavior of the drv dis command issued through WorkBench or terminal or fieldbus Consult the AKD User Guide for configuring Disable axis immediately if velocity drops below threshold CS VTHRESH or timeout occurs brake is applied Category 0 stop according to IEC 60204 2 p 50 Use controlled stop to disable drive if velocity drops below threshold CS VTHRESH or timeout occurs brake is applied Category 1 stop according to IEC 60204 2 p 50 Standard Operation DRV DIS 24V DRV DIS DRV ACTIVE Power Stage enable 7 t C uncontrolled c G Motor Speed e ac Power Stage Pa enable l LL t c controlled l e e Motor Speed gt e Cc If velocity drops below threshold CS VTHRESH or timeout occurs brake is applied 3 p 102 Kollmorgen September 2013 45 AKD Installation 6 Technical description and data 6 14 2 2 Switch off behavior using a
78. 88 8 8 Electrical Supply Connection 89 8 8 1 Connection to various mains supply networks AKD xzzz06 120V to 240V 89 8 8 2 Connection to various mains supply networks AKD xzzz07 240V to 480V 90 8 8 3 24 V auxiliary supply X1 91 8 8 4 Mains supply connection X3 X4 92 8 8 4 1 Three phase connection all AKD types 92 8 8 4 2 Single phase connection AKD x00306 to AKD x01206 only 93 8 9 DC Bus link X3 94 8 9 1 External regen resistor X3 95 8 9 2 Capacitor Modules X3 96 8 9 2 1 Technical Data __ J J a 96 8 9 2 2 Example installation with KCM S and KCM 97 8 9 2 3 Example installation with KCM P and KCM E 98 8 9 2 4 Discharging KCM modules 99 Kollmo
79. AKD AKD BASIC AKD PDMM Installation Manual Edition M September 2013 Valid for AKD AKD BASIC Hardware Revision D Valid for AKD BASIC I O Hardware Revision DA Valid for AKD PDMM Hardware Revision DB Part Number 903 200003 00 Original Document CE amp Ng Ros Keep all manuals as a product component during the life span of the product Pass all manuals to future users and owners of the product KOLLMORGEN Because Motion Matters Record of Document Revisions Revision Remarks EM Table with lifecycle information of this document see Record of document revisions 3 p 193 K 11 2012 Feedback wiring diagrams updated font size hint fault tables updated regen fusing L 05 2013 Hiperface DSL Feedback new from FW 1 9 fault tables updated KCM module added M 09 2013 124A AKD M added fault tables update outer dimensions updated Hardware Revision HR ge AKD M AKD T IC Firmware WorkBench KAS IDE Remarks trom tomta AKD Star revision released Control board revision 9 AKD from 1 6 from 1 6 from 2 5 PDMM Start revision AKD BASIC IC Start revision Trademarks e AKD is aregistered trademark of Kollmorgen Corporation e EnDatis a registered trademark of Dr Johannes Heidenhain GmbH e EtherCAT is aregistered trademark and patented technology licensed by Beckhoff Automation GmbH e Ethernet IP is a registered trademark of ODVA Inc e Ethernet IP Communication Stac
80. AL OUT21 X35 X36 DCOM36 DIGITAL IN24 DIGITAL IN25 DIGITAL IN26 DIGITAL OUT22 DIGITAL OUT22 Mai con X6 Fus Motion Bus Out X32 TOPP Modius PE connection protective earth hn chassis ground connection panel L1 L2 L3 PE ly shield connection via plug 84 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 7 EMI Noise Reduction 8 7 1 Recommendations for EMI noise reduction The following guidelines will help you to reduce problems with electrical noise in your appli cation e Ensure good connections between the cabinet components Connect the back panel and cabinet door to the cabinet body using several conductive braids Never rely on hinges or mounting bolts for ground connections Provide an elec trical connection across the entire back surface of the drive panel Electrically conductive panels such as aluminum or galvanized steel are preferred For painted and other coated metal panels remove all coating behind the drive e Ensure good ground connection Connect from cabinet to proper earth ground Ground leads should be the same gauge as the leads to main power or one gauge smaller e Use Kollmorgen cables Experience has shown that customers who use Kollmorgen s power and feedback cables have far fewer problems than customers who build cables Route power and control cables separately Kollmorgenrecommends a distance of at least 200
81. AT Network setup and tuning the drives creating a PLC program and creating an HMI Kollmorgen offers training and familiarization courses on request il wy mm Add new controller Controller Creation Wizard Welcome to the controller creation wizard Do you want to create a new controller or connect to an existing one Name Type 8 Standard Controller Panel Controller 10 Standard Controller Panel Controller 10 Performance Controller Panel Controller 15 Performance Controller Panel Controller 15 Hi Performance Controler Panel Controller 17 Hi Performance Controler Panel Controller Standard Box Box Controller Box Box Controller Hi Performance Box Box Controller Hi Performance Radenount Rackmount Controller FOMM 9 3 2 Use as directed The setup software is intended to be used for altering and saving the operating parameters for the AKD PDMM series of drives The attached drive can be set up with the help of this soft ware and during this procedure the drive can be controlled directiv bv the service functions Only professional personnel who have the relevant expertise gt p 15 are permitted to carry out online parameter setting for a drive that is run ning Sets of data that have been stored on data media are not safe against unintended alteration bv other persons Unexpected move could be the result if you use unchecked data After loading a set of data you must therefore alwavs check all parameters befor
82. Command Reference Guide which provides documentation for the param eters and commands used to program the AKD e CAN BUS Communication describes how to use your drive in CANopen applications e EtherCAT Communication describes how to use your drive in EtherCAT applications e Ethernet IP Communication describes how to use your drive in Ethemet IP applications e PROFINET RT Communication describes how to use your drive in PROFINET RT appli cations e SynqNet Communication describes how to use your drive in SynqNet applications e Accessories Manual t provides documentation for accessories like cables and regen resistors used with AKD Regional variants of this manual exist 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 ref erences Table of contents and index Lines are active cross references Click on the line and the appropriate page is accessed Page chapter numbers in the text Page chapter numbers with cross references are active links 2 3 Notes for the printed edition paper version A printed version of the manual is enclosed with each product For environmental reasons the document was reduced in size and printed on DIN A5 Should you experience difficulties reading the font size of the scaled down printed version you can print and use the PDF ver sion in DIN A4 format 1 1 You can find the PDF version
83. D flashes AKD M two one digits KOLLMORGEN b H l t Operational program running Confirm that the link LEDs on the drive green LED on the RJ45 connector X32 and on your PC are both illuminated If both LEDs are illuminated then you have a working electrical con nection LED is green if drive is connectec through a network device While the PC is connecting your statusbar will show the following acquiring icon s Fm Acquiring drive connection Wait for this icon to change to the limited functionality icon this process can take up to one minute Drive connection complete OP ma n Although Windows displays this limited functionality icon for the drive connection the PC can communicate fully with the drive Using KAS IDE you can now configure the drive through this connection 172 Kollmorgen September 2013 AKD Installation 9 Setup 9 3 7 5 Install and start KAS IDE The KAS IDE is included on the DVD that came with the AKD PDMM as well as online at www kollmorgen com Insert the DVD and wait for installer to auto start Once installation is complete click the KAS IDE icon to start the program Begin a new project by selecting File New This will launch the Add a New Controller window Select your AKD PDMM model from the list The controller will then be added to the project view 9 ars ry Add new controller x Controller Creation Wizard Welcome to the controller creaton wizar
84. GND Digital 24 R2240 Ohm VO GND ACTIVE HIGH control 24V Digital 21 R gt 240 Ohm O GND 24V Digital 22 R gt 240 Ohm O GND 24V Digital 23 5 R gt 240 Ohm VO GND 24V Digital 24 R gt 240 Ohm Kollmorgen September 2013 137 AKD Installation 8 Electrical Installation 8 13 9 2 Digital Relay Outputs 25 30 The drive option IC provides two digital outputs which are signaled by floating relay con tacts p 124 Choose the required function in the setup software Messages from pre pro grammed functions stored in the drive can be output here A list of these pre programmed functions can be found in the setup software If an output is to be assigned to a pre pro grammed function then the parameter set must be saved in the drive Technical characteristics e Relay output max 30 VDC or 42 VAC 1A e Time to close max 10 ms e Time to open max 10 ms Wiring diagram control Digital Out 25 Digital Out 30 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 13 10 Digital Inputs X35 X36 with AKD M NOTE In addition to the 8 digital inputs on X7 and X8 3 p 124 the AKD PDMM provides 6 digital inputs on X35 and X36 These can be used to initiate pre programmed functions that are stored in the drive A list of these pre programmed functions is included in the KAS IDE If an input is programmed it must be saved to the drive By default a
85. IN7 Feedback 1 0 Feedback 1 DIGITAL IN4 DIGITAL IN3 X9 Feedback 2 3 DIGITAL OUT2 Electronic Gearing Encoder Emulatio DIGITAL OUT2 DIGITAL OUT1 Digital1 B M DIGITAL OUT1 B ty Ref Point Uoc DIGITAL IN2 0 PE di Home Switch pl o c DIGITAL IN1 c U1 l gt 9C V1 E 2 o C W1 U Fault Emergency Stop Circuit Remove jumper if external regen resistor is auct rr a Fes ss Brake J resistor I I L DCOM8 ENABLE DIGITAL IN6 DIGITAL IN5 AGND Analog Out Analog In Analog In X5 Motion Bus In X6 Motion Bus Out X21 22 23 24 VO Option Card VO GND NSTOP 24V referred to VO GND taghometer QU p 98 fl 10V speed MI Setpoint U Co Participant r w Participant CAN Participant 2 CAN Participant Service Control l D PE connection protective earth il chassis ground connection panel l 6 L1 L2 L PE shield connection via plug The I O option is available for AKD T drives only Kollmorgen September 2013 7 9 AKD Installation 8 Electrical Installation 8 6 Connection Overview AKD M 8 6 1 Connector assignment AKD M00306 AKD M00606 X1 a 24 V Supply X32 Service STO X7 8 VO X6 Motion Bus X35 36 VO X2 Motor Holding Brake SD Slot X3 7 pin Power Supply DC Bus X10 Feedback Brake Resistor x9 Encoder Emulation additional Feedback Protective Earth PE
86. Internal regen resistor Ohm 5 Continuous power emassa w 0 Peak regen power internal resistor 0 5s 11 7 3 00 3 3 External regen resistor 33 2 O 3 Qi IN 160755 2460 AKD x02406 Internal regen resistor Continuous power internal resistor w 2 3 Z Peak regen power intemal resistor 055 w 2 E 18 180760 2720 depends on connected regen resistor power 3 imum continuous regen power e AKD x00606 External regen resistor Maximum continuous regen power external resistor k regen power external resistor inuous power internal resistor regen power external resistor Kollmorgen September 2013 41 AKD Installation 6 Technical description and data 6 13 1 3 Technical data for AKD xzzz07 Technical data for the regen circuit depends on the drive type and the mains voltage Supply voltages capacitances and switch on voltages are all nominal values NOTE Observe the regeneration time some minutes after full load with peak regen power Brake circuit Supply voltage Rated data Units 240V 400V 480V Rated data Units 240V 400V 480V Continuous power nemal ressor W 89 Extemal regen resistor Ohm 33 Maximum continuous regen power external kW 0 77 1 5 resistor Maximum continuous regen power external resistor Peak regen power external resistor 1s Absorption energy in capacitors 20 e EN DC Bus Capacitance Internal
87. M RS1 Function Set while Remarks DHCPIP 24V is OFF The drive will acquire its IP address from an external DHCP server 2 p 151 Static IP 24 V is OFF The IP address is software configurable from a web browser 2 p 151 pem Static IP 24V is OFF The IP address is 192 168 0 10n valid values are 2 to 9 9 p 151 Kollmorgen September 2013 143 AKD Installation 8 Electrical Installation 8 16 Pushbuttons B1 B2 B3 The pushbuttons can be used to start predefined functions 8 16 1 Pushbutton B1 with AKD B P T Ee B1 Function Pushbutton Remarks Display IP address Press short to display the IP address in the two digit dis play Switches Drive Set rotary switches S1 to 8 and S2 to 9 Press B1 for 3 Type of AKD sec to switch over from CAN to EtherCAT or reverse x CC model card Set rotary switches S1 to 1 and S2 to 0 Press B1 for 5s for loading data from the SD card to the drive Drives with I O option card only Set rotary switches S1 to 1 and S2 to 1 Press B1 for 5s for save data from the drive to the SD card Save data to SD card Load data from SD Drives with I O option card only 144 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 16 2 Pushbuttons B1 B2 B3 with AKD M Function Pushbutton Remarks Br unused Boot time functions press and hold button during power on boot sequence Recovery B2 Press and hold to boot into recover
88. Markings 21 Uninstalling 19 Up Down Input 121 Use as directed DIVE RECEN UE 17 KAS IDE Setup Software 168 Io 52 WorkBench Setup Software 162 V Ventilation Ambient Conditions 32 Mechanical Installation 60 Vibrations eese 32 W Warnings 178 Wiring EO be hiss ad 72 AKD Installation 11 Index Kollmorgen September 2013 197 AKD Installation 11 Index This page intentionally left blank 198 Kollmorgen September 2013 AKD Installation This page intentionally left blank Kollmorgen September 2013 199 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 For assistance with your application needs visit www kollmorgen com or contact us at North America Europe Asia KOLLMORGEN KOLLMORGEN Europe GmbH KOLLMORGEN 203A West Rock Road Pempelfurtstra 3e 1 Rm 2205 Scitech Tower China
89. PLC Programs 3 ap Add Motion SI All drives including the drive in the AKD PDMM itself and the Remote I O can be configured by the KAS IDE Add the drives to the project click on the EtherCAT item and scan for devices 1 CI Show only drives Online Configuration Mode f Scan Devices i 1 5 2 AKD 2 AKD P00607 J 3 Coupler 3 AKT ECT 000 000 Present ES aw Save the parameter values of selected AKD drives into the drive s non volatie memory Update the frmware of one selected AKD drive Mapp the detected drives to axis of your application 2 All detected items are automatically added to your project Kollmorgen September 2013 175 AKD Installation 9 Setup To communicate directly with a drive without running a project click on the EtherCAT item in the project tree Click on the drive in the project tree to configure 1 then click on the Online Configuration button 2 EtherCAT Devices cyce Tine NM Configuration Fie E EtherCAT Devices C Show only drives 7 Enable Distributed Clocks HW Information Mappedto Axis Simulated PDO Selection Offline None N A RED POOT Offline Nome M NJA 3 Coupler 3 AKT ECT 000 000 Present NJA Yes NJA ES o Synchronize Parameters Check the parameters differences on selected AKD drive s Save parameters to NY memory Save the parameter values of selected AKD drive s into the drive s non volatile memory Upgra
90. RJ45 connector and on your PC or network Hub Switch are both illuminated If both lights are illuminated then you have a good electrical connection 8 18 1 Pinout X11 X32 Transmit Transmit 6 Receive CU mpa 8 18 2 Service Bus Protocols X11 X32 Protocol Type Connector Modbus TCP ServiceBus X11 X32 Ethernet TCP IP X11 X32 8 18 3 Possible Network Configurations Network HUB Switch Pin Signal Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 18 4 Setting the IP AddressAKD B AKD P AKD T The IP address can be flashed across the LED display if the B1 button is pressed Press B1 to display IP address You can use the rotary switches to set the IP address of the AKD For CANopen and some other fieldbuses the rotary switches also set the node address of the drive for that specific network e 51 SN S1 MSB ge se S2 LSB Zoe ers Rotary Switch Setting Drive IP Address DHCP AutolP address The IP address of the drive is obtained from the DHCP server on your network If no DHCP server is found the IP addresses is an AutolP address it is internally gen erated following the AutolP protocol and will be of the form 169 254 xx xx 01 to 99 Static IP Address The IP address is 192 168 0 nn where nn is the number from the rotary switch This setting generates addresses in a range from 192 168 0 1to 192 168 0 99 Example if S1 is set to 2 and S2
91. VD included with the drive WorkBench is also available on the Kollmorgen Web site www kollmorgen com Once installation is complete click the WorkBench icon to start the program WorkBench will show a list of all the drives that it can find on your local network Select the drive you wish to configure and then click Next If multiple drives are detected a drive can be uniquely identified using one of the following methods 1 The MAC address of the drive This address is printed on the sticker on the side of the drive 2 The name of the drive The drive name is set using WorkBench A new drive defaults to No Name 3 Blinking the display Select a drive and click Blink to force the display on the front of the drive to blink on and off for 20 seconds 9 2 7 6 Set drive IP address in WorkBench If WorkBench does not automatically show your drive then you can set the IP address man ually in WorkBench as follows 1 Display the IP address You can show the drive IP address on the drive display by press ing button B1 The display shows the digits and dots of the IP address in sequence for example 192 168 0 25 Press B1 to display IP address 2 Enterthe drive IP address Once the IP address has been determined manually enter the drive IP address into the Specify Address box in WorkBench Then click Next to con nect 9 2 7 7 Enable the drive using the setup wizard Once a connection to the drive has been established
92. afety 14 Safety Instructions SITIO icu e Let Ron che Ut 53 Service Interface _ 148 Setup 161 B P T variants 162 M variants 168 Setup Software KAS IDE anaana aa aaan aaaaa2aa2a 168 WorkBench 162 SEDE 106 Shield connection 86 Shielding 71 Shock hazard protection 58 SinCos encoder with Hall 113 RR rM Ix 60 Site altitude 32 Stacking height 18 Stacking Height Storage 18 Standards 23 Standards used 13 TO AA 52 Stop Function 50 Storage 18 Supply networks 89 Switch on switch off behavior 43 Symbols used 11 SynqNet 159 System components overview 73 T Temperature in operation 32 Storage LL 18 Transport 18 Tightening torques connectors 36 Transport JO 18 Trouble Shooting 192 U UL
93. al Inputs 1 and2 132 8 13 6 2 Digital Inputs 3to 7 ooo cece ccc cece cece cece IRR RR RR RR RR rrr q bibu 132 8 13 6 3 Digital Input 8 ENABLE 132 6 Kollmorgen September 2013 AKD Installation Table of Contents 8 13 7 Digital Outputs X7 X8 EES cece GE GE eie 133 8 13 7 1 Digital Outputs 1 and2 133 8 13 7 2 FAULT relay contacts 134 8 13 8 Digital Inputs with I O option X21 X22 135 8 13 9 Digital Outputs with I O option X23 X24 nn nn 137 8 13 9 1 Digital Outputs 21 to 24 26 to 29 137 8 13 9 2 Digital Relay Outputs 25 30 _ 138 8 13 10 Digital Inputs X35 X36 with AKD M 139 8 13 11 Digital Outputs X35 X36 with AKD M 141 8 13 11 1 Digital Outputs 21 and 22 141 8 14 LED display ee ee Deven a 142 8 15 Rotary Switches S1 S2 RS1
94. al control min 5VDC 5mA 120 Ohm 0 5 W required by some encoders 112 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 11 9 Sine Encoder Feedback devices which do not deliver absolute information for commutation can either work with wake amp shake commutation see AKD User Guide or can be used as a complete feedback system when combined with an additional Hall encoder All signals are connected to X10 and evaluated there If cable lengths of more than 25 m are planned please consult customer support FBTYPE Frequency Limit sin cos SinGos 1 V Ep with Hal SAV FL SinCos 1 Vp p Wakea Shaka ST VEER ENCODER A 11k B cosine Up Sense 5 1 V 5 max 350mA OV ill I min 5VDC 5mA D 120 Ohm 0 5 W required by some encoders Kollmorgen September 2013 113 AKD Installation 8 Electrical Installation 8 11 10 Incremental Encoder Feedback devices which do not deliver absolute information for commutation can either work with wake amp shake commutation see AKD User Guide or can be used as a complete feedback system when combined with an additional Hall encoder All signals are connected using a pre assembled comcoder connection cable The thermal control in the motor is con nected via the encoder cable and evaluated in the drive If cable lengths of more than 25 m are planned please consult customer support Type FBTYPE Fre
95. allation 8 Electrical Installation Digital Input Wiring Diagram Sink type connection example Drive Controls X2 r T DIGITAL IN21 1 AO cg 24V against VO GND l IDIGITAL IN22 2 T l Ps DIGITAL IN23 3 Ipcomzi t 314 DIGITAL IN25 a 4 ga IDIGITAL IN26 7 DCOM21 5 7 9 l Tk DIGITAL IN27 lpiGrrAL IN28 2 ud DIGITAL IN29 Ipcomzzj 314 i DIGITAL IN30 9 E l _ Ed Lau z m DIGITAL IN31 6 r AL de DCOM22 5 7 8 VO GND 136 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 13 9 Digital Outputs with VO option X23 X24 8 13 9 1 Digital Outputs 21 to 24 26 to 29 The drive option IC provides 10 digital outputs 3 p 124 Choose the required function in the setup software Messages from pre programmed functions stored in the drive can be out put here A list of these pre programmed functions can be found in the setup software If an output is to be assigned to a pre programmed function then the parameter set must be saved in the drive Technical characteristics e 24V IO power supply 20 VDC to 30 VDC floating max 100 mA e Canbe wired as active low or active high see examples below e Update rate 250 us Wiring diagram control x23 ACTIVE LOW DIGITAL OUT 21 5 Digital 21 DIGITAL OUT 21 VO GND Digital 22 VO GND Digital 23 VO
96. always reguired for 400 to 480 V networks to get a maximum voltage of 240 V 10 3 120 240 V Drive Drive Drive Kollmorgen September 2013 89 AKD Installation 8 Electrical Installation 8 8 2 Connection to various mains supply networks AKD xzzz07 240V to 480V This page illustrates all the possible connection variations for different electrical supply net works There is a danger of electrical shock with serious personnel injury if the drive is not properly grounded An isolating transformer is always required for 120V networks to get a minimum voltage of 240 V 10 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 8 3 24 V auxiliary supply X1 The following diagram describes external 24 VDC power supply electrically isolated for example via an isolating transformer The required current rating depends on the use of motor brake and option card p 34 or gt p 35 depends on drive type Description 24 VDC Auxiliary voltage 24V Supply GND STO enable Safe Torque Off Kollmorgen September 2013 91 92 AKD Installation 8 Electrical Installation 8 8 4 Mains supply connection X3 X4 8 8 4 1 Three phase connection all AKD types e Directly to 3 phase supply network supply networks gt p 89 e Filtering for AKD xzzz06 to be provided by the user e Fusing such as fusible cut outs to be provided by the user gt p 37 for AKD xzzz06 onl
97. analog output on X8 drives with built in VO option card offer a second output on X23 A list of the pre programmed functions is included in the WorkBench setup software Technical characteristics e Output voltage range referring to AGND x10 V e Resolution 16 Bit and fully monotonic e Unadjusted offset 50 mV e Offset drift typ 250 uV C e Gain or slope tolerance 3 e Nonlinearity lt 0 1 of full scale or 10 mV e Output impedance 110 ohms e Specification complies with IEC 61131 2 Table 11 e 3dB Bandwidth gt 8 kHz e Maximum output current 20 mA e Capacitive load any value but response speed limited by max lout and by Rout e Protected for short circuit to AGND Analog Output Wiring Diagram control Analog CNC GND CNC GND Analog 2 CNC GND CNC GND Kollmorgen September 2013 129 AKD Installation 8 Electrical Installation 8 13 6 Digital Inputs X7 X8 The drive provides 8 digital inputs 3 p 124 These can be used to initiate pre programmed functions that are stored in the drive A list of these pre programmed functions is included in the WorkBench Digital Input 8 is not programmable but is fixed to the ENABLE function If an input is programmed it must be saved to the drive Depending on the selected function the inputs are high or low active The inputs can be used with switched 24 V source type or switched GND sink type See diagrams below for typical examples of digital i
98. and Warning Messages and Remedies section of the AKD User Guide for a table describing the specific behavior of each fault The follwing pages show examples for the possible fault behaviors Switch off behavior for faults that cause an immediate power stage disable This is a category O stop according to IEC 60204 p 50 Standard Operation F301 example Motor overheat Power stage disable 24V t F301 example t FAULT Relay i Main Power Turned off via mains contactor fault relay t DC Bus t Power Stage enable t STO t ENABLE extern uncontrolled Motor Speed Motor Holding Brake E If velocity drops below threshold CS VTHRESH or timeout occurs the motor holding brake is applied 3 p 102 Set parameter MOTOR BRAKEIMM to 1 with vertical axes to apply the motor holding brake immediately after faults Kollmorgen September 2013 47 AKD Installation 6 Technical description and data Switch off behavior for faults that cause dynamic braking This is a category O stop according to IEC 60204 2 p 50 Standard Operation F418 example Feedback power 24V F418 example FAULT Relay t DC Bus Power Stage enable STO ENABLE extern uncontrolled Motor Speed Dynamic braking Motor Holding Brake 1 If velocity drops below threshold CS VTHRESH or timeout occurs brake is applied gt p 102 Kollmorgen September 2013 AKD
99. and push the busbar through the opening in the holder 3 Mount the busbar with the Shiai comedor shield clamps fitted on the terminal clamps assembly plate Use either metal spacer bushes or screws with nuts and accessories to maintain a spacing of 50 mm Earth the busbar using a single conductor with a cross section of at least 2 5 mm 4 Strip the external cable sheath busbar washer M6 nut spring washer assembly plate o o a length of approx 30 mm tak ng care not to damage the braided shield Push the shield M6 bolt clamp up and route the cable to it via the busbar i NOTICE Make sure there is good con tact between the shield clamp and the braided shield Kollmorgen September 2013 87 AKD Installation 8 Electrical Installation 8 7 3 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 7 3 1 Grounding plates Mount the grounding plates to the drive as shown in the photos below AKD x0306 to x1206 types AKD x02406 amp zzz07 types L shape grounding plate EU only flat grounding plate 8 7 3 2 Shield connection clamps Use shield connection clamps see accessories manual These hook into the grounding plate and ensure optimum contact between the shield and the ground ing plate Kollmorgen recommends using Phoeni
100. ated by connecting pins 1 and 6 An optional termination plug is available for AKD P AKD CAN TERM The optional ter mination plug is an RJ 12 connector with an enclosed wire jumper between pins 1 amp 6 A plug should be inserted into the X13 connector of the last drive in the CAN network Remove the termination connector if the AKD is not the last CAN Bus device and use X13 for connecting the next CAN node 8 19 5 CAN Bus Cable To meet ISO 11898 a bus cable with a characteristic impedance of 120 ohms should be used The maximum usable cable length for reliable communication decreases with increas ing transmission speed As a guide you can use the following values which Kollmorgen has measured however these values are not assured limits e Characteristic impedance 100 120 ohms e Cable capacitance max 60 nF km e Leadloop resistance 159 8 ohms km Cable length depending on the transmission rate Transmission Rate kBaud Maximum Cable Length m 10 Lower cable capacitance max 30 nF km and lower lead resistance loop resistance 115 ohms 1000m make it possible to achieve greater distances Characteristic impedance 150 5 ohms requires terminating resistor 150 5 ohms Kollmorgen September 2013 155 AKD Installation 8 Electrical Installation 8 19 6 CAN Bus Wiring Drive x12 CAN Server Client according to line impedance CAN ref to ISO 11898 Termination connector 156 Kollmorgen Se
101. ch off on over voltage takes place as described under 1 above for the drive that has the lowest switch off threshold resulting from tolerances Kollmorgen September 2013 AKD Installation 6 Technical description and data 6 13 1 2 Technical data for AKD xzzz06 Technical data for the regen circuit depends on the drive type and the mains voltage Supply voltages capacitances and switch on voltages are all nominal values NOTE Observe the regeneration time some minutes for the dynamic brake circuit after full load with peak regen power Brake circuit Supply voltage Type Rated data Units 120V 240 V AKD xzzz06 Switch on threshold of regen circuit all types Overvoltage limit Maximum regen duty cycle Type Rated data Units 120 V 240 V AKD x00106 Extemal regen resistor 33 Max xternal resistor 0 48 1s 1s Peak regen power external 1s Absorption energy in capacitors 20 60 20 DC Bus Capacitance ra 9 AKD x00306 External regen resistor h 3 Maximum continuous regen power external resistor 0 77 T T 0 3 c EN gt c IN Peak regen power external 1s kW Absorption energy in capacitors 20 60 20 DC Bus Capacitance HF 9 T on 3 40 3 zx Qi IN Absorption energy in capacitors 20 Absorption energy in capacitors 2096 60 20 zr z o 3 e DC Bus Capacitance 94 1 o 4 a 0 AKD x01206
102. d Do you want to create a new controller or connect to an existing one Name Type 8 Standard Controller Panel Controller 10 Standard Controller Panel Controller 15 HiPerformance Controler Panel Controller 17 Hi Performance Controler Panel Controller Standard Box Box Controller ma ems To associate the project with an IP address of the AKD PDMM controller right click on the Controller option in the Project View Select Properties and the following screen appears l Controller Properties 7 Address IP or COM u l Version 192 168 0 105 Controller type O Pac PDMM Type in the IP address of the AKD PDMM set the Controller Typeto PDMM and click OK To connect to the PDMM download and run the project use the following controls 1 Compile 2 Connect 3 Download 4 Run Project to Target Project Project Double click on EtherCAT in the project view to open the EtherCAT devices view Click on scan devices in the upper right corner and the KAS IDE will automatically identify and add your drive If multiple drives are detected a drive can be uniquely identified using one of the following methods 1 The MAC address of the drive This is printed on the sticker on the side of the drive 2 The name of the drive The drive name is set using KAS IDE A new drive defaults to No Name 3 Blinking the display Select a drive and click Blink to force the display on the front of the
103. d re start program appli execute an instruction cation stopped CPU is over Either the motion engine cycle Stop the application or power off on Reduce the loaded did not complete or the PLC pro sample rate simplify the application or reduce the gram did not complete within the application cycles and re start the application timeout period due to excessive CPU loading PLC application Maintenance operation is Check controller web server home page for cannot be started in progress any maintenance operation in progress Controller is in online con Wait for the operation to finish fig mode Connect to the controller with the IDE and AKD Restore failed disable online config mode The IDE version of the Check EtherCAT network topology by using compiled PLC code and the Scan network button in the web server s controller runtime version Restore tab Correct the physical topology do not match and re execute an AKDrestore IDE version only major minor micro should match with runtime version To correct install the correct version of IDE or Runtime EtherCAT com EtherCAT network operation Check the EtherCAT network wiring and devices munication failure failed due to a network com state Re start the application during operational munication error mode EtherCAT com EtherCAT network operation Check the EtherCAT network wiring and devices munication failure failed due to a network com state Re start the application
104. de Firmware Update the firmware of the selected AKD drive s In the work space a set of screens opens up that enable you to completely configure the drive AKD P00307 2 EtherCAT Drive Active 0 Drive inactive The dive is inactive because he Drive Display ri Li LI gt Additionally the setup wizard will take you through a set of steps to perform the configuration IJ Control Panel Panel e PDMM Onboard JO Ether 1 Setup Wizard 7 Load Save Parameter b Wak Rename Delete Kj Referel_ 176 Kollmorgen September 2013 AKD Installation 9 Setup To perform basic motion without running a project the Service Motion screen can be used Enable Stop EE s Clear Faults Service Motion Service motion allows you to start and stop some test motions Service Motion Mode Pulse O Reversing Continuous Velocity 1 60 000 rpm n w Time 1 500 ms Acceleration L 10 000 170 rpm s Deceleration 10 000 170 Ipm s D Stat AM Drive is inactive Position Feedback 56 970 640 Counts1 6Bit Velocity Feedback 0 000 rpm No Fault BANGIS BW HW Not Connected Kollmorgen September 2013 177 AKD Installation 9 Setup 9 4 Fault and Warning Messages 9 4 1 Fault and warning messages AKD When a fault occurs the drive fault relay is opened the output stage is switched off motor loses all torque or the load is dynamically braked The specific dri
105. ded width 68 8 Electrical Installation EE a 69 8 1 Important Notes 70 8 2 Guide to electrical installation 71 BV xc ee a ee ba ia E EEEE 72 8 4 Components of a servosystem 73 8 5 Connection Overview AKD B AKD P AKD T 75 8 5 1 Connector assignment AKD x00306 AKD x00606 75 8 5 2 Connector assignment AKD x01206 75 8 5 3 Connector assignment AKD x02406 and AKD xzzz07 76 8 5 4 Connection diagram AKD x00306 AKD x00606 77 8 5 5 Connection diagram AKD x01206 78 8 5 6 Connection diagram AKD x02406 and AKD xZZZ07 79 8 6 Connection Overview AKD M 80 8 6 1 Connector assignment AKD M00306 AKD M00606 80 8 6 2 Connector assignment AKD M01206
106. der side relates to Kollmorgen motors Encoder B IN 5 DATA 13 DATA 8 CLOCK 15 CLOCK 12 Ng 10 OV OV 4 5 1 V 4 59 UP Up max 350mA 2 voltage supply OV N AE p M H 7 N thermal control min SVDC 5mA Kollmorgen September 2013 109 AKD Installation 8 Electrical Installation 8 11 6 Sine Encoder with EnDat 2 1 The diagram below shows the wiring of a single tum or multi tum sine cosine encoder with EnDat 2 1 interface as a feedback system Preferred types are the ECN 1313 and EQN1325 encoders The thermal control in the motor is connected via the encoder cable and evaluated in the drive All signals are connected using our pre assembled encoder connection cable If cable lengths of more than 50 m are planned consult customer support FBTYPE Frequency Limit ENDAT2 The pin assignment shown on the encoder side relates to Kollmorgen motors Drive Encoder X10 EnDat 2 1 11k 12 T T DI lt a tss TONG E a a wd odi DI d as s e B OM e pa s ll ENT B l 1360hm A 2 e j a MM 4 Up sense 5 OV 5 1 V 5 Up max 350mA 11 2 OV 8 sami 9 IL l min 5VDC 5mA 120 Ohm 0 5 W L required bv some encoders Renishaw Heidenhain 110 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 11 7 Encoder with EnDat 2
107. ditions Ventilation and Mounting Position 3 p 32 Do not mount devices that produce magnetic fields directly beside the drive Strong magnetic fields can directly affect internal components Install devices which produce magnetic field with distance to the drives and or shield the magnetic fields 7 2 Guide to Mechanical Installation Kollmorgen September 2013 The following tools are required at a minimum to install the AKD your specific installation may require additional tools e M4 hexagon socket cap screws ISO 4762 e 3mm T handle Allen key e No 2Phillips head screwdriver e Small slotted screwdriver Dimensions and mounting hole positions depend on the drive variant Drive Variant Description Housing AKD B P T Drives without built in option card Standard width gt p 61 AKD B IC T IC M MC Drives with built in option card for Extended width 3 p 65 example I O MC Install the drive unit as follows 1 Prepare the site Mount the drive in a closed control cabinet 3 p 32 The site must be free from con ductive or corrosive materials For the mounting position in the cabinet gt p 61ff respec tively gt p 65ff 2 Check ventilation Check that the ventilation of the drive is unimpeded and keep within the permitted ambient temperature gt p 32 Keep the required space clearance above and below the drive gt p 61ff respectively gt p 65ff 3 Check cooling system If cooling
108. drive s IP address must be the same as the first three octets of the HMI s IP address The last octet must be different PROFINET RT and WorkBench can operate simultaneously if a switch is used 8 20 6 Ethernet IP AKD with connectivity option El can be connected to an Ethernet IP network via RJ 45 con nector X11 The communication status is indicated by the built in LEDs Connector LED Name Function LED1 IN port Link ON active OFF not active LED2 ON running OFF not running Connect the service interface X11 of the drive to an Ethernet interface on the Ethernet IP Master directly or via a network switch while the supply to the equipment is switched off Use standard Cat 5 Ethernet cables for connection Confirm that the link LED on the AKD the green LED on the RJ45 connector and on your Master or Switch are both illuminated If both lights are illuminated then you have a good electrical connection The subnet mask of the AKD is 255 255 255 0 The first three octets of the drive s IP address must be the same as the first three octets of the HMI s IP address The last octet must be different Ethernet IP and WorkBench can operate simultaneously if a switch is used Kollmorgen September 2013 159 AKD Installation 9 Setup 9 Setup 9 1 Important Notes 161 9 2 Setup AKD B AKD P AKD T
109. drive to blink on and off for 20 seconds Kollmorgen September 2013 173 AKD Installation 9 Setup 9 3 7 6 Set drive IP address in KAS IDE If KAS IDE does not automatically show your drive then you can set the IP address man ually in KAS IDE as follows 1 Display the IP address You can show the drive IP address on the drive display by start ing the menu with button B2 and selecting IP by pressing B2 again The display shows the digits and dots of the IP address in sequence for example 192 168 0 105 2 The P address of the AKD PDMM is setup in the project file inside the KAS IDE To see the IP address open a project or create a new project Right click on the Project Explorer Project view Controller item and select Properties amp Control Panel Panel EtherCAT KG AKD 1 AKD Drive 3 Typein the AKD PDMM address as follows Controller 192 168 0 105 4 Compiled at 2009 12 01T 14 52 55 Compiler version 2 1 0 0 Compiler build number 2 1 0 18 Minimal KMS Runtime Version 0 oe ed 174 Kollmorgen September 2013 AKD Installation 9 Setup 9 3 7 7 Starting new project Once a project new or saved is opened from the Project Explorer you can open a variety of items to build a project Kg PLC Configure X35 X36 VO A sd _ ads PDMM Onboard I O Configure X7 X8 and remote VO my EtherCaT i a O References Add additional reference documents amp Fieldbus Panel KVB Create
110. e enabling the drive Kollmorgen September 2013 AKD Installation 9 Setup 9 3 3 Software description Each drive must be adapted to the reguirements of your machine For most applications you can use a PC and KAS IDE software Kollmorgen Automation Suite Integrated development environment to set up the operating conditions and parameters for your drive The PC is con nected to the drive by an Ethemet cable 2 p 148 The setup software provides the com munication between the PC and AKD PDMM You can find the KAS IDE setup software on the accompanying DVD and in the download area of the Kollmorgen website With very little effort you can alter parameters and instantly observe the effect on the drive since there is a continuous online connection to the drive You can also read important actual values from the drive which are displayed on the monitor of the PC oscilloscope func tions You can save sets of data on data media archiving and load them into other drives or use them for backup You can also print out the data sets Most standard feedbacks SFD EnDAT 2 2 2 1 and BiSS 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 KAS IDE and can be loaded with one click using the Motor screen in the KAS IDE software An extensive online help with integrated description of all variables and functio
111. e the voltage in the DC bus link and wait until the voltage is below 40 V before handling components Never undo any electrical connections to the drive while it is live There is a danger of elec trical arcing with damage to contacts and personal injury Never modify the drive It is not allowed to modify the drive without permission by the manufacturer Opening the housing causes loss of warranty AKD Installation 3 Safety 3 2 Use as Directed Drives are components that are built into electrical plants or machines and can only be oper ated as integral components of these plants or machines The manufacturer of the machine used with a drive must generate a risk assessment for the machine and take appropriate measures to ensure that unforeseen movements cannot cause personnel injury or property damage Cabinet and wiring Drives must only be operated in a closed control cabinet suitable for the ambient conditions gt p 29 Ventilation or cooling may be necessary to keep the temperature within the cabinet below 40 C Use only copper conductors for wiring The conductor cross sections can be derived from the standard IEC 60204 alternatively for AWG cross sections NEC Table 310 16 75 C col umn Power supply The drives can be supplied by 1 or 3 phase industrial supply networks Drives in the AKD series can be supplied as follows e AKD xzzz06 1 or 3 phase industrial supply networks not more than 200 kA symmetrical ra
112. eached External fault This fault is user generated and is caused by user set tings Bus voltage exceed allowed thresh Hardware problem in bus measurement olds types are not compatible ware Firmware and option board FPGA ver sions are not compatible with this firmware Motor exceeded VL THRESH value Motor did not follow command values Motor foldback Maximum motor power has been exceeded the power has been limited to protect the motor Brake open circuit Motor brake open circuit Fault threshold is 200 mA Brake short circuit Motor brake short circuit Brake closed during enable state Motor brake closed unexpectedly Voltage exceeds motor rating Drive bus voltage exceeds the motor s defined voltage rat ing Motor 14t load Motor I2t load IL MI2T has exceeded the warning thresh old IL MI2TWTHRESH Can only be generated if IL MIMODE has been set to 1 Brake released when it should be Brake disengaged unexpectedly applied Failed to set feedback type Feedback is not connected or wrong feedback type selected Kollmorgen September 2013 181 un un F201 F202 F203 n234 to n237 n240 to n243 F245 F247 F248 F249 F250 F251 F252 F253 F301 n301 F302 F303 F305 F307 F308 _ F312 F401 AKD Installation 9 Setup Message Warning Cause Analog signal amplitude fault Analog signal amplitude is too low Analog fault resolver signal or sin cos amplitude EnDat communication fault General comm
113. ection EE EE EE ee eee ee ee ee ee ee ee ee ee ee ee ee 103 8 12 Electronic gearing Master slave operation 116 8 13 VO Connectioni Pe OE uuu T l luu EE sa EE AR ete e Aou s asses ED Shu douse 124 8 14 LED display 142 8 15 Rotary Switches S1 S2 RS1 143 8 16 Pushbuttons B1 B2 B3 144 8 17 SD Card Slot a a a Q us baka ee 146 8 18 Service Interface X11 X32 148 8 19 CAN Bus Interface X12 X13 152 8 20 Motion Bus Interface X5 X6 X11 157 Kollmorgen September 2013 69 AKD Installation 8 Electrical Installation 8 1 Important Notes NOTICE NOTICE NOTICE NOTE Kollmorgen September 2013 Never remove electrical connections to the drive while it is live There is a danger of electrical arcing with damage to contacts and serious personal injury Wait at least seven minutes after disconnecting the drive from the main supply power before touching potentially live sections of the e
114. ection Diagram Encoder AquadB A 5V 5 Up max 250mA voltage supply GND OV Shield 8 12 2 2 Incremental encoder input 24 V X7 A 24 V A quad B encoder can be connected to the digital inputs 1 and 2 and used as a com mander encoder dual loop feedback gearing or camming input Don t use for primary motor feedback connection Connection Diagram Drive DIGITAL IN2 Master Channel A Channel B GND 24V Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 12 2 3 Encoder with EnDat 2 2 input 5 V X9 A single turn or multi turn encoder with EnDat 2 2 can be connected to this input and used as a commander encoder dual loop feedback gearing or camming input Don t use for primary motor feedback connection Connection Diagram Encoder EnDat 2 2 5V Up 5V 5 max 250mA voltage supply OV Shield Kollmorgen September 2013 119 AKD Installation 8 Electrical Installation 8 12 3 Pulse Direction signal connection The drive can be connected to a stepper motor controller Set parameters for the drive with WorkBench The number of pulses can be adjusted so that the drive can be adapted to match any stepper controller Speed profile and signal diagram v1 H a 0 a 0 IO KUL a 0 a 0 S pi ms DIN DIN M 0 I Direction t ival path traversed s E number of pulses velocity v pulse frequency acceleration a rate
115. entially explosive areas e environments with corrosive and or electrically conductive acids alkaline solutions oils vapors dusts e Ships or offshore applications Kollmorgen September 2013 17 AKD Installation 3 Safety 3 4 Handling 3 4 1 Transport Transport the AKD in accordance with IEC 61800 2 as follows e Transport only by qualified personnel in the manufacturer s original recyclable packaging Avoid shocks while transporting e Store at or below maximum stacking height AKD x0306 to 0606 models 8 cartons all other models 6 cartons e Transport only within specified temperature ranges 25 to 70 C max rate of change 20 K hour class 2K3 e Transport only within specifiedhumidity max 95 relative humidity no condensation class 2K3 The drives contain electrostatically sensitive components that can be damaged by incorrect handling Electrostatically discharge yourself before touching the drive Avoid contact with highly insulating materials such as artificial fabrics and plastic films Place the drive on a conductive surface If the packaging is damaged check the unit for visible damage Inform the shipper and the manufacturer of any damage to the package or product 3 4 2 Packaging The AKD packaging consists of recyclable cardboard with inserts and a label on the outside of the box Model Package Total Weight Total Weight Dimensions AKD B P T AKD M mm HxWxL kg kg up to AKD x00606 113 x
116. eptember 2013 AKD Installation 6 Technical description and data 6 4 Inputs Outputs Interface Electrical Data Analog inputs 112 VDC Common Mode Rejection Ratio gt 30 dB at 60 Hz resolution 16 bit and full monotonic nonlinearity lt 0 1 of full scale offset drift max 2500 V C input impedance gt 13 kOhms Analog outputs 10 VDC max 20mA resolution 16 bit and full monotonic nonlinearity lt 0 1 of full scale offset drift max 2500 V C short circuit protected to AGND output impedance 110 Ohms Digital inputs ON 3 5 VDC to 30 VDC 2 mA to 15 mA OFF 2 VDC to 2 VDC max 15 mA galvanic isolation for 250 VDC Digital outputs max 30 VDC 100 mA short circuit proof galvanic isolation for 250 VDC Relay outputs max 30 VDC 1A max 42VAC 1A time open close 10ms isolation 400 VDC contact coil Kollmorgen September 2013 33 34 AKD Installation 6 Technical description and data 6 5 Electrical Data AKD xzzz06 AKD AKD AKD AKD x00306 x00606 x01206 x02406 3 x 120 V to 240 V 10 3x240 V 1x 120 V to 240 V 10 10 50 Hz to 400 Hz 5 or DC Rated input current at 1120 V TAT 50 99 2 NA at tx240V rat so 99 2 wa at x120V EET 0 Permitted switch on off frequency 3 Max inrush current Rated DC bus link voltage Bus Turn on Delay 3ph 1 sec Continuous output current 3 at 120 V at 240 V Peak output current for 5 s 3 Continuous output power at 1x120 V at 1x240 V a
117. er does not have to be made specifically for the AKD family The Kollmorgen AK HMI s are compatible with a Kollmorgen Modbus Master driver The subnet mask of the AKD is 255 255 255 0 The first three octets of the drive s IP address must be the same as the first three octets of the HMI s IP address The last octet must be different Confirm that the link LED on the AKD the green LED on the RJ45 connector and on your Master or Switch are both illuminated If both lights are illuminated then you have a good electrical connection Modbus TCP and WorkBench KAS IDE can operate simultaneously if a switch is used 8 19 CAN Bus Interface X12 X13 Two 6 pin RJ 25 connectors X12 X13 are used for CAN Bus connection X13 CAN Out X12 CAN In Conn Pin Signal Conn Pin Signal Internal Termination Resistor Internal Termination Resistor CAN Shield CAN Shield CANH in CANH out aa 6 Internal Termination Resistor X13 6 Intemal Termination Resistor 152 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 19 1 CAN Bus activation with AKD CC models AKD CC drive models are Drives which support EtherCAT and CAN fieldbus types within one common software These CC drive models allow selecting a fieldbus support by setting the DRV TYPE parameter to a certain value CC drive models are delivered with EtherCAT set active To activate CANopen the DRV TYPE parameter must be changed 1 by software
118. es only 8V 9V GE max 350mA OV Up OV Kollmorgen September 2013 107 AKD Installation 8 Electrical Installation 8 11 5 Encoder with BiSS 8 11 5 1 BiSS Mode A analog The diagram below shows the wiring of a single turn or multi turn encoder with BISS Mode A interface as a feedback system The thermal control in the motor is connected via the encoder cable and evaluated in the drive If cable lengths of more than 50 m are planned please consult customer support FBTYPE Frequency Limit BiSS Mode A Analog 51 V 15 The pin assignment shown on the encoder side relates to Kollmorgen motors 14 9 A LE 6 5 7 13 2 8 3 15 4 12 3 10 OV 10 4 51v 415 UP max 350mA 11 2 OV E og PR a M 7 OU thermal control min 5VDC 5mA 120 Ohm 0 5 W required by some encoders Renishaw Heidenhain Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 11 5 2 BiSS Mode C digital The diagram below shows the wiring of a single turn or multi turn encoder with BiSS Mode C interface from Renishaw specifically model Resolute RA26B as a feedback system The thermal control in the motor is connected via the encoder cable and evaluated in the drive If cable lengths of more than 25 m are planned please consult customer support FBTYPE Frequency Limit BiSS Mode C 5 1 V 5 2 5 MHz The pin assignment shown on the enco
119. haracteristics e Electrical interface RS 485 e Maximum signal input frequency 3MHz e Input signal voltage range 12 V to 7 V e Supply voltage only applicable to Incremental Encoder Input 5 V 5 e Maximum supply current 250 mA Pin Pulse Direction Up Down Incremental Encoder Encoder with EnDat 2 2 2 Fue Up A co 5 Diedo Dow 8B DATA To Shed Shed Shed Sh oase Ia ref FSV Rey output EV ubpy ouipuj Maximum cable length of an external incremental encoder using X9 is dependant on cable voltage drop and external encoder power reguirements See the calculation example in the user guide s chapter Electronic Gearing 8 12 1 3 Connector X9 Output Technical characteristics e Electrical Interface RS 485 e Max frequency 3 MHz e Resolution Up to 16 bit e The pulses per revolution value are settable e Pulse phase shift 90 20 Pin Emulated Encoder Output 6 Sieg 8 Channel Zero Bist or X ES NOTE The maximum permissible cable length is 100 meters Kollmorgen September 2013 117 AKD Installation 8 Electrical Installation 8 12 2 Command encoder signal connection 8 12 2 1 Incremental encoder input 5 V X9 A 5V A quad B encoder or the encoder emulation output of another drive can be connected to this input and used as a commander encoder dual loop feedback gearing or camming input Don t use for primary motor feedback connection Conn
120. he cable in a duct placed in different sheathed cables or protected individually by grounding connection Wiring remaining within the specified enclosure must meet the requirements of the standard IEC 60204 1 6 16 7 Functional description When STO function Safe Torque Off is not needed then the input STO must be connected directly with 24 V The function is then bypassed and cannot be used If the STO function is in use then the input STO must be connected to the exit of a security control or a safety relay which at least meets the requirements of PLd CAT 3 according to ISO 13849 con nection diagram gt p 56 Possible states of the drive referring to STO function STO ENABLE Display Motor has Torque Safety SIL 2 pov ov n m yes F2 m yes Faav ov ome m ne ys m When STO function is engaged during operation by separating input STO from 24 V the motor slows down without control and the drive displays the fault F602 It is not possible to perform a controlled brake if the drive STO Enable is off If controlled braking before the use of the STO function is necessary the drive must be braked and the input STO must be separated from 24 V time delayed The STO function does not provide an electrical separation from the power output If access to the motor power terminals is necessary the drive must be disconnected from mains supply considering the discharging time of the intermediate circuit Since the
121. he failure to correct the underlying problem More information about fault messages remedy and clearing faults can be found in the Work Bench online help CPU temperature exceeded Power off Check airflow and operating envi safe operating temperature limit ronment are within hardware specifications Allow exceeded PDMM unit to cool before power on operation is stopped CPU will be put to sleep Out of memory Memory leak memory cor Power off on If problem is recurrent check KAS runtime is rupted or hardware memory fail release notes for firmware updates or return hard stopping Fan failure ure ware for repair CPU cooling fan was not able to Check temperature and monitor for High temp operate properly alarm see A01 Return hardware for fan replace ment Firmwareis cor Flash memory corrupted during Re download firmware or boot into recovery mode rupted firmware download or flash hard download If the problem is recurrent power off on ware failure Check release notes for firmware updates firm ware and power off on If problem persists return hardware for repair Flash is corrupted At startup the filesystem could Reset to factory defaults If problem persists no filesystem is not be mounted on the flash retum hardware for repair available Kollmorgen September 2013 AKD Installation 9 Setup Error Description Cause Remedy Not enough flash Flash memory is full
122. he same mains identical mains phases and voltage may be connected by the DC bus link Use unshielded single cores with a maximum length of 200 mm Use shielded cables for longer lengths RB DC AKD x00306 to AKD x00606 X3 Pin Signal Description DC Link Bus negative DC RB DC Link Bus positive 3d 1 1 L1 SU OO gU EEUU AR AA EE AKD x01206 X3 Pin Signal Description DC Link Bus negative DC RB DC Link Bus positive PAAR L A XX 3d 1 ZI LI dUMOO RU IgU AKD x02406 amp AKD xzzz07 X3 Signal Description DC Link Bus negative DC RB DC Link Bus positive Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 9 1 External regen resistor X3 For technical data on the brake circuit Dynamic Braking 3 p 40 Fusing such as fusible cut outs to be provided by the user Fusing 2 p 37 remove bridge plete H to AKD x00606 X3 Signal Description M External Regen Resistor negative 3 B External Regen Resistor positive 3d 1 1 LI 8HHOQ 84 AKD x01206 X3 Pin Signal Description Internal RegenResistor positive 2 RB Extemal RegenResistor negative External RegenResistor positive ad 1 21 LI 8H8 00 8H 8H AAA AR RARE Mc umi amp AKD xzzz07 X3 Signal Description EER EE ss External RegenResistor negative 4 R External RegenResistor positive Kollmorgen September 2013 95 AKD Installation 8 Electrica
123. here was an error writing to a fileon General writing error ES 22 SD Card is write protected SD card protection clip in wrong position SD Card hardware not installed No I O option board installed or SD card device faulty SD Cardreadiwiteinprogess OO O There was an error accessing the Basic program file couldn t be read BASIC binary file FO Rea are Firmware incompatible Installed firmware is not compatible with the drive hard ware The FPGA is a lab FPGA The FPGA is alab version FPGA Resident firmware failed Software failure detected E0082 E0083 E0084 E0095 E0096 E0097 E0098 E0099 E0100 E0101 F101 F102 178 Kollmorgen September 2013 AKD Installation 9 Setup Message Warning Cause Operational FPGA is not a default The FPGA minor version is larger than the operational FPGA firmware default FPGA minor version Resident FPGA failed Software failure detected Load resident FPGA failure occurred several cases according to flowchart including incompatible image to FPGA type and fieldbus type Operational FPGA failed Software failure detected Load operational FPGA failure occurred several cases according to flowchart Non volatile memory stamp invalid Non volatile memory stamp is corrupted or invalid Non volatile memory data Non volatile memory data is corrupted or invalid When this fault occurs after a firmware download it is not an indication of a problem clear the fault and perf
124. ia an isolating transformer schematic connection p 89 A ground leakage monitor can be used to monitor for short circuits Keep the length of wiring between the transformer and the drive as short as possible Kollmorgen September 2013 AKD Installation 7 Mechanical Installation 7 Mechanical Installation 7 1 Important Notes 60 7 2 Guide to Mechanical Installation 60 7 3 Mechanical Drawings Standard Width 61 7 4 Mechanical Drawings Extended Width 65 Kollmorgen September 2013 59 AKD Installation 7 Mechanical Installation 7 1 Important Notes There is a danger of electrical shock by high EMC level which could result in injury if the drive or the motor is not properly EMC grounded NOTICE NOTICE NOTICE Do not use painted i e non conductive mounting plates Protect the drive from impermissible stresses In particular do not let any components become bent or any insulation distances altered during transport and handling Avoid contact with electronic components and contacts The drive will switch itself off in case of overheating Ensure that there is an adequate flow of cool filtered air into the bottom of the control cabinet or use a heat exchanger Ambient Con
125. iately after faults or Hardware Disable The brake function must be enabled through a parameter The diagram below shows the tim ing and functional relationships between the controlled stop signal speed setpoint speed and braking force All values can be adjusted with parameters values in the diagram are default values U Analog In DINx STATE U with DINx MODE configured for controlled stop e N red z TE U OTOR TBRAKEAPP y BRAKE Braking force STO Kollmorgen September 2013 AKD Installation 8 Electrical Installation The speed setpoint of the drive is internally driven down an adjustable ramp CS DEC to 0 V With default values the output for the brake is switched on when the speed has reached 120 rpm CS VTHRESH for at least 6 ms CS TO The rise t and fall to times of the holding brake that is built into the motor are different for the various types of motor see motor manual 8 11 Feedback Connection Every closed servo system normally requires at least one feedback device for sending actual values from the motor to the drive Depending on the type of feedback device used infor mation will be fed back to the drive using digital or analog means AKD supports the most common types of feedback device Two feedback devices can be used at the same time and all feedbacks are connected to X10 Feedback functions are assigned with parameters in WorkBench the setup software Sca
126. ibed in this documentation Any divergence from the configuration and installation described in this documentation means that the user will be responsible for carrying out new measurements to ensure conformance with regulatory requirements AKD xzzz06 AKD xzzz06 drives do not have integrated EMC filters These drives can cause high frequency interferences and may require measures for interference suppression such as additional external EMC filters With external EMC filters for noise emission the AKD xzzz06 meet the noise immunity requirements of the second environmental category industrial environment to a product of the category C2 motor cable lt 10 m With a motor cable length of 10 m or longer and external EMC filters the AKD xzzz06 meet the requirement of category C3 AKD xzzz07 AKD xzzz07 drives have integrated EMC filters The AKD xzzz07 meet the noise immunity requirements to the 2nd environmental category industrial environment For noise emission theAKD xzzz07 meet the requirement to a prod uct of the Category C2 motor cable 10 m With a motor cable length of 10 m or longer the AKD xzzz07 meet the requirement to the Cat egory C3 Kollmorgen September 2013 AKD Installation 4 Approvals 4 2 1 European Directives and Standards for the Machine Builder Drives are components that are intended to be incorporated into electrical plant and machines for industrial use When the drives are built into mach
127. ines or plant the drive must not be used until it has been established that the machine or equipment fulfills the require ments of the e EC Machinery Directive 2006 42 EC e EC EMC Directive 2004 108 EC e EC Low Voltage Directive 2006 95 EC Standards to be applied for conformance with the EC Machinery Directive 2006 42 EC e IEC 60204 1 Safety and Electrical Equipment in Machines e ISO 12100 Safety of Machines The manufacturer of the machine must generate a risk assessment for the machine and must implement appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property NOTE Standards to be applied for conformance with the EC Low Voltage Directive 2006 95 EC e IEC 60204 1 Safety and Electrical Equipment in Machines e IEC 60439 1 Low voltage switchgear and controlgear assemblies Standards to be applied for conformance with the EC EMC Directive 2004 108 EC e IEC 61000 6 1 2 Interference Immunity in Residential amp Industrial Areas e IEC 61000 6 3 4 Interference Generation in Residential amp Industrial Areas The manufacturer of the machine plant is responsible for ensuring that it meets the limits required by the EMC regulations Advice on the correct installation for EMC such as shield ing grounding treatment of connectors and cable layout is shown in this manual The machine plant manufacturer must check whether other standards or EC Directives must
128. ing devices This results in a category O stop If this stop category is not possible in the appli cation then the Emergency Off function must be replaced by other measures for example by protection against direct touching Kollmorgen September 2013 52 AKD Installation 6 Technical description and data 6 16 Safe Torque Off STO An additional digital input STO releases the power output stage of the drive as long as a 24 V signal is applied to this input If the STO input goes open circuit then power will no longer be supplied to the motor and the drive will lose all torque and coast to a stop Input STO X1 3 e Floating reference ground is GND e 24V 110 20 mA This input is not compatible with IEC 61131 2 You can thus achieve a category 0 stop p 50 by using the STO input without switching a mains contactor Advantages of the STO function e The DC bus link remains charged since the mains supply line remains active e Only low voltages are switched so there is no contact wear e Very little wiring is required The STO safety implemenation on the AKD is certified The safety circuit implementation used for the safety function Safe Torque Off in the drive is suited for SIL 2 according to IEC 61508 2 and PLd CAT3 according to ISO 13849 1 6 16 1 Safety characteristic data The subsystems AKD are described with the following characteristic data Device Operation ISO 13849 1 IEC 61508 2 PFH Ty Years
129. ional local codes e This product is suitable for use on a circuit capable of delivering not more than 200 000 rms symmetrical amperes 240 V AKD xzzz06 480 V AKD xzzz07 volts maximum when protected by fuses The following fuse types are recommended Model Fuse class Rating Max Fuse Rating KD x00306 KD x00606 KD x01206 KD x02406 KD x00307 KD x00607 KD x01207 KD x02407 These drives provide solid state motor overload protection at 125 of the rated FLA Cur rent e These devices are intended to be used in a pollution degree 2 environment e Maximum surrounding air temperature of 40 C e Use minimum 75 C copper wire e These devices do not provide over temperature sensing e Use fuses only o2i2ioileiaiaia oO OI oO oO oO O gt gt gt Fr gt gt gt gt Kollmorgen September 2013 21 AKD Installation 4 Approvals 22 e Thefollowing table illustrates the torque requirements for the field wiring connectors Model QUE Motor Phase Connector Ee URE ID DU nector nector AKD x00306 5 7 in lbs 5 7 in lbs AKD x00606 5 7 in Ibs 5 7 indbs AKD x01206 5 7 imibs 42 CE Conformance NOTICE NOTE Conformance with the EC EMC Directive 2004 108 EC and the Low Voltage Directive 2006 95 EC is mandatory for the supply of drives within the European Community The drives have been tested by an authorized testing laboratory in a defined configuration using the system components that are descr
130. ision Number on the cover page of the manual Pay attention to the technical data Adhere to the technical data and the specifications on connection conditions rating plate and documentation If permissible voltage values or current values are exceeded the drives can be damaged Perform a risk assessment The manufacturer of the machine must generate a risk assessment for the machine and take appropriate measures to ensure that unforeseen movements cannot cause injury or dam age to any person or property Additional requirements on specialist staff may also result from the risk assessment Specialist staff required Only properly qualified personnel are permitted to perform such tasks as transport assembly setup and maintenance Qualified specialist staff are persons who are familiar with the transport installation assembly commissioning and operation of drives and who bring their relevant minimum qualifications to bear on their duties e Transport only by personnel with knowledge of handling electrostatically sensitive com ponents e Unpacking only by electrically qualified personnel e Installation only by electrically qualified personnel e Basic tests Setup only by qualified personnel with knowledge of electrical engineering and drive technology The qualified personnel must know and observe ISO 12100 IEC 60364 IEC 60664 and national accident prevention regulations Observe electrostatically sensitive comp
131. isted pair shielded signal lines connecting shields on both ends Kollmorgen September 2013 85 86 AKD Installation 8 Electrical Installation 8 7 2 Shielding with external shielding busbar EMC filtering must be done externally by the user if necessary which requires the use of shielded cables Kollmorgen recommends a star point shield connection for example with a shielding busbar 8 7 2 1 Shielding Concept as short as possible Shielding busbar iar Drive cut out 24 Vdc Regen resistor Power Supply Motor optional Mains Supply Mains Supply Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 7 2 2 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 Weidm ller KLBU shield clamps A possible scenario for setting up a busbar for the above shield clamps is described below 1 Cut a busbar of the required length from a brass rail cross Brass 3mm thick section 10 x 3 mm and drill holes in it as indicated All shield clamps required must fit between according to the no of terminals the drill holes according to the no of terminals Risk of injury due to the spring force of the coil spring Use pincers holder busbar retaining plate coil spring 2 Squeeze together the coil spring and the supporting plate
132. itors in the DC bus link circuit To re form the capacitors disconnect all electrical connections and apply sin gle phase 208 to 240 VAC to terminals L1 L2 of the drive for about 30 minutes NOTE Additional information on setting up the equipment e Programming parameters and control loop behavior are described in the online help of the setup software e The setup of any expansion card described in the corresponding manual on the DVD e Kollmorgencan provide training courses for the drive upon request Kollmorgen September 2013 161 AKD Installation 9 Setup 9 2 Setup AKD B AKD P AKD T 9 2 1 Setup software WorkBench This chapter describes the installation of the setup software WorkBench for AKD B AKD P and AKD T drives WorkBench is not used for setting up the AKD M AKD PDMM for this drive variant the KAS IDE software must be used 2 p 168 Kollmorgen offers training and familiarization courses on request Loam more about thes aos TE Q hm dee a nat tom IP Addon 632547067 1821681103 9 2 2 Use as directed The setup software is intended to be used for altering and saving the operating parameters for the AKD series of drives The attached drive can be set up with the help of this software and during this procedure the drive can be controlled directly by the service functions Only professional personnel who have the relevant expertise gt p 15 are permitted to carry out online parameter setting for a dri
133. k copyright c 2009 Rockwell Automation e HIPERFACE is aregistered trademark of Max Stegmann GmbH e PROFINET is a registered trademark of PROFIBUS and PROFINET International P1 e SIMATIC is a registered trademark of SIEMENS AG e Windows is a registered trademark of Microsoft Corporation Current patents e US Patent 5 162 798 used in control card R D e US Patent 5 646 496 used in control card R D and 1 Vp p feedback interface e US Patent 6 118 241 used in control card simple dynamic braking e US Patent 8 154 228 Dynamic Braking For Electric Motors e US Patent 8 214 063 Auto tune of a Control System Based on Frequency Response Technical changes which improve the performance of the device may be made without prior notice Printed in the United States of America This document is the intellectual property of Kollmorgen All rights reserved No part of this work may be repro duced in any form by photocopying microfilm or any other method or stored processed copied or distributed by electronic means without the written permission of Kollmorgen Kollmorgen September 2013 AKD Installation Table of Contents 1 Table of Contents 1 Table of Contents 3 2 General RC 9 2 1 About this Manual 10 2 2 Using the PDF
134. k evaluation of the machine Stop function must have priority over assigned start functions The following stop categories are defined Stop Category 0 Shut down by immediate switching off the energy supply to the drive machinery this is an uncontrolled shut down With the approved safety function STO 2 p 52 the drive can be stopped using its internal electronics IEC 61508 SIL2 Stop Category 1 A controlled shut down whereby the energy supply to the drive machinery is maintained to perform the shut down and the energy supply is only interrupted when the shut down has been completed Stop Category 2 A controlled shut down whereby the energy supply to the drive machinery is maintained Stop Category 0 and Stop Category 1 stops must be operable independently of the operating mode whereby a Category 0 stop must have priority 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 September 2013 AKD Installation 6 Technical description and data 6 15 2 Emergency Stop NOTE The Emergency Stop function is used for the fastest possible shutdown of the machine in a dangerous situation The Emergency Stop function is defined by IEC 60204 Principles of emergency stop devices and functional aspects are defined in ISO 13850 The
135. l Installation 8 9 2 Capacitor Modules X3 KCM modules KOLLMORGEN Capacitor Modules absorb kinetic energy generated by the motor when it is operating in generator mode Normally this energy is dissipated as waste via regen resistors KCM modules however feed the energy they have stored back into the DC Bus link as and when it is required Assembly information see regional accessories manual or KCM instruc tion manual Dimensions HxWxD 300x100x201 mm ing is available the next time acceleration happens The module s inception volt age is calculated automatically during the first load cycles KCM P Power in spite of power failure If the power supply fails the module provides the servo amplifier with the stored energy that is required to bring the drive to a stand still in a controlled manner this only applies to the power supply voltage battery back the 24 V supply separately KCM E Expansion module for both applications Expansion modules are available in two capacitance classes NOTE The KCM modules may only be connected to AKD with 400 480 V rated voltage and a max imum rated current of 24 A Mounting installation and setup instructions can be found in the Instructions Manual of the KCM Modules DANGER DC Bus link terminals in servo systems carry high DC voltage of up to 900 V Touching the terminals while they are carrying voltage is extremely dangerous Switch off disconnect the line voltage You must onl
136. ling and other settings are also performed in WorkBench For a detailed description of the parameters please refer to the WorkBench online help The table below provides an overview of the supported feedback types their corresponding parameters and a reference to the relevant connection diagram in each case Wiring Connector FBTYPE 40 X10 x10 SinCos Encoder ENDAT 2 2 3 p 111 SinCos Encoder Hiperface gt p 112 xa Kollmorgen September 2013 103 AKD Installation 8 Electrical Installation 8 11 1 Feedback connector X10 Sine Tama Incr Enc gawa Enc Hall Smart Abs Hall BISSA BiSSC EnDAT EnDAT Hiper PIN SFD DSL Resolver analog digital 2 1 22 face Ls ea fous oie ee a CU for euc euc cuc Sens Sens saws SEN SENT SEN Fs sen SEN SEN SEN SEN SEN SEN e coms COM RI Ref DATs DATE DATE DAT DATE eror SD Ze z ret memacmm PT 1 89 E ro sv sv v sv SV 8to19v mfo ov ov ov oV af ssw msp e sssn a L I jp szcosr Be ns scos amp L E CLK CLOCK DAT DATA SEN SENSE Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 11 2 Resolver The diagram below shows the connection of a resolver 2 to 36 poles as a feedback system The thermal control in the motor is connected via the Resolver cable a
137. ll inputs are not programmed off For more information refer to the setup software Depending on the selected function the inputs are high or low active Technical characteristics Choose the function you require in KAS IDE e Floating reference common line is DCOM35 or DCOM36 e Sink or Source type sensors possible e High 3 5to 30 V 2 to 15 mA Low 2to 2 V 15 mA e Update rate Software 250 us The inputs can be used with switched 24 V source type or switched GND sink type See diagrams below for typical examples of digital input wiring Digital Input Wiring Diagram Source type connection example Drive Control TU X35 DCOM35 1 O VO GND 24V against VO GND aol Ls DIGITAL IN21 2 isa Fs DIGITAL IN22 3 ET red mt tg 30 _DIGITAL IN24 2 m DIGITAL IN25 3 ind amm 4 Fa DIGITAL IN26 Kollmorgen September 2013 139 AKD Installation 8 Electrical Installation Digital Input Wiring Diagram Sink type connection example Control DCOMSS 1 O 24V against VO GND Bod DIGITAL IN21 2 TE DIGITAL IN22 3 O 24V neg DIGITAL IN24 2 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 13 11 Digital Outputs X35 X36 with AKD M 8 13 11 1 Digital Outputs 21 and 22 In addition to the 2 digital outputs on X7 gt p 124 the AKD PDMM provides 2 digital out puts an X35 and X36 Choose the required function
138. llation 9 Setup Message Warning Excessive shock detected by feed Excessive shock from an impact or vibration has caused back device an error in the feedback device Internal error in the feedback device mechanism result ing in bad position data FB2 SOURCE not set Remote Com Feedback Type 44 is being used which requires FB2 to mutation not possible be setup with a working encoder input If FB2 is not con figured then Feedback Type 44 cannot complete remote commutation from an external feedback input FB1 ENCRES is not power of two Feedback Type 43 requires that the feedback resolution Remote Commutation not possible be a power of two Feedback Type 43 is not supported for all feedback resolutions ment TMIN ment more than 360 degrees was traveled in WS MODE 2 too large culation was larger than 72 deg too large deg Fieldbus command velocity too high Fieldbus command velocity exceeds VL LIMITP Fieldbus command velocity toolow Fieldbus command velocity exceeds VL LIMITN Commutation not initialized The motor requires the commutation initialization there are no encoder commutation tracks Hall sensors etc and no successful Wake and Shake sequence has been performed Wake and Shake initialization Mode 0 only Wake and Shake initialization Mode 0 only Wake and Shake initialization Mode 0 only lated encoder output can generate itive Movement Failed wrong direction ative Movement Failed wrong
139. mable relay gt N N B N gt N N X gt NO N AION N X24 BB NIN BIR gt N N X B IN gt N N N 126 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 13 3 VO connectors X35 and X36 AKD M only AKD PDMM offers two additional connectors X35 and X36 for digital I O signals Pin i Abbreviation Function Wiring Dia gram X35 Digital Common X35 DCOM35 Common line for X35 pins 2 3 4 Digital Input 21 DIGITAL IN 21 Programmable ENES Digital Input 22 DIGITAL IN 22 Programmable Digital Input 23 DIGITAL IN 23 Programmable Pes s ne n Pes o e nc Digital Output 21 DIGITAL OUT21 Programmable gt p 141 X35 8 Digital Output 21 DIGITAL OUT21 Programmable eee X36 pins 2 3 4 Digital Input 26 DIGITAL IN 26 Programmable Digital Output 22 DIGITAL OUTZ2 Programmable 9 p 141 X36 8 Digital Output 22 DIGITAL OUT22 Programmable Digital common lines for X35 and X36 are not common to each other The DCOMXx line should be connected to the OV of the I O supply when using sensors of type Source with digital inputs The DCOMx line should be connected to the 24V of the I O supply when using sensors of type Sink with digital inputs Kollmorgen September 2013 127 AKD Installation 8 Electrical Installation 8 13 4 Analog Input X8 X24 The drive is fitted with differential
140. mm to improve interference immunity If a motor power cable is used that includes cores for brake control the brake control cores must be separately shielded e Ground the shielding at both ends Ground all shielding with large areas low impedance with metalized connector housings or shield connection clamps wherever possible For cables entering a cabinet connect shields on all 360 of the cable Never connect a simple pigtail For more information on shielding concepts gt p 86 e With separate mains filter maintain separation of leads entering and exiting the mains filter line power filter Locate the filter as close as possible to the point where the incoming power enters the cabinet If it is necessary for input power and motor leads to cross cross them at 90 e Feedback lines may not be extended since the shielding would be interrupted and the sig nal processing may be disturbed Install all feedback cables with an adequate cross sec tion per IEC 60204 4 p 39 and use the requested cable material to reach maximum cable length e Splice cables properly If you need to divide cables use connectors with metal backshells Ensure that both shells connect along the full 360 of the shields No portion of the cabling should be unshielded Never divide a cable across a terminal stripe e Use differential inputs for analog signals Noise susceptibility in analog signals is greatly reduced by using differential inputs Use tw
141. mmed function then the parameter set must be saved in the drive Technical characteristics e 24V IO power supply at terminals X7 8 and X7 6 20 VDC to 30 VDC e All digital outputs are floating DIGITAL OUT 1 2 terminals X7 7 8 and X7 5 6 max 100 mA e Canbe wired as active low or active high see examples below e Update rate 250 us Wiring diagram control 24V R gt 240 Ohm X7 DIGITAL OUT 1 8 Digital 1 MES DIGITAL OUT 1 7 I O GND ACTIVE LOW 24V R gt 240 Ohm Digital 2 N 33V ER DIGITAL OUT 2 Control w ii SAK DIGITAL OUT 1 Digital 1 i R gt 240 Ohm ACTIVE HIGH VO END 24V RES De DIGITAL OUT 2 T Digital 1 H R gt 240 Ohm VO GND Kollmorgen September 2013 133 AKD Installation 8 Electrical Installation 8 13 7 2 FAULT relay contacts NOTE Operational readiness terminals X8 1 and X8 2 is signaled by a floating relay contact The fault relay can be programmed to two modes of operation Contact closed when there is no fault Contact closed when there is no fault and the drive is enabled The signal is not influenced by the enable signal the I limit or the regen threshold Technical characteristics e FAULT Relay output max 30 VDC or 42 VAC 1A e Time to close max 10 ms e Time to open max 10 ms All faults cause the FAULT contact to open and the output stage to be switched off if the FAULT contact is open the output stage is inhibited gt n
142. ms can be especially complex If you cannot resolve a fault or other issue using the troubleshooting guidance presented below customer support can give you further assistance NOTE More details on the removal of faults can be found in the WorkBench online help Problem HMI message Communication fault Drive does not enable Motor does not rotate Motor oscillates Drive reports following error Motor overheating Drive too soft Drive runs roughly During installation the message Please wait while the installer finishes determining your disk space requirements appears and never dis appears Possible Causes wrong cable used cable plugged into wrong position on drive or PC wrong PC interface selected HW Enable not wired HW or SW Enable not set drive not enabled software enable not set break in setpoint cable motor phases swapped brake not released drive is mechanically blocked motor pole no set incorrectly feedback set up incorrectly gain is too high speed controller feedback cable shielding broken AGND not wired up Irms or Ipeak set too low current or velocity limits apply accel decel ramp is too long motor operating above its rating motor current settings incorrect Kp speed controller too low Ki speed controller too low filters set too high Kp speed controller too high Ki speed controller too high filters set too low MSI installer issue Harddisk space not sufficient
143. nalog VO expan sion width sion Standard features e Supply voltage range 120 V to 480 V 10 e Several housing dimensions depending on current and hardware options e Motion bus onboard e TCP IP service channel onboard e SFD Hiperface DSL Tamagawa Smart Abs Resolver Comcoder 1Vp p Sin Cos encoders incremental encoders support onboard e Support for ENDAT 2 1 amp 2 2 BiSS or HIPERFACE protocols onboard e Encoder emulation onboard e Second feedback support e Safe Torque Off STO according to IEC 61508 SIL 2 onboard e Use with Synchronous servomotors linear motors and induction machines can be used Power section e Oneor three phase supply voltage range 120 to 480 V 410 50 to 400 Hz 45 or DC e Connection to higher voltage mains only via isolating transformer 3 p 90 e B6 bridge rectifier integral soft start circuit e Single phase supply possible with output power derating e Fusing to be provided by the user e Shielding star point close to the drive e DC bus link voltage range 170 to 680 VDC can be connected in parallel e Output stage IGBT module with floating current measurement e Regen circuit with dynamic distribution of the generated power between several drives on the same DC bus link circuit e Internal regen resistor for all 240 480 VAC AKD xzzz07 models only 120 240 VAC 3A and 6 A AKD xzzz06 models lack internal regen resistors external regen resistors if required Kollmorgen
144. nd AKD xzzz07 With internal resistor plus the ability to connect an external resistor depending on the appli cation requirements External regen resistors are described in the regional AKD Accessories Manual 6 13 1 1 Functional description When the amount of returned energy builds the bus capacitor voltage up enough the drive acti vates the brake chopper to start dumping the returned energy in the regen resistor 1 Individual drives not coupled through the DC bus link circuit DC DC When the energy fed back from the motor has an average or peak power that exceeds the pre set level for the regen power rating the drive generates the warning n521 Regen Over power If the power increases past the fault level the regen circuit will switch off With the regen circuit switched off the drive internal DC bus link voltage is supervised The drive reports an over voltage fault if the DC bus threshold is exceeded The drive power stage is disabled and the load coasts to a stop with the fault message F501 Bus Over volt age 3 p 178 The Fault contact terminals X8 9 10 is opened 3 p 134 due to this fault 2 Several drives coupled through the DC bus link DC DC Using the built in regen circuit several drives of the same series can be operated from a com mon DC bus link 3 p 94 without any additional measures 90 of the combined power of all the coupled drives is always available for peak and continuous power The swit
145. nd evaluated in the drive If no thermal control is in the motor the cable must short pins 8 and 9 If cable lengths of more than 100 m are planned please contact customer support Accuracy 14 bit 0 022 resolution 16 bit 0 006 The pin assignment shown on the resolver side relates to Kollmorgen motors Resolver S1 SIN l 1 1nF 2k U 1360hm S3 SIN 1 1nF S2 COS Cos 2k U 1360hm osine S4 COS R1 REF 24 nF 10R 136 Ohm EE min 5VDC 5mA Kollmorgen September 2013 105 AKD Installation 8 Electrical Installation 8 11 3 SFD Gen 2 The diagram below shows the connection of the Kollmorgen 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 For typical cable this means remote sensing is not needed up to 25 m Kollmorgencables are rated up to 50 m with no remote sensing FBTVPE Smart Feedback Device 41 5 1 V 5 accuracy 14 bit 0 022 resolution 24 bit 2 x 10E 5 24nF 1360hm 5 1 V 4l 596 u Up max 350mA voltage supplv Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 11 4 Hiperface DSL The diagram below shows the connection of the two wire Hiperface DSLfeedback system NOTE Hiperface DSL can be used with the special Kollmorgen cable Maximum cable length is up to 25 m FBTYPE Hiperface DSL 46 8to9V from FW 1 9 with Kollmorgen Cabl
146. nput wiring Digital Input Wiring Diagram Source type connection example Controls Xx A TE HOME Switch NG 2 DIGITAL IN4 3 Fa IDIGITAL IN3 4 rs DIGITAL IN2 9 Fi DIGITAL IN1 HhE 24V against VO GND ENABLE HS IGITAL ING 5 ao vi ee Ip Kollmorgen September 2013 AKD Installation 8 Electrical Installation Digital Input Wiring Diagram Sink type connection example Ts DIGITAL IN4 3 ed ae sij DIGITAL IN3 4 Controls HOME Switch 3 DIGITAL IN2 9 ar aqu mm 10 u Ti ja ENABLE NSTOP PSTOP 24V against VO GND Kollmorgen September 2013 131 132 AKD Installation 8 Electrical Installation 8 13 6 1 Digital Inputs 1 and 2 These inputs X7 9 and X7 10 are particularly fast and are therefore suitable for latch func tions for example They can also be used as 24 V inputs for electronic gearing 3 p 116 Technical characteristics e Floating reference common line is DCOM7 e Sink or Source type sensors possible e High 3 5 to 30 V 2 to 15 mA Low 2 to 2 V lt 15 mA e Update rate Hardware 2 us 8 13 6 2 Digital Inputs 3 to 7 These inputs are programmable with the setup software By default all inputs are not pro grammed off For more information refer to the setup software Technical characteristics Choose the function you require in WorkBench e Floating reference common line is DCOM7 or
147. nputs on I O connector X35 X36 AKD M only GND o 24 V supply STO input holding brake internal digital ground encoder emulation output service channel Kollmorgen September 2013 37 AKD Installation 6 Technical description and data 6 11 Connectors Given voltage and current data are the lowest values allowed by UL and CE AKD xzzz06 Types 120V to 240V Mains Voltage Supply Connector Type Control signals X7 X8 Terminal Connector 10 poles 1 5 mm2 16 awg Cur Volt rent age 10 N olelelelalalslrlalsvl sl l I EE Q x e e N 62 e eo B B N 91 e gt Control signals X21 X22 5 mms 16 awg 10 Control signals X23 X24 5 mms 16 awg ontrol signals X35 X36 5 mm 16 awg mm 16 ang Motor X2 3 to 6 A 5 mm 14 awg Motor X2 12 to 24 A 0 mme 8 aw o N Qi O oa alN ala ol LIL o EB e E G w O Q e e lt 0 6 Go O e lt EE Power X3 12 A omm 14 awg Power X3 24 A 0 mms 8 awg Power X4 24 A 0 mms 8 aw Feedback X10 5 mm 21 awg Service Port X11 X32 5 mm 21 awg Motion Bus X5 X6 5 mm 21 awg CAN In Out X12 13 5 mm 21 awg Encoder Emulation X9 5 mm 21 awg AKD xzzz07 Types 240V to 480V Mains Voltage Supply Type Max Cross Cur Volt Section rent age Control signals X7 X8 5 mm 16 awg 10 Control signals X21 X22 5 mm 16 awg Control signals X23 X24 5 mms 16 awg Control signal
148. ns supports you in each situation 9 3 4 Hardware requirements The Service interface X32 RJ45 of the drive is connected to the Ethernet interface of the PC by an Ethernet cable 2 p 148 Minimum requirements for the PC Processor at least Pentium II or higher Operating system Windows XP or 7 Graphics adapter Windows compatible color Drives hard disk with at least 20 MB free space DVD drive Interface one free Ethernet Interface or a Hub port or Switch port 9 3 5 Operating systems Windows XP 7 KAS IDE works with Windows XP and Windows 7 Unix Linux The functioning of the software has not been tested for Windows running within Unix or Linux Kollmorgen September 2013 169 AKD Installation 9 Setup 9 3 6 Installation under Windows XP 7 The DVD includes an installation program for the setup software Installation e Autostart function activated Insert the DVD into a free drive A window with the start screen opens There you find a link to the setup software KAS IDE Click it and follow the instructions e Autostart function deactivated Insert the DVD into a free drive Click Start task bar then Run Enter the program call x Vindex htm x correct DVD drive letter Click OK and proceed as described above Connection to the Ethernet interface of the PC e Connect the interface cable to an Ethernet interface on your PC or to a Hub Switch and to the service interface X32 of the AKD PDMM 2 p
149. ntent and presentation ANSI Z535 Product safety symbols colors information UL 840 UL Standard for Safety for Insulation Coordination Including Clearances and Creepage Distances for Electrical Equipment UL 508C UL Standard for Safety Power Conversion Equipment ANSI American National Standard Institute Inc IEC International Electrotechnical Commission ISO International Organization for Standardization UL Underwriters Laboratories Kollmorgen September 2013 13 14 AKD Installation 3 Safety 3 Safety 3 1 You should pay attention to this 15 xP 17 3 9 Prohibited Use uuu uu uuu SEER EE ea Aa DE iom dcn Ae Aa AD 17 3 4 Handling 18 Kollmorgen September 2013 AKD Installation 3 Safety 3 1 You should pay attention to this This section helps you to recognize and avoid dangers to people and objects Read the documentation Read the available documentation before installation and commissioning Improper handling of the drive can cause harm to people or damage to property The operator of systems using the AKD must require that all personnel who work with the drive read and understand the manual before using the drive Check Hardware Revision Check the Hardware Revision Number of the product see product label This number is the link between your product and the manual it must match the Hardware Rev
150. nter the program call x Vindex htm x correct DVD drive letter Click OK and proceed as described above Connection to the Ethernet interface of the PC e Connect the interface cable to an Ethernet interface on your PC or to a Hub Switch and to the service interface X11 of the AKD 2 p 148 tch l Network HUB Swi l I I I Kollmorgen September 2013 AKD Installation 9 Setup 9 2 7 Initial Drive Test AKD B AKD P AKD T 9 2 7 1 Unpacking mounting and wiring the AKD e Unpack the drive and accessories Observe the safety instructions in the documentation e Mount the drive e Wire the drive or apply the minimum wiring for drive testing as described below e Make sure you have on hand the following information about the drive components m rated mains supply voltage motor type motor data if the motor type is not listed in the motor database m feedback unit built into the motor type poles lines protocol moment of inertia of the load 9 2 7 2 Minimum wiring for drive test without load This wiring diagram is for general illustration only and does not fulfill any requirements for EMC safety or functionality of your application X11 TCP IP KOLLMORGEN III T Logic 24V ON P PUB 24V DC 24V GNE STO X1 3 X8 3 Power Brake Mains Power Feedback When connecting the AKD directly to a PC static IP addressing not 00 is recommended Kollmorgen September 2013 165
151. nting and wiring the AKD PDMM 171 9 3 7 2 Minimum wiring for drive test without load 171 AG 172 9 3 7 4 Confirm connections 172 9 3 7 5 Install and start KAS IDE 173 9 3 7 6 Set drive IP address in KAS IDE 174 9 3 7 7 Starting new project 175 9 4 Fault and Warning Messages 178 9 4 1 Fault and warning messages AKD 178 9 4 2 Additional fault messages AKD T 186 9 4 3 Additional error and alarm messages AKD M 188 9 4 3 1 Errors 188 9 21 3 2 A AS ES SE ER OD cp Ee EE OE RR sqa Red A Vh LU sQ y ok eta 190 9 5 Troubleshooting the AKD 192 10 Record of document revisions
152. nts e Reduce the length of the engine cable e Uselow capacity cables 2 p 39 6 17 2 Residual current protective device RCD NOTE In conformity with IEC 60364 4 41 Regulations for installation and IEC 60204 Electrical equipment of machinery residual current protective devices RCDs can be used provided the requisite regulations are complied with The AKD is a 3 phase system with a B6 bridge Therefore RCDs which are sensitive to all currents must be used in order to detect any DC fault current Refer to the chapter above for the rule of thumb for determining the leakage current Rated residual currents in the RCDs 10 to 30 mA Protection against indirect contact personal fire protection for stationary and mobile equipment as well as for direct contact 50 to 300 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 If you use a selective RCD the more intelligent evaluation process will prevent spurious trip ping of the RCD 6 17 3 Isolating transformers NOTE When protection against indirect contact is absolutely essential despite a higher leakage cur rent or when an alternative form of shock hazard protection is sought the AKD can also be operated v
153. o power output List of the fault mes sages gt p 178 Wiring diagram X8 control Fault Relay Output 1 Emergency Stop Circuit Fault Relay Output Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 13 8 Digital Inputs with VO option X21 X22 The drive option IC provides 12 additional digital inputs 3 p 124 These can be used to ini tiate pre programmed functions that are stored in the drive A list of these pre programmed functions is included in WorkBench If an input is programmed it must be saved to the drive Depending on the selected function the inputs are high or low active The inputs can be used with switched 24 V source type or switched GND sink type Technical characteristics e Floating sink or source type sensors possible e High 3 5 to 30 V 2to 15 mA Low 2 to 2 V 15 mA Update rate Software 250 us Digital Input Wiring Diagram Source type connection example zd to oO c Contr le DIGITAL IN21 1 1 sss a IpiGiTAL IN22 2 URE Kil Ps DIGITAL IN23 34 o Dcom2111 314 Q dll lli ZU Th DIGITAL IN25 5 Zw FS IDIGITAL IN26 7 r DCOM21 5 718 Ty DIGITAL IN29 Deom221 314 l DIGITAL IN30 5 i pt Lans IDIGITAL IN31 6 N DIGITAL IN32 pal tz DCOM22 5 718 24V contre VO GND Kollmorgen September 2013 135 AKD Inst
154. o read motor parameters from Motor either does not have motor feedback memory or feedback device the motor feedback memory is not programmed properly sothe parameters cannot be read Power board over temperature fail The power board temperature sensor indicates more than 85 C Standby power supply fault ext in process Precharge fault ext in process Regen near capacity could not pre When a F501 Bus Over Voltage occurs while the regen vent over voltage resistor is at or above 75 of its dissipation capacity Modbus data rate is too high Modbus controller data rate is too high Safe torque off Safe torque off function has been triggered OPMODE incompatible with This warning is generated when the drive is enabled and CMDSOURCE the gearing command source is selected at the same time as torque or velocity op mode DRV HANDWHEELSRC handwheel source Control Board CRC fault Communications with the Power Board Failed F493 F501 n501 F502 F503 n503 F519 F521 n521 F523 F524 n524 F525 F526 F529 F530 F531 F532 F534 F535 F536 F537 F560 F602 n603 Kollmorgen September 2013 AKD Installation 9 Setup Message Warning Cause Fieldbus runtime Runtime communication fault Fieldbus communication lost All fieldbus communication was lost Emergency timeout occurred while Motor did not stop in the timeout defined axis should disable PVT bafferoverion PVT buffer undertow Kollmorgen
155. ollmorgen September 2013 57 AKD Installation 6 Technical description and data 6 17 Shock hazard Protection 6 17 1 Leakage current NOTE Leakage current via the PE conductor results from the combination of equipment and cable leakage currents The leakage current frequency pattern includes a number of frequencies whereby the residual current circuit breakers definitively evaluate the 50 Hz current For this reason the leakage current cannot be measured using a conventional multimeter As arule of thumb the following assumption can be made for leakage current on our low capacity cables at a mains voltage of 400 V depending on the clock frequency of the output stage nx 20mA Lx1mA m at 8 kHz clock frequency at the output stage leak ask nx20mA L x 2 mA m ata 16 kHz clock frequency at the output stage where Ileak leakage current n number of drives L length of motor cable At other mains voltage ratings the leakage current varies in proportion to the voltage Example 2 x drives a 25m motor cable at a clock frequency of 8 kHz 2 x 20 mA 25m x 1 mA m 65 mA leakage current Since the leakage current to PE is more than 3 5 mA in compliance with IEC61800 5 1 the PE connection must either be doubled or a connecting cable with a cross section 5 10 mm must be used Use the PE terminal and the PE connection screws in order to fulfill this requirement The following measures can be used to minimize leakage curre
156. onents The drives contain electrostatically sensitive components which may be damaged by incor rect handling Electrostatically discharge your body before touching the drive Avoid contact with highly insulating materials artificial fabrics plastic film etc Place the drive on a con ductive surface Hot surface Drives may have hot surfaces during operation The heat sink can reach temperatures above 80 C Risk of minor burns Measure the temperature and wait until the heat sink has cooled down below 40 C before touching it Kollmorgen September 2013 AKD Installation 3 Safety A A Kollmorgen September 2013 Earthing It is vital that you ensure that the drive is safely earthed to the PE protective earth busbar in the switch cabinet Risk of electric shock Without low resistance earthing no personal pro tection can be guaranteed High voltages The equipment produces high electric voltages up to 900V Do not open or touch the equip ment during operation Keep all covers and cabinet doors closed During operation drives may have uncovered live sections according to their level of enclo sure protection Wait at least seven minutes after disconnecting the drive from the main supply power before touching potentially live sections of the equipment such as contacts or removing any connections Capacitors can have dangerous voltages present up to seven minutes after switching off the supply power Always measur
157. orless to the PDMM 12 Flash memory is low Flash memory is almost full Clean up the flash memory by removing log on free space files application programs recipes or other data files Reset to factory defaults A21 Recoverable process KAS non runtime code failed If problem is recurrent power off on Check or thread failed to during normal operation and was release notes for firmware updates respond during oper 8 automatically restarted ation Kollmorgen September 2013 AKD Installation 9 Setup Alarm Description Cause Remedy A23 CPU is overloaded Reduce the sample rate simplify the appli cation or reduce the application cycles EtherCAT missed a EtherCAT master was unable to Reduce the controller CPU load send frame during oper send a frame for one or more ation mode cycles A38 EtherCAT missed a EtherCAT master did not Check the EtherCAT network wiring and receive frame during receive a frame for one or more devices operation mode cycles a cyclic update during a cycle or the updates are cation or reduce the application cycles A40 Local digital IO missed Local digital IO was not updated Reduce the sample rate simplify the appli no longer synchronous Kollmorgen September 2013 191 AKD Installation 9 Setup 9 5 Troubleshooting the AKD Drive problems occur for a variety of reasons depending on the conditions in your instal lation The causes of faults in multi axis syste
158. orm a save to the drive Positive switch limit exceeded Positive software position limit is exceeded Negative switch limit exceeded Negative software position limit is exceeded Drive did not finish homing sequence Invalid motion task Invalid motion task Synchronization lost The fieldbus lost synchronization Too much movement Too much movement was created during a Bode plot Motor is unstable and is not following drive instructions MPOLES FPOLES not an integer Ratio of motor poles to feedback poles must be a whole number Heartbeat lost Heartbeat lost Secondary feedback supply over cur 5V power supply was shorted out on X9 rent Secondary feedback A B line break Problem in secondary feedback detected Secondary feedback Z line break Problem in secondary feedback detected Fault number changed to F138 See Fiere id N Secondary feedback illegal state Feedback signals were detected in an illegal com e Reto nen anon Homing is needed Attempt to issue motion task before the axis is homed Axis must be homed before motion task can start Firmware and FPGA versions are not The FPGA version does not match the firmware FPGA compatible version constants Homing and feedback mismatch The configured homing mode is not supported by the motor feedback type used Instability during autotune Drive current IL CMD or velocity feedback VL FB exceeds allowable limit BODE IFLIMIT or BODE VFLI MIT Occurs in BODE MODE 5 when
159. perations the fault number is displayed in the one digit dis play with E followed by two digits Error codes 9 p 188 Supported SD card types SD cards are preformatted by the manufacturer The following table outlines the SD card types and AKD PDMM support SD Type File System Capacity Supported SD SDSC FAT16 1MB to 2GB SDHC FAT32 AGB to 32GB YES SDXC exFAT Microsoft 32GB to 2TB NO Features If an SD card is plugged into the SD slot and no application programm is running the push button menu started with B3 3 p 144 shows the possible data transfer functions e backup to copy firmware configurations user application and user data files from the AKD PDMM to SD card e restore to load firmware configuration user application and user data files from SD card to AKD PDMM Kollmorgen September 2013 147 AKD Installation 8 Electrical Installation 8 18 Service Interface X11 X32 Operating position control and motion block parameters can be set up by using the setup software on an ordinary commercial PC Hardware requirements 3 p 163 AKD PDMM X32 Connect the service interface X11 or X32 of the drive to an Ethernet interface on the PC directly or via a network hub switch while the supply to the equipment is switched off Use standard Cat 5 Ethernet cables for connection in some cases crossover cables will also work Confirm that the link LED on the AKD the green LED on the
160. plays warning n602 Kollmorgen September 2013 55 AKD Installation 6 Technical description and data 6 16 7 3 Control circuit example The example shows a control circuit with two separated work areas connected to one emer gency stop circuit mains supply circuit gt p 57 For each work area safe stop of the drives is switched by a protective screen The safety switchgears used in the example are manufactured by Pilz and fulfill at least the PLd according to ISO 13849 1 or SIL CL2 accord ing to IEC 62061 Safety switchgears from other manufacturers may also be used NOTE Review the wiring instructions 3 p 54 24VDC Fault Fault Fault Fault 1 2 3 4 D 0 O 0 0 O 0O O Ul dod di i HR K1 K A 5 ng Emergency stop circuit E acc to ISO 13849 1 PLe o S1 Reset 14 Safe stop acc to ISO 13849 1 PLd for 2 drives Protective door switch 1 ET S11S12 ALI wu i I T PNOZ S3 A2 S12 S34 14 24 STO STO Safe stop acc to ISO 13849 1 PLd for 2 drives Protective door switch 2 A1 S11S12 JL Lac f PNOZ S3 A2 S12 S34 14 24 Kollmorgen September 2013 AKD Installation 6 Technical description and data 6 16 7 4 Mains supply circuit example Corresponding control circuit p 56 mains 3 3 3 TT PE amplifier 1 amplifier 2 amplifier 3 amplifier 4 E gt S3 Protective door switch 1 ss 4 Protective door switch 2 S4 S6 K
161. possible to set up master slave systems use an external encoder as a command encoder secondary feedback device dual loop control or connect the amplifier to a third party step controller Depending on the signal voltage level connector X9 5 V TTL or X7 24 V must be used The WorkBench setup software is used for configuration See the Feedback 2 screen in WorkBench for setup FB2 SOURCE FB2 MODE FB2 ENCRES and others are used for setting up an application with these interfaces Connector X9 can be configured as an input or as an output for 5 V TTL level signals Input modes X9_ Input modes X9_ X9 Outputmode Outputmode Pulse amp Direction 5V Emulated Encoder Output OR MEE quad B 5 V Up Down 5V Up Down 5V see A guad zi 5V SERM N 2 2 5V Input modes X7 Output mode DIGITAL IN 1 2 Pulse amp Direction 24 V Incremental Encoder A quad B 24 V 8 12 1 Technical characteristics and pinout 8 12 1 1 Connector X7 Input Technical characteristics e Floating reference common line is DCOM7 e Maximum signal input frequency 500 kHz e Sink or Source type connection possible e High 15 to 30 V 2 to 15 mA Low 3to 5 V 15 mA e Update rate Hardware 2 us Pin Pulse Direction Up Down Incremental Encoder 9 Puse Ww Channel A Down CCW Channel B Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 12 1 2 Connector X9 Input NOTICE Technical c
162. ptember 2013 AKD Installation 8 Electrical Installation 8 20 Motion Bus Interface X5 X6 X11 The motion bus interface has RJ 45 connectors and can be used for communicating with var ious fieldbus devices depending on the used drive version AKD X5 X6 AKD PDMM X6 NOTICE Do not connect the Ethernet line for the PC or PAC with the set up software to the motion bus interface X5 X6 The set up Ethemet cable must be connected to X11 or X32 8 20 1 Pinout X5 X6 X11 Pin Signal X5 Signal X6 Signal X11 6 Receive Transmit Receive 8 20 2 Bus Protocols X5 X6 X11 Protocol Type Connectivity Option Connector EtherCAT EC or CC X5 X6 SynaNet X5 X6 PROFINETRT Motionbus PN XM EthemetIP Kollmorgen September 2013 157 158 AKD Installation 8 Electrical Installation 8 20 3 EtherCAT AKD drives connection variants EC and CC can be connected as slaves to the EtherCAT network CoE via RJ 45 connectors X5 in port and X6 out port The communication status is indicated by the built in connector LEDs AKD PDMM drives AKD M acts as an EtherCAT CoE master and therefore provides the X6 connector out for a string topology with 250 ms cycle time and maximum 8 slaves Drive variant Connector LED Name Function AKD X5 LED1 IN port Link ON active OFF not active LED2 RUN ON running OFF not running AKD and AKD PDMM X6 LED3 OUT port Link ON active OFF not active
163. quency Limit Incremental Encoder amp Hall Switches Comcoder 2 5 MHz Incremental Encoder Wake amp Shake 2 5 MHz The pin assignment shown on the encoder side relates to Kollmorgen motors 12 N 3 1 1nF Hmm Bi d 14 1 ComCoder Up max 350mA OV Up voltage supply 5 1 V 5 120 Ohm 0 5 W required by some encoders 114 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 11 11 Tamagawa Smart Abs Encoder The diagram below shows the wiring of Tamagawa Smart Abs encoders Tamagawa Seiki Co Ltd S48 17 33bit LPS 5V or similar as a primary feedback system The thermal control in the motor is connected via the encoder cable and evaluated in the drive If no thermal con trol is in the motor the cable must short pins 8 and 9 The Sense signal is optional and can be omitted if the encoder cable is short and no significant voltage drop is on the cable The voltage drop depends on the cable length and gage and the encoder current consumption If cable lengths of more than 25 m are planned please consult customer support FBTYPE Frequency Limit S48 17 33bit LPS 5V 5 1 V 5 2 5 MHz Tamagawa Smart Abs 24nF 1360hm Up OV 5 1 V 5 UP gt max 30mA voltage Supply Ne thermal control min 5VDC 5mA Kollmorgen September 2013 115 AKD Installation 8 Electrical Installation 8 12 Electronic gearing Master slave operation It is
164. quip ment e g contacts or undoing any connections Capacitors can still have dangerous voltages present up to 7 minutes after switching off the supply power To be sure measure the voltage in the DC bus link and wait until it has fallen below 40 V Control and power connections can still be live even if the motor is not rotating Wrong mains voltage unsuitable motor or wrong wiring will damage the drive Check the combination of drive and motor Compare the rated voltage and current of the units Imple ment the wiring according to the connection diagram gt p 77 Make sure that the maximum permissible rated voltage at the terminals L1 L2 L3 or DC DC is not exceeded by more than 1096 even in the most unfavorable circumstances see IEC 60204 1 Excessively high external fusing will endanger cables and devices The fusing of the AC supply input and 24 V supply must be installed by the user best values gt p 37 Hints for use of Residual current circuit breakers RCD gt p 58 The drive status must be monitored by the PLC to acknowledge critical situations Wire the FAULT contact in series into the emergency stop circuit of the installation The emergency stop 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 AKD Installation 8 Electrical Installation 8 2 Guide to electrical in
165. r cable less than 150 pF m e Resolver Encoder cable less than 120 pF m Motor cables longer than 25 m may require the use of a motor choke 6 12 2 Cable cross sections and requirements The table below describes the recommended interface cross sections and cable require ments for single axis systems in accordance with IEC 60204 For multi axis systems observe the specific operating conditions for your system Interface Cross Section Cable Requirements AC connection up to AKD x006 1 5 mm2 16 awg 1600 V minimum 75 C AKD x012 2 5 mm 14 awg AKD x024 4 mm 12 awg DC bus link up to AKD x006 1 5 mm 16 awg 1000 V minimum 75 C regen resistor AKD x012 to 24 2 5 mm 14 awg shielded for lengths 50 20 m Motor cables without up to AKD x006 1 5 mm 16 awg 1600 V minimum 75 C choke max 25 m AKD x012 2 5 mm 14 awg shielded AKD x024 4 mm 12 awg capacitance 150 pF m Motor cables with choke upto AKD x006 1 5 mm 16 awg 600 V minimum 75 C 25 50m AKD x012 2 5 mm 14 awg shielded AKD x024 4 mm 12 capacitance 150 pF m capacitance 120 pF m SFD max 50m 1x2x0 25 mm 24 awg twisted pairs shielded GomGoder max 25m x2x0 25 mm 24 ang Holding brake motor min 0 75 mm 19 awg 600 V minimum 75 C shielded 24V GND max 30m max 2 5 mm 14 awg Kollmorgen September 2013 39 AKD Installation 6 Technical description and data 6 13 Dynamic Braking Dynamic braking is a
166. ram contains too many cams Kollmorgen September 2013 187 AKD Installation 9 Setup 9 4 3 Additional error and alarm messages AKD M Faults Errors and Warnings Alerts are displayed in the 7 segment displays of the drive AKD two digits AKD M two one digits KOLLMORGEN 9 4 3 1 Errors NOTE Error Description Critical tem perature The two digits LED display ir indicates The one digit The one digit LED indicates the the AKD messages PDMM messages of the AKD AKD fault messages are coded with IPDMM F warnings are coded with n and Error messages are coded with E are described in Fault and Warning alarms are coded with A and are Messages 23 p 178 described in the chapter below To simplify handling the error and alarm handling process is consistent so you can always apply the same recovery steps When an error or alarm occurs it is displayed to the one digit display you can identify the error in the table below and follow the recommendations to fix the problem clear the display and resume machine operation Active errors and alarms can be cleared with the controller command ClearCtrlErrors Note non clearable errors will remain When an Error or Alarm occurs always check the controller log messages The log mes sages will provide more details about the failure and the history of events leading up to the fail ure From the log messages you can determine the specifics about the cause of t
167. rgen September 2013 5 AKD Installation Table of Contents 8 10 Motor Connection 100 8 10 1 Motor power X2 101 8 10 1 1 Cable length 25 m 101 8 10 1 2 Cable length 225 m 101 8 10 2 Motor holding brake X2 _ 102 8 11 Feedback Connection 103 8 11 1 Feedback connector X10 104 B 12 ResoMel ER time eese mcr Se eee ok pA SG a a atone MEL UE 105 BASS SED AA AA 106 8 11 4 Hiperface DSL _ 107 8 11 5 Encoder with BISS LL GE e E nn 108 8 11 5 1 BISS Mode A analog 108 8 11 5 2 BISS Mode C digital _ 109 8 11 6 Sine Encoder with EnDat 2 1 110 8 11 7 Encoder with EnDat 2 2 _
168. rget velocity calculated internally due to an C mam N rato anis beg testo eet m n154 Following motion failed check Activation of the following motion task failed due to incom motion parameters patible parameters or motion task does not exist n156 Target position crossed due to stop 1 The motion task crosses the target position after trig command gering a DRV STOP command This situation can happen when processing a change on the fly motion task and triggering a DRV STOP command close to the target position of the currently running motion task n157 Homing index pulse not found A homing mode with index detection is activated and index pulse is not detected while moving across the range determined by the hardware limit switches n158 Homing reference switch not found A homing mode with reference switch detection is acti vated and the reference switch is not detected while mov ing across the range determined by the hardware limit switches n159 Failed to set motion task parameters Invalid motion task parameters assignment This warning can appear upon an MT SET command n160 Motion task activation failed Activation of the motion task failed due to incompatible parameters or motion task does not exist This warning can appear upon an MT MOVE command n161 Homing procedure failed Homing error observed during the operation of homing pro cedure n163 MT NUM exceeds limit Appears with n160 when you try to trigger a motion task
169. riants _ 165 M Variants 171 Inputs Analog 128 Basic Data 33 Kollmorgen September 2013 195 196 AKD Installation 11 Index Digital all Variants 130 Digital M Variant 139 Digital VO option 135 Enable eiaeaeno darai ee ee ee 132 Programmable 132 135 STORE ls s e EE EE 52 Installation Electrical 69 Mechanical 60 Software KAS IDE 170 Software WorkBench 164 IP Address B P T Variants 149 M Variant 151 K KAS IDE 168 KOM 96 L Leakage current 58 M Mains supply interface 92 Maintenance 19 Master Slave 123 Modbus 152 Motor holding brake 102 Motor interface 100 Motor Power Connection 101 Mounting position 32 N Nameplate
170. rn to init state failed due to a network com state Re start the application munication error 50 Backup to SD card An unrecoverable error occurred Repeat the backup to SD card operation If it fails failed during the backup operation again replace the SD card Restore from SD An unrecoverable error occurred Do NOT reboot the PDMM Repeat the restore oper card failed during the restore operation ation If it fails again reset the PDMM to factory defaults If problem persists return hardware for repair E52 SD Backup files The restore operation failed due Perform a backup operation before the restore or are missing or cor to missing incomplete or cor fuse an SD card with valid backup files rupt files on the SD card E53 AKD restore oper The restore operation failed due Check EtherCAT network topology by using the ation failed to improper or incomplete AKD Scan network button in the web server s Restore tab Correct the physical topology and re execute an AKD restore oa 9 4 3 2 Alarms larm Description Cause Remedy A01 High temperature CPU temperature near the safe Check airflow and operating environment are eee EN within hardware specifications 02 Low on memory Memory leak or corruption Power off on If problem is recurrent check release notes for firmware updates or retum hardware for repair A04 ILow input voltage 24 volt input power is 19 volts Check power supply voltage and connection
171. rtup 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 An extensive online help with integrated description of all variables and functions supports you in each situation 9 2 4 Hardware requirements The Service interface X11 RJ45 of the drive is connected to the Ethernet interface of the PC by an Ethernet cable 2 p 148 Minimum requirements for the PC Processor at least Pentium II or comparable Operating system Windows 2000 or XP or VISTA or 7 Graphics adapter Windows compatible color Drives hard disk with at least 20 MB free space DVD drive Interface one free Ethernet Interface or a Hub port or Switch port 9 2 5 Operating systems Windows 2000 XP VISTA 7 WorkBench works with Windows 2000 Windows XP Windows VISTA and Windows 7 Unix Linux The functioning of the software has not been tested for Windows running with Unix or Linux Kollmorgen September 2013 163 AKD Installation 9 Setup 9 2 6 Installation under Windows 2000 XP VISTA 7 The DVD includes an installation program for the setup software Installation e Autostart function activated Insert the DVD into a free drive A window with the start screen opens There you find a link to the setup software WorkBench Click it and follow the instructions e Autostart function deactivated Insert the DVD into a free drive Click Start task bar then Run E
172. s X35 X36 Terminal Connector 8 poles 5 mms 16 awg Q eo OT OIO OIO LIL Power X3 3 to 6A Terminal Connector 7 poles 5 mm 14 awg G w O gt lo 2l 6 e lt lt A e lt ce e e ce e PJO c A lt o B Q D gt a 1 3 A 250v 1 HOA 10A eo 5mm 16 ang Motor X2 0 mm 8 awg Power X3 X4 0 mm 8 awg Feedback X10 5 mm 21 awg Service Port X11 X32 5 mm 21 awg Motion Bus X5 X6 5 mm 21 awg CAN In Out X12 13 5 mm 21 awg Encoder Emulation X9 SubD 9pin male 0 5 mm 21 awg wo eo ala elle ojo lt lt 1 5 mm 16 ang 8A 160V w gt o e lt A e e lt o e lt Connector Aux voltage X1 li A o e lt e lt 1 single line connection 2single line connection with recommended conductor cross section p 39 Stated voltage with pollution level 2 with I O option card IC only with AKD M variant only Kollmorgen September 2013 AKD Installation 6 Technical description and data 6 12 Cable and Wire Requirements 6 12 1 General For information on the chemical mechanical and electrical characteristics of the cables please refer to the accessories manual or contact customer support NOTE To reach the maximum permitted cable length you must use cable material with the fol lowing capacitance phase to shield requirements e Moto
173. sembled and wired in the switching cabinet The load that leads to the acti vation of the brake chopper during braking must be connected e KCM E assembled and connected to the KCM S with connection cable X1 and PE line e Discharge aids plug in bridge are removed Proceed as instructed below 1 Switch on the line voltage 2 Enable the AKD and operate the motion profile that causes the brake chopper to respond 3 The KCM S determines the chopper threshold and begins to charge LED top view flashes The energy stored in the capacitor module during generative braking is available the next time acceleration happens Kollmorgen September 2013 97 AKD Installation 8 Electrical Installation 8 9 2 3 Example installation with KCM P and KCM E NOTICE Maximum cable length between AKD and KCM 500mm The DC and DC lines should always be twisted maximum cross section is 6mm Ensure that the polarity is correct swapping round DC DC will damage the KCM modules The KCM P starts the charging process at approx 470 V DC If the power supply fails the module provides the DC bus link with the stored energy this only applies to the power supply voltage battery back the 24 V supply separately Setup KCM P and KCM E Prerequisite for the following instructions e Properly disconnected grounded system e KCM P assembled and wired in the switching cabinet Set AKDundervoltage limit VBUS UVTHRESH to a value significantly below 470V
174. setting the IP address independent of the Rotary switches is available More information is available in the AKD User Guide or in the Settings Screen Fieldbus gt TCP IP screen in WorkBench Recovering Communications with a Drive on an Un Reachable IP Address If IP MODE has been set to 1 using software defined static IP the drive will boot up on an IP Address that may be unreachable with the host computer s settings If the IP address prevents communication the IP settings can be reset to default by the fol lowing procedure e Set both rotary switches to 0 e Hold down button B1 top side of drive for 5 seconds The display will flash 0 0 0 0 and then attempt to discover an address by DHCP Without removing logic power from the drive use WorkBench to connect to the drive recon figure the IP address settings as desired and store the values to non volatile memory 150 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 18 5 Setting the IP Address AKD M You can use the rotary switch RS1 to set the IP address of the AKD PDMM The configured IP address depending on the current rotary switch RS1 position will be displayed on the 7 segment at Ethernet cable connection time and at power on if an Ethernet cable is con nected If no Ethernet cable is connected no IP address will be indicated in the display i ec x Rotary Switch Setting Drive IP Address DHCP AutolP address The IP address of
175. stallation 8 3 Wiring The installation procedure is described as an example A different procedure may be appro priate or necessary depending on the application of the equipment Kollmorgen can provide training courses for this procedure upon reguest There is a danger of electrical arcing which can cause serious personnel injury Only install and wire the equipment when it is not live that is when neither the electrical supply nor the 24 V auxiliary voltage nor the supply voltages of any other connected eguipment is switched on Make sure that the cabinet is safely disconnected for instance with a lock out and warning signs The individual voltages are switched on for the first time during setup Only professional staff who are qualified in electrical engineering are allowed to install the drive Wires with color green with one or more yellow stripes must not be used other than for protective earth PE wiring The ground symbol which you will find in all the wiring diagrams indicates that you must take care to provide an electrically conductive connection with the largest feasible surface area between the unit indicated and the mounting plate in the control cabinet This connection is forthe effective grounding of HF interference and must not be confused with the PE sym bol PE protective earth safety measure as per IEC 60204 Use the following connection diagrams Overview all connections AKD B P T variant gt
176. stallation Install the drive electrical system as follows Select cables in accordance with IEC 60204 gt p 39 Install shielding and ground the drive For EMC compliant shielding and grounding see gt p 85 p 77 ff Ground the mounting plate motor housing and CNC GND of the control system Wire the drive and connectors Observe the Recommendations for EMI noise reduction gt p 85 1 2 Wire the FAULT contact in series into the emergency stop circuit of the system Connect the digital control inputs and outputs Connect up analog ground also if fieldbuses are used Connect the analog input source if required Connect the feedback device Connect the hardware option Connect the motor cable Connect shielding at both ends Use a motor choke if cable 25m Connect motor holding brake connect shielding at both ends If required connect the external regen resistor with fusing Connect the auxiliary supply maximum permissible voltage values see electrical data gt p 34 or gt p 35 Connect the mains filter with AKD xzzz06 shielded lines between filter and drive Connect the main electrical supply Check maximum permitted voltage value 3 p 34 or gt p 35 Check proper use of residual current circuit breakers RCD gt p 58 Connect the PC 2 p 148 for setting up the drive Check the wiring against the wiring diagrams Kollmorgen September 2013 71 AKD Installation 8 Electrical In
177. systems are used for the control cabinet position the cooling system so that condensation water cannot drip onto the drive or peripheral devices 4 Mount the drive Assemble the drive and power supply near each other on the conductive grounded mount ing plate in the cabinet 5 Ground the drive For EMC compliant shielding and grounding p 85 Ground the mounting plate motor housing and CNC GND of the control system AKD Installation 7 Mechanical Installation 7 3 Mechanical Drawings Standard Width 7 3 1 Control cabinet layout AKD xzzz06 standard width Material M4 hexagon socket screws to ISO 4762 3 mm T handle Allen key AKDx00306 AKDx00606 AKDx01206 AKDx02406 8 6 82 AN 4 FS 0410 p 0410 F5 7 JE Keep hatched space free Dimensions in mm AN f Air flow Kollmorgen September 2013 61 AKD Installation 7 Mechanical Installation 7 3 2 Control cabinet layout AKD xzzz07 standard width Material M4 hexagon socket screws to ISO 4762 3 mm T handle Allen key AKDx00307 AKDx01207 AKDx02407 AKDx02407 T2 Keep hatched space free Dimensions in mm Pair flow Kollmorgen September 2013 AKD Installation 7 Mechanical Installation 7 3 3 Dimensions AKD xzzz06 standard width Standard Width 110 230V AKD24A 228 265 248 280 100 96 217 AKD Standard Width AKD Standard Width AKD Standard Width 110 230V 3A 6A 110 230V 12A 110 230V 24A Kollmorgen September
178. t 3x120 V at 3x240 V Peak output power for 1 s at 1x120 V at 1x240 V at 3x120 V at 3x240 V Electrical Data Units Rated supply voltage Rated supply input frequency Rated input power for S1 operation BE lt gt 1 o N eo 170 to 340 Co 18 gt 2 HB N A 24 48 N A N A N A NE 312 5 1250 625 312 5 625 5000 0 987 1875 0 987 1875 gt p 40 lt gt N A N A N A 10 l D O gt EI O o Q o fo Q D 2 Q E XIX lt gt gt Motor inductance min at 120 V at 240 V 13 Motor inductance max mH 250 125 100 Noise emission low speed high speed fan Te 33 39 37 43 41 56 Aux voltage supply 24 V 1096 check voltage drop current B P T types without with motor brake 0 5 1 7 06 18 07 19 10 25 current M type without with motor brake 08 20 09 21 10 22 13 28 o AQ n Go 3 T NI 8 O Kollmorgen September 2013 AKD Installation 6 Technical description and data 6 6 Electrical Data AKD xzzz07 AKD AKD AKD AKD x00307 x00607 XO1207 x02407 Rated supply voltage 3 x 240 V to 480 V 21096 Rated supply input frequency Rated input power for S1 operation Rated input current Electrical data Rated DC bus link voltage Continuous output current 396 amv m 3 2 2 aov ms 3 2 aav lms 3 6 7
179. t force the mod ules to discharge You must follow the procedure described below when forcing the mod ules to discharge For your own safety proceed as follows when forcing the modules to discharge 1 Switch off disconnect the line voltage 2 Discharge the modules KCM S P Insert the plug in bridge in the screw terminals black 1 to gray 2 on the base of the modules wait at least 70 s leave the plug in bridge in place as a means of secur ing for transport Remove the plug in bridge again before recommissioning KCM E Bridge the X2 X3 connector with a connecting cable on the top of the module wait at least 70 s leave the connecting cable in place as a means of securing for trans port Detach the connecting cable and reconnect the KCM E properly before recom missioning 3 Perform the scheduled task e g cleaning maintenance or uninstallation Kollmorgen September 2013 99 AKD Installation 8 Electrical Installation 8 10 Motor Connection Together with the motor supply cable and motor winding the power output of the drive forms an oscillating circuit Characteristics such as cable capacity cable length motor inductance and frequency 3 p 34 or 3 p 35 determine the maximum voltage in the system NOTICE The dynamic voltage rise can lead to a reduction in the motor operating life and on unsuitable motors to flashovers in the motor winding e Only install motors with insulation class F acc to IEC6
180. ted current at 120 V and 240 V e AKD xzzz07 3 phase industrial supply networks not more than 200 kA symmetrical rated current at 240 V 400 V and 480 V Connection to other voltage types of supply networks is possible with an additional isolating transformer p 89 Periodic overvoltages between phases L1 L2 L3 and the housing of the drive must not exceed 1000 V peak In accordance with IEC 61800 voltage spikes 50 us between phases must not exceed 1000 V Voltage spikes 50 us between a phase and the housing must not exceed 2000 V EMC filter measures for AKD xzzz06 must be implemented by the user Motor voltage rating The AKD family of drives is exclusively intended for driving suitable synchronous ser vomotors with closed loop control of torque speed and or position The rated voltage of the motors must be at least as high as the DC bus link voltage divided by V2 produced by the drive U EU C V2 gt nMotor Safe torque off Review the section Use as Directed in the STO chapter p 52 before using this safety function according to ISO 13849 category 3 3 3 Prohibited Use Other use than that described in chapter Use as directed is not intended and can lead to per sonnel injuries and equipment damage The drive may not be used with a machine that does not comply with appropriate national directives or standards The use of the drive in the fol lowing environments is also prohibited e pot
181. the AKD Overview screen appears Your drive appears in the navigation area on the left of the screen Right click on your drive name and select Setup Wizard from the drop down menu The Setup Wizard guides you through the initial drive configuration which includes a simple test motion After completing the Setup Wizard your drive should be enabled If the drive is not enabled check the following 1 The hardware enable HW must be in the enabled state pin 4 on X8 connector 2 The software enable SW must be in the enabled state Activate using the Ena ble Disable button on the upper toolbar on WorkBench or in the Overview screen 3 Nofaults may be present click the Clear Fault button on the upper tool bar to clear any faults The status of HW enable SW enable and Faults is displayed in the lower toolbar of the WorkBench software The drive is connected if the lower right corner shows Online You can now use the Settings View in WorkBench to complete advanced configuration of your drive Kollmorgen September 2013 167 AKD Installation 9 Setup 9 3 Setup AKD M 9 3 1 Setup software KAS IDE This chapter describes the installation of the setup software KAS IDE for the AKD M AKD PDMM drives KAS IDE is not used for setting up the AKD B AKD P and AKD T drives for these drive variants the WorkBench software must be used 9 p 162 The KAS IDE integrated development environment contains tools for configuring the Ether C
182. the alternative term A quad B output with a zero pulse The resolution before multiplication can be set by the DRV EMUERES parameter Use the DRV EMUEZOFFSET parameter to adjust save the zero pulse position within one mechan ical tum The drivers operate from an internal supply voltage Index tv max 30ns Connection Diagram control Encoder input Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 12 6 Master Slave control Several AKD can be connected as slave drives to an AKD master The slave drives use the master s encoder output signals as command input and follow these commands velocity and direction Master Slave Connection Diagram example for 5V signal level X9 Drive Mass a x Slave Drive E ME d GND Shield Shield Kollmorgen September 2013 123 AKD Installation 8 Electrical Installation 8 13 VO Connection 8 13 1 VO connectors X7 and X8 all AKD variants Standard digital and analog I O signals are connected to X7 and X8 AKD B P T Pin Signal Abbreviation Function Wiring Diagram 1 Common line for gt p 130 X7 pins 2 3 4 9 10 DIGITAL IN 7 Programmable Programmable Programmable Programmable Programmable Programmable DIGITAL OUT1 Programmable Programmable fast gt p 133 gt p 130 0 Digital Input 1 DIGITAL IN 1 Programmable fast p 134 Fault Relay Output Fault Relay Output Fault Relay Output Fault Relay O
183. the fuses that supply the sys tem Wait at least seven minutes after disconnecting the drive from the main supply power before touching potentially live sections of the equipment e g contacts or undoing any connections Always measure the voltage in the DC bus link and wait until the voltage is below 40 V before touch ing or handling the drive 2 Remove the connectors Disconnect the potential earth connection last 3 Check temperature During operation the heat sink of the drive may reach temperatures above 80 C 176 F Before touching the device check the temperature and wait until it has cooled below 40 C 104 F 4 Uninstall Remove the drive and power supply from the conductive grounded mounting plate in the cabinet 3 4 6 Repair and Disposal Only the manufacturer can repair the drive Opening the device voids the warranty Uninstall the drive as described in Uninstalling 2 p 19 then send the drive in the original pack aging to the manufacturer see table below In accordance with the WEEE 2002 96 EC Guidelines and similar the manufacturer accepts returns of old devices and accessories for professional disposal Transport costs are the responsibility of the sender Send the devices to the manufacturer addresses shown in the table below Europe Kollmorgen KOLLMORGEN Europe GmbH 201 West Rock Road Pempelfurtstr 1 Radford VA 24141 D 40880 Ratingen Kollmorgen September 2013
184. tware Kollmorgen Automation Suite Integrated Devel opment Environment used for AKD PDMM drives ight emitting diode ow significant byte or bit ain significant byte or bit Q Disk M O Sislalzlmizje o 2 6 s e bala E ol gt lol IE m 2 Ko o BA o E e E Q fe 3 c 2 O DIR Ola O m Protective earth Programmable logic control Pulse width modulation Random access memory volatile memory Regen resistor also called a brake resistor U DT lt External regen resistor nternal regen resistor A A AES aa m ncremental encoder A quad B Continuous operation lt Q QO A O O 0p I ZI Z s TIN T AF HAR D 3 2 olo olo 9 lt Sic d DID PIG c olo 3 3 g e lt o tu Volts alternating current Volts direct current lt U O Kollmorgen September 2013 AKD Installation 2 General 2 6 Standards Used andard Content St EG 67000 IEC 61491 JElectrical equipment of industrial machines Serial data link for real time communications between controls and drives IEC 61508 Functional safety of electrical electronic programmable electronic safety related systems IEC 61800 Adjustable speed electrical power drive systems IEC 62061 Functional safety of electrical electronic programmable electronic safety related systems IEC 82079 Preparation of instructions for use Structuring co
185. umentation has been created Responsible person for documentation Lars Lindner Kollmorgen Europe GmbH Ratingen Germany Phone 49 0 2102 9394 0 Kollmorgen September 2013 AKD Installation 4 Approvals 4 3 Safe Torque Off STO An additional digital input STO releases the power output stage of the drive as long as a 24 V signal is applied to this input If the STO input goes open circuit then power will no longer be supplied to the motor and the drive will lose all torque and coast to a stop The STO safety implementation on the AKD is certified by the IFA Institut f r Arbeitsschutz der Deutschen Gesetzlichen Unfallversicherung The safety circuit implementation for real izing the safety function Safe Torque Off in the drive is suited for SIL2 according to IEC 61508 2 and PLd Cat 3 according to ISO 13849 1 The subsystems AKD drives are totally described for safety technics with the characteristic data Device Operation ISO 13849 1 IEC 61508 2 PFH Tu Years SFF Mode 1 h 76 STO STOsingle PLd CAT3 SIL 2 20 100 channel Kollmorgen September 2013 25 26 AKD Installation 5 Package 5 Package 5 1 Package Supplied 5 2 Nameplate 5 3 Part Number Scheme
186. unication problem with feedback Hall error Hall sensor returns invalid Hall state 111 000 either all Hall sensors are on or off Can be caused by a broken connection in any one of the Hall signals BiSS watchdog fault Bad communication with the feedback device BiSS multicycle fault BiSS sensor fault F408 to F416 SFD feedback fault Bad communication with the SFD device mental encoder signal amplitude device connected to the X9 connector n438 maximum allowed position following error numeric Motor did not follow command values Motor exceeded maximum allowed position following error user Tamagawa encoder battery The external battery voltage is too low F451 fault is gen erated if the AKD is not powered The n451 warning is generated if the AKD is powered This fault can be inhib ited with FAULT451 ACTION this feedback SAVEEN is active Tamagawa encoder over speed When the drive was powered off and the feedback was powered by the external battery this fault is generated if the shaft is rotated above a maximum speed that can be maintained when battery powered Tamagawa encoder counting Error When the feedback is powered on the position within on revolution was incorrect because of a problem with the feedback device flow heating detection temperature during main power on Any bit jump occurs in the multi turn signal during main power on 182 Kollmorgen September 2013 AKD Insta
187. utput Fault Relay Output Fault Relay Output gt p 130 3 Digital Common X8 DCOM8 Common line for X8 pins 4 5 6 Digital Input 8 DIGITAL IN 8 Output stage enable not programmable DIGITAL IN 6 Programmable Programmable Analog GND Analog Output Analog Out JA Velocity set point 0 Digital common lines for X7 and X8 are not common to each other The DCOMXx line should be connected to the OV of the I O supply when using sensors of type Source with digital inputs The DCOMx line should be connected to the 24V of the I O supply when using sensors of type Sink with digital inputs gt p 129 Oo Ed c v lt o o 9 lt lt o EF fed a D x8 1 Lah li xe 5 xe o L 26 7 X8 8 x8 9 gt p 128 XT XT X7 X7 X7 X7 X7 X7 X7 X7 X8 X8 X8 X8 X8 X8 X8 X8 X8 X8 124 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 13 2 VO connectors X21 X22 X23 and X24 AKD T with VO option card only The I O option card offers four additional connectors X21 X22 X23 X24 for VO signals AKD xyyyzz IC Signal Abbreviation Function Wiring Diagram Digital Input 21 DIGITAL IN 21 Programmable gt p 135 Digital Input 22 DIGITAL IN 22 Programmable Digital Input 23 DIGITAL IN 23 Programmable Digital Common X21 1 3 DCOM21 1 3 Common line for X21 pins 1 2 3 Digital Input 24 DIGITAL IN 24 Programmable gt X Digital Input 25 DIGITAL
188. vate IP Address of the form 169 254 x x If your PC or PAC is directly connected to the drive and set to obtain an IP address auto matically in the TCP IP settings a connection will be established with both devices using compatible automatic generated addresses It can take up to 60 seconds for a PC to con figure an Automatic Private IP Address 169 254 x x Changing the IP address If the switch is altered while 24 V Logic power is supplied to the drive you must switch off and then switch on again the 24 V supply voltage This action will reset the address Kollmorgen September 2013 151 AKD Installation 8 Electrical Installation 8 18 6 Modbus TCP The drive can be connected to Modbus HMI via RJ 45 connector X11 AKD or X32 AKD PDMM for Kollmorgen touchpanels only The protocol allows reading and writing of drive parameters The communication status is indicated by the built in LEDs Connector LED Name Function X11 X32 LED1 IN port Link ON active OFF not active LED2 ON running OFF not running Connect the service interface X11 X32 of the drive to an Ethernet interface on the Modbus HMI directly or via a network switch while the supply to the equipment is switched off Use standard Cat 5 Ethernet cables for connection The following are required to connect an HMI to the drive e The HMI must support Modbus TCP e lt must have Ethernet hardware and a driver for Modbus TCP though the driv
189. ve behavior depends on the type of fault The LED display on the front panel of the drive shows the number of the fault that occurred If a warning is issued prior to the fault the warning is shown on the LED and has the same number as the associated fault Wamings do not trip the power stage of the drive or fault relay output AKD fault codes or warning codes are displayed con stantly if present Fault messages are coded with F wamings are coded with n With built in I O option card SD card operation errors are displayed with E followed by 4 digits The left side of the LED displays F or E for a fault or n for a warning The right side displays the fault or waming number as follows 1 0 1 break The highest priority fault is displayed Multiple faults may be present when a fault condition is occurring Check the AKD Work Bench Fault Screen or read the status of DRV FAULTS through the controller or HMI for the entire list of faults More information about fault messages remedy and clearing faults can be found in the Work Bench online help Message Warning 24V Control Power input voltage dip or Auxiliary encoder 5V X9 9 shorted tation File not found on SD Card SD card damaged or filename has been changed man AT NR File error trying to access the SD File on SD card can t be read ERR ME File system error accessingthe SD File system on SD card can t be read a PO A parameter could not be set in the pr j
190. ve that is run ning Sets of data that have been stored on data media are not safe against unintended alteration by other persons Unexpected move could be the result if you use unchecked data After loading a set of data you must therefore always check all parameters before enabling the drive 162 Kollmorgen September 2013 AKD Installation 9 Setup 9 2 3 Software description Each drive must be adapted to the reguirements of your machine For most applications you can use a PC and WorkBench the drive setup software to set up the operating conditions and parameters for your drive The PC is connected to the drive by an Ethernet cable 2 p 148 The setup software provides the communication between the PC and AKD You can find the setup software on the accompanying DVD and in the download area of the Koll morgen website With very little effort you can alter parameters and instantly observe the effect on the drive since there is a continuous online connection to the drive You can also read important actual values from the drive which are displayed on the monitor of the PC oscilloscope func tions You can save sets of data on data media archiving and load them them into other drives or use them for backup You can also print out the data sets Most standard feedbacks SFD EnDAT 2 2 2 1 and BiSS are plug and play compatible Motor nameplate data is stored in the feedback device and read by the drive automatically at sta
191. via a special mechanism with the rotary switches in the AKD front Baudrate Upper rotary Lower rotary kBit s FBUS PARAMO1 switch S1 switch S2 ato 0 j 9 3 06 125 125 250 250 500 go 5 1000 imo 9 In case of a fix baud rate the drive sends the boot up message with the baud rate saved in the drive s non volatile memory after a power cycle In case of auto baud detection the drive listens for a valid CAN frame on the bus When a valid frame is received the drive sends the boot up message with the measured bit time Afterwards the baud rate can either be stored to non volatile memory via object 1010 sub 1 or the auto baud mechanism is used always NOTE For reliable auto baud detection it is recommended to use suitable cabling of the CAN Bus two terminators GND connection etc Spikes or other noise effects on the CAN Bus can disturb the measurement The drive needs to be disabled if auto baud is in use For setting the baudrate with rotary switches follow the procedure below drive state dis abled 1 Disable the drive Set the rotary switches to one of the addresses 90 to 94 see above table si ON S1 MSB Pg nm ON S2 LSB Set S1 to 9 and S2 to either 0 or4 2 Push the button B1 on the AKD for at least 3 seconds until the rotary switch setting is dis played on the AKD display Press B1 for 3 seconds 3 When the display blinks with the set rotary switch setting stop pushing B
192. x Contact SK14 shield clamps with clamp range of 6 13mm ds 8 7 3 3 Motor connector X2 with shielding connection Alternative connection for the motor power connection by mating connector with strain relief Strip the external cable sheath to a length of approx 120 mm taking care not to damage the braided shield Push the braided shield 1 back over the cable and secure with a rubber sleeve 2 or shrink sleeve Shorten all the wires apart from the protective earth PE wire green yellow by about 20 mm so that the PE wire is now the longest wire Strip all wires and fit wire end ferrules Secure the braided shield of the cable to the shroud with a cable tie 3 and use a second tie 4 to fasten the cable over the rubber sleeve Wire the connector as shown in the connection diagram Plug in the connector to the socket on the front of the AKD Screw the connector in place This ensures that there is conductive contact over a large surface area between the braided shield and the front panel 88 Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 8 Electrical Supply Connection 8 8 1 Connection to various mains supply networks AKD xzzz06 120V to 240V This page illustrates all the possible connection variations for different electrical supply net works There is a danger of electrical shock with serious personnel injury if the drive is not properly grounded An isolating transformer is
193. y AKD x00306 to AKD x00606 X3 Pin Signal Description 76 i tm 3d ET Z1 V1AH OO gy AAA AR AAA g AKD x01206 X3 er Pin Signal Description ef 12 Linez MEE 6 e Line2 of IS PE Protective Earth Ss fi lt Protective Earth Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 8 4 2 Single phase connection AKD x00306 to AKD x01206 only e Directly to single phase supply network 2 p 89 e Supply networks 2 p 89 e Leave L3 open circuit e Filtering to be provided by the user e Fusing such as fusible cut outs to be provided by the user 9 p 37 D O oL PE FN1 A rd AKD x00306 to AKD x00606 X3 Pin Signal Description L2 N Neutral or Line 2 Protective Earth x m o Oo w 5 Fe N r w v m AKD x01206 X3 Pin Signal Description 6 L2 N Neutral or Line 2 8 PE Protective Earth 3d 1 21 LI 83 OGC 83 823 APSOSSSEQODSE Kollmorgen September 2013 93 94 AKD Installation 8 Electrical Installation 8 9 DC Bus link X3 The DC bus link can be connected in parallel so that the regen power is divided between all the drives that are connected to the same DC bus link circuit Every drive must have it s own power connection to mains voltage even if the DC bus link is used The drive can be destroyed if DC bus link voltages are different Only drives with mains supply from t
194. y mode Mode Menu B3 Press and hold to block the application auto start and to start cycling through the menu items Operational functions press button during normal operation mode Menu Press to cycle through the menu items The menu items will displayed on the 7 segment LED repeatedly for 10 s and can be selected py pressing B2 B3 Select Menu B2 Press while the required menu item is displayed to perform Item action Application is running available menu items e IP address e stop application confirm No application is running available menu items IP address start application confirm reset to defaults confirm backup to SD card confirm 3 p 147 restore from SD card confirm 3 p 147 Confirm B2 If the selected menu item selection requires a confirmation y is displayed for 10 s press B2 to confirm Kollmorgen September 2013 145 AKD Installation 8 Electrical Installation 8 17 SD Card Slot 8 17 1 SD Card Slot with I O option card Drives with I O option card offer a SD card slot to activate file transfers from to the AKD and SD Memory Card These features can be started from the WorkBench software or with push button B1 top of the drive combined with rotary switch setting 10 or 11 Detailled description can be found in the AKD User s Guide The save load operations AKD to SD or SD to AKD are only possible while no program is running and the drive is disabled
195. y work on the connections when the system is disconnected It can take over an hour for the modules to self discharge Check the state of charge with a measuring device that is suitable fora DC voltage of up to 1 000 V When measuring a voltage of over 40 V between the DC DC terminals or to ground discharge the modules see Dis charging KCM modules 2 p 99 KCM S Saves energy The energy stored in the capacitor module during generative brak 8 9 2 1 Technical Data Storage Rated Peak Power Protection Inception Weight Capacity Supply Supply Class Voltage Voltage Voltage Type Ws VDC VDC kW V DC kg KCM S200 1600 evaluated ee max 980 p 4m 69 komea 200 marasol Gosine 18 mo ET Es ee pa Kollmorgen September 2013 AKD Installation 8 Electrical Installation 8 9 2 2 Example installation with KCM S and KCM E NOTICE Maximum cable length between AKD and KCM 500mm The DC and DC lines should always be twisted maximum cross section is 6mm Ensure that the polarity is correct swapping round DC DC will damage the KCM modules Connect the BR connection to theAKD with the most frequent generative braking processes in the system This AKD must have an active internal or external brake resistor Create a motion profile that causes the brake chopper to respond Setup KCM S and KCM E Prerequisite for the following instructions e Properly disconnected grounded system e KCM S as

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