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AKD-N Installation Manual English

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1. AKD Near Servo Drive Installation Manual Edition A November 2013 Valid for AKD N Hardware Revision A Part Number 903 200018 00 Original Document CE Rais 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 Y Because Motion Matters Record of document revisions Revision Remarks A 11 2013 First edition Hardware Revision HR AKD N AKD C Firmware WorkBench Remarks from 1 10 from 1 10 AKD N Start revision Trademarks e AKD is a registered trademark of Kollmorgen Corporation e EnDat is a registered trademark of Dr Johannes Heidenhain GmbH e EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH e HIPERFACE is a registered trademark of Max Stegmann GmbH 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 Germany This document is the intellectual property of Kollmorgen All rights reserved No pa
2. Kollmorgen November 2013 AKD N Installation 6 Technical description and data 6 13 2 3 Switch off behavior using HW Enable input on AKD C uncontrolled stop This is a category 0 stop according to IEC 60204 The hardware enable input disables the AKD N power stage immediately Standard Operation Disable AKD C 24V L1 L2 L3 AKD C HW Enable Il UU Power Stage Q O enable t a uncontrolled nc si Motor Speed N L ul Power Stage O enable z t D a controlled Motor Speed If velocity drops below threshold CS VTHRESH or timeout occurs the motor holding brake is applied Set parameter MOTOR BRAKEIMM to 1 with vertical axes to apply the motor hold ing brake immediately after Hardware Disable Kollmorgen November 2013 AKD N Installation 6 Technical description and data 6 13 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 N User Guide or WorkBench help for more details See the Drive Fault and Waming Messages and Remedies section of the AKD N User Guide for a table describing the spe cific behavior of each fault The follwing pages show examples for the possible fault behav iors Switch off behavior for faults that cause an immediate power stage disable This is a category 0 stop according to IEC 60204 St
3. In case of using an AKD N with option DS local STO input the global STO Enable signal will have not influence to this specific drive The local STO Status of this drive nevertheless is monitored in the string STO Status 6 14 2 Local STO control via digital input on AKD N DS Option DS on the AKD N offers local STO Enable functionality There is one STO Enable input on X6 and one STO Status output on X3 for the drive The STO Status outputs on X3 are available only with AKD N drives with option DS 6 14 3 Safety characteristic data The subsystems are described with the following characteristics Device Operation ISO 13849 1 IEC 61508 2 PFH Tu Years SFF Mode 1 h Jo STO single PLd CAT 3 SIL2 100 channel NOTICE A very unlikely but possible event can happen if within a very short time 2 not adjacent IGBTs will have a short circuit In such case a movement of maximum an angle of 120 elec trical can happen This effect can only happen if the drive is in the function STO In order to show the probability of such event the following calculation can help If the total failure rate of the IGBT is 120 fit normally for such short circuit 60 fit will be valid 50 50 model By such event 2 specific IGBTs have to fail at same time The calculation shows a probability of 1 5 10 15 per hour without common cause failure Even if the STO function will be issued for a whole year this event will only happen every 100 Billio
4. then the input STO must be connected directly to 24 VDC The function is then bypassed and cannot be used The global STO signal will have no influence to this drive The local STO input on the AKD N has no influence to the global STO as well Local String Local amp String String Drive can Safe Status STO Enable STO Enable STO Status HW Enable produce Torque acc to SIL2 no influence low n no yes lo w ov noinfence iw vs w vw av romene hg no w When STO function is engaged during operation by separating input STO Enable from 24 V the connected motor slows down without control 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 It is not possible to perform a controlled brake if the drive STO Enable is off If controlled braking prior to the use of the STO function is necessary the drive must be braked first and the input STO must be separated from 24 V time delayed 6 14 9 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 This sequence is valid for local and global STO functionality 1 Brake the drive in a controlled manner speed setpoint 0 V 2 When speed 0 rpm
5. 6 13 2 3 Switch off behavior using HW Enable input on AKD C uncontrolled stop 33 6 13 2 4 Switch off behavior in the event of a fault e cece eee eeeeees 34 6 14 Safe Torque Off STO se ee esses esses sesso sesso 37 6 14 1 Global STO control via AKD C 000 37 6 14 2 Local STO control via digital input on AKD N DS senes 37 6 14 3 Safety characteristic data 37 6 14 4 Local STO safety instructions esee sess 38 6 14 5 Use as directed cia a Ta ee ee ede ned 39 6 14 6 Prohibited use ie 39 6 14 7 Enclosure winng 225 2 ce 2 24 ellerre elica elesse E e ici elia 39 6 14 8 Technical data and pinout local STO 40 6 14 9 Functional description local STO 41 6 14 9 1 Signal diagram Sequence ee nrnna 41 6 14 10 Functional test 42 6 14 10 1 Global STO 42 6 14 10 2 Local STO E eae Sate eet detent on cence gees 42 7 Mechanical Installation 43 7 1 Important Notes a 44 7 2 Temperature Management eee 45 7 3 Mechanical Drawings 000 iii 45 7 3 1 Dimensions AKD N preferred mounting 0000000 45 7 3 2 Dimensions AKD N with optional heat sink preferred mounting seses 47 8 Electrical Installation 000 0 48 8 1 Important Notes sees estere re rere r rre 49 8 2 Gu
6. AKD C offers two separate strings to connect up to 8 AKD N to each of them Maximum total cable length for each string is 100 m For system topology information refer to p 50 Cable Cable usage Available Length m Max Type Length m CCNCN1 AKD C to AKD N 3 6 12 24 36 40 dl PT CCNNN1 AKD N to AKD N 10 25 0 5 2 0 steps 0 25m up to 2m hybrid 2 5 3 0 25 steps 0 5m up to 25m CCJNA1 AKD N to Motor 2 0 3 1 0 steps 0 1m upto 1m 5 hybrid 25 1 5 2 0 steps 0 25m up to 2m CMxNA1 AKD N to Motor 2 0 3 1 0 Steps 0 1m up to 1m 5 Power 25 1 5 2 0 steps 0 25m up to 2m CFyNA1 AKD N to Motor 2 0 3 1 0 steps 0 1m upto 1m 5 Feedback 25 1 5 2 0 steps 0 25m up to 2m e x D x s CMxNA1 E Legend S x CFyNA1 x 0 without motor brake 2 1 with motor brake n E wo SL O bi O 2s C ComCoder O E E EnDat BiSS Encoder F H Hiperface Encoder CMxNA1 S SFD 4 lines Nzzz07 DSH ZZZ i 003 rated current 3 A 006 rated current 6 A gt T Kollmorgen November 2013 AKD N Installation 6 Technical description and data 6 10 Dynamic Braking Dynamic braking is a method to slow down a servo system by dissipating the mechanical energy driven by the motor back EMF The AKD N has a built in advanced dynamic braking mode which operates fully in hardware When activated the drive shorts the motor termin
7. Assignments DB Variant l 0 52 Connectors e eee eee ee 26 D Digital inputs 56 Digital Outputs 57 Disposal eI mulus 15 Dynamic Braking 28 E Enclosure protection 25 F Fault messages 68 Feedback ssseeeeeee sen 60 G Grounding 49 H Humidity in Operation 25 SAR ck aise note eae 14 Transport 2 22222 e eee eee ee eee 14 Hybrid Connection 55 l IO Connection 55 Initial Drive Test 66 Inputs Basic Data 25 Programmable 56 Slc uc tL Le 37 AKD N Installation 10 Index Installation Electrical 2 cece ee eecceceeeeees 48 Mechanical sesus 43 M Maintenance 14 Motor holding brake 59 Motor interface 0000000 58 Motor overload protection 58 Mounting position 25 N Nameplate 20 Noise Emission 25 O Outputs Basic Data 25 Programmabl
8. Example 50 cooling plate available Use the optional big heat sink 50 mm height to reach optimum situation The heat sink variants are described in the regional accessories manual 7 3 Mechanical Drawings 7 3 1 Dimensions AKD N preferred mounting Material e Fourmounting clamps part of delivery e Four M5 hexagon socket screws to ISO 4762 use 4 mm T handle Allen key e Heat conducting film order code 849 373000 04 NOTE Ensure free space of minimum 50 mm to all sides of the AKD N Kollmorgen November 2013 46 AKD N Installation 7 Mechanical Installation 130 4 Mounting Clamps NS lt 0 Kollmorgen November 2013 Drill plan preferred mounting AKD N Installation 7 Mechanical Installation 7 3 2 Dimensions AKD N with optional heat sink preferred mounting Material Four mounting clamps part of delivery Four M5 hexagon socket screws to ISO 4762 use 4 mm T handle Allen key Four M4x16 hexagon socket screws to ISO 4762 part of delivery use 3 mm T handle Allen key Heat conducting film order code 849 373000 04 Heat sink 40 mm option see regional Accessories Manual Heat sink 50 mm option see regional Accessories Manual Ensure free space of minimum 50 mm to all sides of the AKD N 130 4 Mounting Clamps 27 3 201 18 with small heatsink 115 with large heatsink 125 Drill plan preferred mounting Heat conducting film Kollmorgen November 201
9. STO function for example by opening protective screen of the drive voltage at AKD N X6 1 OV The drive lose toque and slows down to zero speed without control Second Method 1 2 3 Stop the drive with setpoint 0 V disable drive Activate the STO function for example by opening protective screen voltage at AKD N X6 1 OV The drive cannot be enabled Kollmorgen November 2013 AKD N Installation 7 Mechanical Installation 7 Mechanical Installation 74 ImportantNotes ssl eee 44 7 2 Temperature Management 00 0 45 7 3 Mechanical Drawings e cece cece eee es sss ees eser esse d 45 Kollmorgen November 2013 43 AKD N Installation 7 Mechanical Installation 7 1 Important Notes A 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 AKD N Drives may have hot surfaces during operation The housing can reach temperatures above 80 C Risk of minor burns Measure the tem perature and wait until the housing has cooled down below 40 C before touching it Ensure free space of minimum 50 mm to all sides of the drive NOTICE 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 NOTICE The drive will switch itself off in
10. case of overheating Ensure that the mounting space matches the requirements 2 p 25 NOTICE 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 NOTE An optimized thermal strategy is mandatory for AKD N performance Observe the infor mation given in the Decentralized System Projecting Guideand in chapter Temperature Man agement 2 p 45 Kollmorgen November 2013 AKD N Installation 7 Mechanical Installation 7 2 Temperature Management The possible continuous output current and output power depends on the cooling situation for the AKD N For a detailed calculation of temperature behavior of the decentralized drive sys tem based on the special machinery architecture please contact the Kollmorgen customer support Optimum cooling situation to reach rated power Cold plate requirements with 40 C surrounding temperature at 680 VDC supply voltage e AKD N 3A 240 mm x 240 mm x 10 mm e AKD N 6A 500 mm x 500 mm x 10 mm For a rough overview the three level rating below may help 1 Optimum cooling situation Cold plate size definition fulfilled no additional heat sink required 2 Medium cooling situation Example 65 cooling plate available Use the optional small heat sink 40 mm height to reach optimum situation 3 Bad cooling situation
11. for instance with a lock out and warning signs The individual voltages are switched on for the first time during setup The built in LED does not safely indicate the real voltage level Always measure the voltage in the DC bus link at connector X14 at AKD C and wait until the voltage is below 60 V before handling any component in the decentral servo system 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 con nection is for the effective grounding of HF interference and must not be confused with the PE symbol PE protective earth safety measure as per IEC 60204 Use the following connection diagrams Overview AKD N variant DB gt p 53 Overview AKD N variant DS DF gt p 54 DC power and Fieldbus connection p 55 Digital inputs and outputs p 55 Motor Power gt p 58 Motor Brake p 59 Motor Feedback gt p 60 Tertiary motion bus interface gt p 62 Local STO p 62 Kollmorgen November 2013 52 AKD N Installation 8 Electrical Installation 8 5 Connection Overview 8 5 1
12. of the parameters please refer to the WorkBench online help Motors with single line connection motor power lines motor holding brake lines and motor feedback lines combined in one hybrid cable can be connected to X4 of the AKD Nzzz07 DB or DS variants Motors with dual line connection motor power lines and motor holding brake lines in one cable motor feedback lines in a separate cable can be connected to X4 and X5 of the AKD Nzzz07 DF and DS variants 8 10 1 Connector X4 AKD Nzzz07 DB DS DF hybrid single line X4 CCJNA1 Description Brake gt p 59 BE uil Feedback positive 1 2 3 4 EN Motor power p 58 Support for Hiperface DSL feedback system Kollmorgen November 2013 AKD N Installation 8 Electrical Installation 8 10 2 Connector X5 AKD Nzzz07 DF DS dual line 3 2 1 14 13 4 12 5 11 15 17 6 10 9 g 16 X5 SFD BISSB BiSSC EnDAT EnDAT Hiper Sine Incr 4lines analog digital 2 1 2 2 face Enc Enc Hall Hall Cf ei i al Hav ck cuc cuc fraw RE ENSE SOI NET N REI ARI Lgs AA E I Ow DATE DAT Zo OM Thermal control PTC Thermal control PTC GND SV 5v ov Q Pe ps 3 9 NN NE ES SE 6 COM ef pali o 5v mj ov J apa j o 3 aj o LS T 6 Ari i pae p os ea Ee row qose dr cms ge Br Lm Jp ow p e p Lo ee Lp 4 CLK CLOCK DAT DATA BiSS Mode C interface from Renishaw model Reso
13. setup software Technical characteristics e STO Status signal is available for AKD N with option DS only e 24V 20 VDC to 30 VDC e All digital outputs are floating max 100 MA e Can be wired as active low or active high see examples below e Update rate 250 us Wiring diagram Control 24V R gt 240 Ohm DIGITAL OUT 1 Digital 1 N 33V Ww DIGITAL OUT 1 O GND 24V R gt 240 Ohm STO Status ACTIVE HIGH X3 Control 8 24V Digital 1 R gt 240 Ohm l O GND 24V STO Status R 240 Ohm l O GND Kollmorgen November 2013 58 AKD N Installation 8 Electrical Installation 8 8 Motor Power Connection X4 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 determine the maximum voltage in the system The AKD N drive is able to protect the connected motor from overloading if the parameters are set correctly and the thermal protection sensor is connected and supervised With Koll morgen motors the valid data are automatically set by the internal motor database With motors from other manufacturers the data from the nameplate must be entered to the refer ring fields in the motor view of the Kollmorgen setup software WorkBench NOTICE The dynamic voltage rise can lead to a reduction in the motor operating life and on unsuitable motors to flashover
14. 00307 DBEC D000 WU LER HT HT LE UELLE E LL TT TT Serial No R 1241 00006 E EAE LE UE UE IU I UL MUI MAC Address 00 23 1B 00 70 3C INPUT OUTPUT Voltage 560 670 Vdc 0 480 Vac Frequency 0 800 Hz Phase 3 Ph FL Current 4Adc 3 Arms Power 2 3 KVA Enclosure Protection Rating IP 67 Before use refer to CD for installation and safety information d Assembled in Germany Patents Pending www kollmorgen com Kollmorgen November 2013 AKD N Installation 5 Package 5 3 Part Number Scheme The part number is identical to the order code AKD N 003 07 DB EC E000 Customization x000 Standard x language Drive Version Connectivity Options N Near Servo Drive EC EtherCAT IP 65 67 Current Ratin 003 3Arms Extension Options 006 6 Arms Hybrid Motor Cable Feedback Conn and Tertiary Fieldbus Feedback Conn and Voltage Rating individual STO 07 700 Vdc Customization code includes language version of printed material and customer specials Kollmorgen November 2013 22 AKD N 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 The AKD N Family of Digital Drives eR RR RR rrr ree 23 Mechanical Data 24 Electrical Dati 5 a i 24 Performance Data 00 24 Ambient Conditions Ventilation and Mounting P
15. 3 48 AKD N Installation 8 Electrical Installation 8 Electrical Installation 8 1 Important Notes 00000000000 e cece ence a Aa aaraa anaoa aoaaa anaana 49 8 2 Guide to Electrical Installation 00 49 8 3 System Topology of a Decentralized Servo System 50 8 4 WiriNg RR ERR ERR ERRORES NEMPE 51 8 5 Connection Overview 0 0 52 8 6 Hybrid Connection X1 X2 iii 55 8 7 WO Connection G 55 8 8 Motor Power Connection GA 58 8 9 Motor Brake Connection GA 59 8 10 Motor Feedback Connection X4 X5 s cece eeceeeeeeeeeees 60 8 11 Optional Connector GBI 62 Kollmorgen November 2013 AKD N Installation 8 Electrical Installation 8 1 Important Notes 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 Capacitors can still have dangerous voltages present up to 7 min utes after switching off the supply power Always measure the voltage in the DC bus link at connector X14 at AKD C and wait until the voltage is below 60 V before handling components Control and power connections can still be live even if the motor is not rotating The built in LED does not indicate the real voltage level 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 s
16. AKD N packaging consists of recyclable cardboard with inserts and a label on the out side of the box Model Package Dimensions Total Weight mm HxWxL IL AKD N00307 120 x 295 x 370 AKD N00607 120 x 295 x 370 3 4 2 Transport Transport the AKD N in accordance with IEC 61800 2 as follows e Transport only by qualified personnel in the manufacturer s original recyclable packaging e Avoid shocks while transporting e Store at or below maximum stacking height of 8 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 specified humidity maximum 95 relative humidity no con densation 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 ona 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 3 Storage Store the AKD N in accordance with IEC 61800 2 as follows e Store only in the manufacturer s original recyclable packaging e Store at or below maximum stacking height of 8 cartons e Store only within specified temperature ranges 25 to 55 C max rate of change 20 K hour class 1K4 e Storage
17. AKD Nzzz07 DB DS DF hybrid single line 0 60 8 10 2 Connector X5 AKD Nzzz07 DF DS dual line nnne 61 8 11 Optional Connector GBI 62 8 11 1 Pinout AKD Nzzz07 DF 0 iii 62 8 11 2 Pinout AKD Nzzz07 DS iii 62 RU noses ase ee 63 9 1 Important Notes da aa pala ci aag ap baa i re prr PT beaded cosets ile 64 9 2 Setup software WorkBench 0 00 esses sss esses sesso 65 9 3 Initial System Test 66 9 3 1 Unpacking mounting and wiring 0 eee e cece ee ceececececeeeees 66 9 3 2 Set IP address R ARAR RR hA Ad RAR KANE RAR 66 9 3 3 Confirm Connections ii 66 9 3 4 Install and start WorkBench aa 67 9 3 5 Enable the drive using the setup wizard 00 00000000 67 9 4 Fault and Warning Messages 2222 iii ci eee eci eee eee eee eee eee 68 9 4 1 Fault and Warning Messages 0000000000 vv 68 10 Tae L elle alien 69 Kollmorgen November 2013 AKD N Installation Table of Contents This page intentionally left blank D Kollmorgen November 2013 AKD N Installation 2 General 2 General 2 4 About this Manual 8 2 2 Using the PDF Format 00 0 8 2 3 Notes for the Printed Edition paper version 00000 8 2 4 Symbols Used 9 2 5 Abbreviations Used 0 0 9 Kollmorgen November 2013 7 AKD N Installation 2 General 2 1 Aboutthis Manual This manual AKD N Installation Manual Ins
18. Connector assignment AKD Nzzz07 DB X1 X2 X4 Hybrid Power D Hybrid Power du Hybrid In Out Motor Cable 8 5 2 Connector assignment AKD Nzzz07 DF DS X6 X5 X3 STO DS or Motor Feedback y o Tertiary Fieldbus DF Cable X1 X2 X4 Hybrid Power Hybrid Power Motor Power In Qut Cable Kollmorgen November 2013 AKD N Installation 8 Electrical Installation 8 5 3 Connection diagram AKD Nzzz07 DB Reference Safety Instructions and Use As Directed AKD Nzzz07 DB UO X3 DIGITAL IN1 24V referred to I O GND DIGITAL IN2 n c n c DIGITAL IN3 DCOM3 UO GND DIGITAL OUT1 Digital1 DIGITAL OUT1 I lt c ni Qa Hybrid Out X2 Out Out AKD C X20B or X21B Fieldbus Fieldbus X20A or X21A 2 DC Power DC Power DC Power PE connection protective earth ER chassis ground connection panel shield connection via plug Kollmorgen November 2013 53 AKD N Installation 8 Electrical Installation 8 5 4 Connection diagram AKD Nzzz07 DF DS Reference Safety Instructions AKD Nzzz07 DF DS 24V referred and Use As Directed X5 Feedback X3 to I O a DIGITAL IN1 badas DIGITAL IN2 DIGITAL IN3 DCOM3 DIGITAL OUT1 DIGITAL OUT1 gt x v Z Hybrid Out X2 K lt lt c amp 5 Fieldbus Fieldbus X20B or X21B Fieldbus DC Power DC Power DC Power AKD Nzzz07 DS X6 STO Enable X6 Tertiary STO GND Fieldbus Device Fieldbus Handheld Trans
19. als 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 Thedrive 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 N uses dynamic braking depends on DRV DISMODE 6 11 Regen circuit When the amount of returned energy builds the bus capacitor voltage up enough the AKD C activates the regen circuit to start dumping the returned energy in the regen resistor also called regenerative or brake resistor The AKD C has an internal regen resistor is resistor an additional external one can be connected to X14 External regen resistors are described in the regional AKD Accessories Manual 6 11 1 Functional description When the amount of returned energy builds the bus capacitor voltage up enough the AKD C activates the brake chopper to start dumping the retumed energy in the regen resistor at the AKD C internally or connected to terminal X14 90 of the combined power of all the coupled drives is alwa
20. andard Operation F301 example I Motor overheat Power stage disable AKD C 24V L1 L2 L3 F301 example t I FAULT Relay t I I Turned off via AKD C mains contactor fault relay UT L2 E3 t I String DC Power t I I Power Stage enable t I I Local Global STO i t I AKD C HW Enable t uncontrolled Motor Speed CS VTHRESI t Motor Holding g Brake t If velocity drops below threshold CS VTHRESH or timeout occurs the motor holding brake is applied Set parameter MOTOR BRAKEIMM to 1 with vertical axes to apply the motor hold ing brake immediately after faults Kollmorgen November 2013 AKD N Installation 6 Technical description and data Switch off behavior for faults that cause dynamic braking This is a category 0 stop according to IEC 60204 Standard Operation F418 example Feedback power AKD C 24V L1 L2 L3 F418 example FAULT Relay t String DC Power Power Stage enable Local Global STO AKD C HW Enable uncontrolled Motor Speed CS VTHRESH Dynamic I braking Motor Holding Brake If velocity drops below threshold CS VTHRESH or timeout occurs brake is applied Kollmorgen November 2013 AKD N 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 Standard Operation F306 Example Brake short circuit controlle
21. ank Kollmorgen November 2013 71 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 PempelfurtstraBe 1 Rm 2205 Scitech Tower China 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 41 540 633 3545 Tel 49 2102 9394 0 Tel 86 400 666 1802 Fax 1 540 639 4162 Fax 49 2102 9394 3155 Fax 86 10 6515 0263 HAS YYYHYrYYrYry ROLLMORGEN Because Motion Matters
22. brakes in the system Observe the projecting hints for system topology and limits in the Projecting Guide This function does not ensure functional safety Functional safety requires and additional external mechanical brake operated by a safety controller Set parameter MOTOR BRAKEIMM to 1 with vertical axes to apply the brake immediately after faults or Hardware Disable The brake function must be enabled and configured with parameter using WorkBench for details refer to the online help Single line hybrid cable and dual line motor power cable use two lines for motor holding brake connection Single Line Dual Line X4 X4 CCJNA1 CM1NA1 AKD N fd Motor CA AKD N Signal Description A Motor holding brake positive Hi Motor holding brake negative C D Single Line Feedback p 60 Dual Line unused 1 2 3 4 EN Motor power p 58 Kollmorgen November 2013 AKD N Installation 8 Electrical Installation 8 10 Motor Feedback Connection X4 X5 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 N supports the most common types of feedback device Feedback functions are assigned with parameters in WorkBench the setup software Scaling and other settings are also performed in WorkBench For a detailed description
23. ctrical Data Electrical data Units AKD N00307 AKD N00607 Continuous output current 3 Optimum cooling situation Arms 3 cold plate size definition fulfilled Free convection cooling unmounted Continuous output power Optimum cooling situation cold plate size definition fulfilled Free convection cooling unmounted Peak output current for 5 s 3 Peak output power for 1 s Motor inductance min Motor inductance max Thermal dissipation output stage disable Thermal dissipation at rated current Efficiency factor Technical data for regen circuit Motor holding brake current oO N Oo Ww ol a G N N 9 N co co l DIN elo A gt A A PIAF a 1 cold plate LxWxT 240x240x10 surrounding temperature 40 C supply voltage 680V 2 cold plate LxWxT 500x500x10 surrounding temperature 40 C supply voltage 680V 6 4 Performance Data Performance Data Units AKD AKD N00307 N00607 Switching frequency of output stage KHz 8 Bandwidth of position controller scalable 1to 250 Kollmorgen November 2013 AKD N Installation 6 Technical description and data 6 5 Ambient Conditions Ventilation and Mounting Position 10 C to 40 C under rated conditions in operation 40 C to 55 C with continuous current derating 4 per Kelvin Site altitude Up to 1000 meters above mean sea level without restriction 1 000 to 2 000 meters above mean sea level with c
24. d stop AKD C 24V L1 L2 L3 F306 example FAULT Relay i String DC Power Power Stage enable Local Global STO AKD C HW Enable Motor Speed LCS VTHRESH t Dynamic braking Motor Holding Brake If velocity drops below threshold CS VTHRESH or timeout occurs brake is applied Kollmorgen November 2013 AKD N Installation 6 Technical description and data 6 14 Safe Torque Off STO NOTE Certification of functional safety is in process The STO functionality of AKD N with option DB or DF is controlled by the AKD C smart power supply via the specific string where the AKD N is connected to This STO topology is called Global STO or String STO AKD N drives with option DS offer an additional connector X6 with a digital STO Enable input This STO functionality is called Local STO These drive variants cannot be safety controlled by the global STO functionality 6 14 1 Global STO control via AKD C Connector X16 on the AKD C offers access to all STO Safe Torque Off signals of the decentral drive system powered by this AKD C There is one STO Enable input and one STO Status output for each DC Power string The global STO function is described in the AKD C Installation Manual Application exam ples can be found in the Decentralized System Projecting Guide The global STO function uses the following devices AKD C AKD N without option DS Kollmorgen hybrid connection cable
25. disable the drive Enable 0 V 3 Activate the STO function local STO Enable 0 V n speed t U Enable t 2100ms U STO t Kollmorgen November 2013 42 AKD N Installation 6 Technical description and data 6 14 10 Functional test NOTICE You must test the safe torque off 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 6 14 10 1 Global STO First Method 1 2 3 Stop drives in the string with setpoint 0 V Keep drives enabled DANGER Do not enter hazardous area Activate the global STO function for example by opening protective screen of the string where the drives are connected voltage at AKD C X16 6 or X16 8 OV The AKD C fault contact opens the corresponding string STO Status message X16 1 or X16 2 changes the voltage level the drives lose torque and slow down to zero speed without control Second Method 1 2 3 Stop all drives in the string with setpoint O V disable the string Activate the global STO function for example by opening protective screen voltage at AKD C X16 6 or X16 8 OV The corresponding string STO Status message X16 1 or X16 2 changes the voltage level the string cannot be enabled 6 14 10 2 Local STO First Method 1 2 3 Stop the drive with setpoint 0 V Keep drive enabled DANGER Do not enter hazardous area Activate the local
26. e 57 P Package supplied 20 Packaging 14 Part number scheme 21 Pollution level 25 Prohibited Use General 13 Apo EE i 39 R Regen circuit 00 00000 28 Repair 2 eee IRIS tius 15 S Safe Torque Off STO 37 Safe cursor bo Lites ter EP 10 Safety Instructions Local STO 2 2 2 ss ce eec 38 Setup Uu 64 Setup Software WorkBench a 65 Site altitude c cece 25 Stacking height 14 Stacking Height Transport 22 eee eee eee ee eee eee 14 Stacking Height Storage __ 14 STO iat se ae eh see een eee M 37 Storage aaa ili 14 Switch on switch off behavior 30 Symbols used 9 Kollmorgen November 2013 AKD N Installation 10 Index I Temperature in operation aaa 25 Storage eee eccceeeeeeccceeeees 14 Transport vii 14 Transport 0000 14 U Uninstalling 15 Use as directed DIVE AERE 13 gio qc 39 V Ventilation Ambient Conditions 25 Vibrations 00 25 W Warnings 00 0 68 Wiring 0000 51 Kollmorgen November 2013 AKD N Installation 10 Index This page intentionally left bl
27. e 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 LED of the drive to blink on and off for 20 seconds 9 3 5 Enable the drive using the setup wizard Once a connection to the drive has been established 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 for the drive strings must be in the enabled state pin 3 on AKD C X15 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 No faults 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 softwa
28. ection gt 10 mm must be used There is a danger of electrical shock with possible personal injury Deviating measures accord ing to regional standards might be possible NOTICE Wrong DC Bus link 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 diagrams gt p 52 It is permissible to use the setup software to alter the settings of the drive Any other alter ations will invalidate the warranty 8 2 Guide to Electrical Installation Install the drive electrical system as follows 1 Select cables 3 p 26 in accordance with the planned system topology p 50 2 Install grounding PE and ground the drive Ground the mounting plate motor housing and CNC GND of the control system 3 Wire the drive NOTICE The connectors are close to each other on the drive To ensure simple handling observe the connector mounting sequence X2 X1 X4 X5 X3 X6 m Connectthe hybrid power cable between AKD C X20 or X21 and AKD N X1 max length 40 m Connect the hybrid power cables between the AKD N drives X1 X2 max length 25 m m Dual line connection Connect the motor cable to X4 max length 5 m Connect the feedback device to X5 max length 5 m m Single line connection Connect the hybrid motor cable to X4 max length 5 m 4 Check the wiring against the planned syst
29. em topology diagrams gt p 50 Kollmorgen November 2013 50 AKD N Installation 8 Electrical Installation 8 3 System Topology of a Decentralized Servo System 8 3 1 System limits String length maximum 100 m total cable length per string Number of AKD N maximum 8 per string observe total power current restrictions described in the Decen tralized System Projecting Guide Sum of output current of string 1 and string 2 17 A calculate coincidence factor of the axes Standby Power Standby power is limited to 260 W at 24 V for both strings This power must supply all AKD N 8 W each and the remaining power can be used for motor holding brakes 8 3 2 Example PC Service 3 Mains Supply STO i O 24 VDC 12A Fieldbus DC Bus Regen ext de YO SD Nz2207 5 DA Nzzz07 DB String 1 String 2 LO m yo LR led Nzzz07 DB 49 uo A AKD f AKD b Motor Nzzz07 D ipang INzzz07 DS LLL Motor 3 Field STO oe bus IO VO S Nzzz07 DB Nzzz07 DB Kollmorgen November 2013 8 4 Wiring NOTICE NOTE AKD N Installation 8 Electrical Installation 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 equipment is switched on Make sure that the cabinet is safely disconnected
30. emarks Enabled and running blink green orange Enabled and running with warning blink orange Safe bus voltage blink red orange green Kollmorgen November 2013 29 AKD N Installation 6 Technical description and data 6 13 Switch On and Switch Off Behavior Behavior of holding brake function Drives with an enabled holding brake function have a special timing for switching on and off the output stage 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 possibility of the internal holding brake module failing Functional safety for example 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 immediately after faults or Hardware Disable Safety function STO With the functional safe function STO the drive can be secured on standstill using its internal electronics so that even when power is being supplied the drive shaft is protected against unintentional restart The chapter Safe Torque Off STOY describes how to use the STO function 3 p 37 6 13 1 Switch on behavior in standard operation The diagram below illustrates the correct functional
31. from electricity and its effects Warning of suspended loads A Warning of hot surfaces 2 5 Abbreviations Used Communit Europ enne lectromagnetic compatibility ight emitting diode utput signals Switching Device ersonal computer rotective earth rotective extra low voltage rogrammable logic control ulse width modulation andom access memory volatile memory ncremental encoder A quad B pecific thermal resistance afety Extra Low Voltage afe torque off olts alternating current olts direct current rim m 2 S D S lt et ci s 3 eb PI E Le O O Ul Ul Ul VIO Bgm epe lt 5 P P OM WM 7 2 210 lt i lt lt lt lt Kollmorgen November 2013 iS AKD N Installation 3 Safety 3 Safety 3 1 You should pay attention to this _ 00 lll 11 3 2 Use as Directed AA 13 3 3 Probibited Use c a de ois ee ee a Da lg aaia Aa OG 13 AA 14 Kollmorgen November 2013 AKD N 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 N must require that all personnel who work with the drive read and understand the manual before
32. g to IEC 61508 SIL 2 onboard e Use with synchronous servomotors linear motors and induction machines Power section e DCpower supply voltage range 55 VDC to 800 VDC e Output stage IGBT module with floating current measurement 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 Temperature monitoring of the drive and motor e Motor overload protection foldback mechanism e SIL2 safe torque off in accordance with IEC 61508 Operation and parameter setting e Using the setup software WorkBench for system setup via TCP IP connected to X18 of the intelligent power supply AKD C 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 3 programmable digital inputs p 55 e 1 programmable digital outputs p 55 Extensions e Optional Feedback Connector X5 and Local fieldbus port X6 drive variant DF gt p 62 e Optional Feedback Connector X5 and Local STO input X6 drive variant DS gt p 62 Kollmorgen November 2013 23 AKD N Installation 6 Technical description and data 6 2 Mechanical Data Mechanical data Units AKD AKD N00307 N00607 Width Length housing mm Length with connectors mm 247 and mounting clamps 6 3 Ele
33. ide to Electrical Installation sd 49 8 3 System Topology of a Decentralized Servo System 50 8 3 1 System limits 000000000 50 B 3 Z2 EXAmDIG cs eno inno 50 8 4 Wiring 51 8 5 Connection Overview uuuuttttuuuutttutuiisssssssssss ss e e ee esses sese sess sees sess n 52 8 5 1 Connector assignment AKD Nzzz07 DB HQ c cece cece eececeeeeeeees 52 8 5 2 Connector assignment AKD Nzzz07 DF DS esses sees sess 52 8 5 3 Connection diagram AKD Nzzz07 DB 2H cece cece cece cece ceeeeeceeeeeeeeees 53 8 5 4 Connection diagram AKD Nzzz07 DF DS ssssssssssssssssssssssssss e cece ee eeeeee 54 8 6 Hybrid Connection X1 X2 iii 55 8 7 I O Connectioni X3 ione nd ok ch 24 She EEP ee leali bee also de ee ee 55 8 7 1 Digital Inputs ccc ccc ccc eee aa aaae oaao aoea a aaea raoran aaran 56 8 7 2 Digital Output 00000 57 8 8 Motor Power Connection X4 2222 0 0 0 esses oaaao raana 58 8 8 1 Connector X4 AKD Nzzz07 DB DS DF hybrid single line 00000 e cece eee eee 58 8 8 2 Connector X4 AKD Nzzz07 DF DS dual line cece cece cece cece eeceeeeees 58 8 9 Motor Brake Connection X4 0000000000 eee eee eee eee eee rrr reel 59 8 10 Motor Feedback Connection X4 X5 ss sse Reels 60 4 Kollmorgen November 2013 AKD N Installation Table of Contents 8 10 1 Connector X4
34. llation 9 Setup 9 2 Setup software WorkBench 4 Kollmorgen WorkBench Fe E ves To Heb Gi S s kat Paga ts o AKThem Oirer 9 E NOTE NOTE KOLLMORGEN i eminente ek Kat Gata Because Motion Matters Welcome to AKD Vio Bench tom Kolmorper Bench has found de fi a oves Q PETE IPE tom ace Suns P Mazen x Bay 168 284 240 Y Device Nama P idden Breadcon Nevtere 169 254 7967 Intel R PRO Wireless 152 168 1103 The setup software WorkBench for AKD N and AKD C devices is intended to be used for altering and saving the operating parameters for the decentral drive system The attached device can be set up with the help of this software and during this procedure the drive can be controlled directly by the service functions You can find the setup software on the accompanying DVD and in the download area of the Kollmorgen website Kollmorgen offers training and familiarization courses on request Only professional personnel who have the relevant expertise 3 p 11 are permitted to carry out online parameter setting for a drive that is running 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 For most applications you can use a PC and WorkBench the drive setup software to set up the operating condition
35. lute RA26B Hiperface 1 pins 4 and 5 externally connected Kollmorgen November 2013 61 62 AKD N Installation 8 Electrical Installation 8 11 Optional Connector X6 8 11 1 Pinout AKD Nzzz07 DF The additional connector X6 with AKD N DF device variants allows connection to fieldbus slave devices that are controlled by the system master M12 D coded Description Fieldbus Slave it j Transmit Bars Transmit Receive Receive RM Transmit Transmit 8 11 2 Pinout AKD Nzzz07 DS An additional digital input STO Enable releases the power output stage of the drive as long as a 24 V signal is applied to this input The local STO Enable input is galvanically isolated and need external 24 VDC supply PELV SELF For detailled description of STO interface and functionality refer to Safe Torque Off STO gt p 37 Wiring diagram local STO Enable M12 A coded Description X6 Drive Safety Sensor STO Enable gen GND Kollmorgen November 2013 AKD N Installation 9 Setup 9 Setup 9 1 Important Notes 9 2 Setup software WorkBench 9 3 Initial System Test 9 4 Fault and Warning Messages Kollmorgen November 2013 63 AKD N Installation 9 Setup 9 1 Important Notes NOTE 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 pe
36. mit n c Master Transmit n 0 Analyser or similar Receive x3 vae STO Status STO Status STO Status I R gt 240 Ohm D PE connection protective earth Hi chassis ground connection panel shield connection via plug Kollmorgen November 2013 AKD N Installation 8 Electrical Installation 8 6 Hybrid Connection X1 X2 Pinout Pin Usage X1 Usage X2 A i 8 7 I O Connection X3 M12 A coded X3 Description Abbreviation Function for pins 1 2 5 8 Digital Output 14 DIGITAL OUT1 STO Status signals are available for AKD N with option DS only The DCOM3 line should be connected to the OV of the I O supply when using sensors of type Source with digital inputs The DCOM3 line should be connected to the 24V of the I O supply when using sensors of type Sink with digital inputs Kollmorgen November 2013 55 AKD N Installation 8 Electrical Installation 8 7 1 Digital Inputs The drive provides 3 digital inputs 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 Work Bench If an input is programmed it must be saved to the drive By default all inputs are not programmed off For more information refer to the setup software NOTE 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
37. n years Kollmorgen November 2013 AKD N Installation 6 Technical description and data 6 14 4 Local STO safety instructions NOTICE NOTICE The drive cannot hold a vertical load when STO is active Serious injury could result when load is not properly blocked Drives with a suspended load must have an additional safe mechanical blocking for instance by a motor holding brake The drives have not to be used for driving elevators In case of a specific double fault within a very short time see p 37 a single movement of maximum an angle of 120 electrical can happen This effect can only happen if the drive is in the function STO Even if the STO function will be issued for a whole year this event will only happen every 100 Billion years The STO function does not provide an electrical separation from the power output There is a danger of electrical shock and personnel injury If access to the motor power terminals is necessary the drive must be dis connected from AKD C considering the discharging time of the DC Bus 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 malfunction The monitoring can be used to prevent a faulty output from unintentionally activating the STO function Since the local STO function is a single channel system erroneous engaging will not be recognized It is not possible to perform a contr
38. nce earthing no personal protection can be guaranteed Leakage Current Since the leakage current to PE is more than 3 5 mA in compliance with 1EC61800 5 1 the PE connection must either be doubled or a connecting cable with a cross section gt 10 mm must be used Deviating measures according to regional standards might be possible High voltages The equipment produces high electric voltages up to 900 V Do not open or touch the equip ment during operation Keep all covers closed The built in LED does not safely indicate the real voltage level 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 measure the voltage in the DC bus link at connector X14 at AKD C and wait until the voltage is below 60 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 Reinforced Insulation Thermal sensors motor holding brakes and feedback systems built into the connected motor must have reinforced insulation according to IEC61800 5 1 against system components with
39. ol m moment of inertia of the load e Connect a PC with the installed WorkBench setup software to the AKD C connector X18 See AKD C Installation Manual for more information 9 3 2 Set IP address The Node address can be set with the WorkBench setup software or via the used fieldbus 9 3 3 Confirm connections Switch on 24 VDC logic power for the system through the AKD C X13 connector mains supply voltage is not needed for communications Confirm that the link LEDs on the AKD C are both illuminated Status 1 Status 2 Fieldbus 1 X21B Fieldbus 2 While the PC is connecting your statusbar will show the following acquiring icon s PT La 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 kinat LK i 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 Kollmorgen November 2013 AKD N Installation 9 Setup 9 3 4 Install and start WorkBench WorkBench installs automatically from the DVD 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 connected to the AKD C Select th
40. olled brake if the drive controlled STO Enable is off If con trolled braking before the use of the STO function is necessary the drive must be braked and the input STO must be separated time delayed from 24 V Kollmorgen November 2013 AKD N Installation 6 Technical description and data 6 14 5 Use as directed The STO function is exclusively intended to provide a functional safe torque off of the drive To achieve this functional safety the wiring of the safety circuits must meet the safety requirements of IEC 60204 ISO 12100 and ISO 13849 If the local 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 The 24 VDC supply unit for local STO supply must accord to PELV SELV EN 60204 1 requirements 6 14 6 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 e Wiring the system with hybrid cables from other manufacturers than Kollmorgen is not allowed e Changing cables or connectors is not allowed 6 14 7 Enclosure wiring Obser
41. ollution level 2 use Kollmorgen cables only Connec tor Type Max Cross Section Current Voltage 6 8 Cable Requirements NOTE For information on the chemical mechanical and electrical characteristics of the cables please refer to the accessories manual or contact customer support Use Kollmorgen hybrid motor and feedback cables only You will loss system warranty if you use hybrid motor or feedback cables from a manufacturer other than Kollmorgen Cable from Cable to Cross section 05 4 x 0 25 mm 4 x 0 25 mm AKD N X3 Phoenix SAC Digital I O 8 x 0 25 mm wel fn AKD N DB DS DF X4 Motor Power with brake and 4x 1 5 mm Hiperface DSL feedback 2x0 75 mm hybrid 2 x 0 34 mm 4x 15mm AKD N DS DF X4 CM1NA1 015 Motor Power with brake 4x 1 5 mm 2x0 75 mm le type AKDATDSIDFXS CFSNA10021 Motor Feedback SFD 4x2x026mm AKD N DSIDFXS CFCNAT 0027 Motor Feedback Comcoder _ 7x2x 0 25 mn AKD DSIDFXS CFENAT 0021 Motor Feedback EnDaYBISS_ 7x2x 0 25 mm AKD NDSIDFXS CFHNAT 0027 Motor Feedback Hiperface__ 7x2x 0 25 mn AKD N DF X6 Phoenix NBC Tertiary Fieldbus 2x 2x 0 14 mm AKD N DS X6 Phoenix SAC Single Drive STO switch 4x 0 34 mm 1 Followed by length coding Contact your Kollmorgen sales representative 2 Example similar cables are available from other distributors Kollmorgen November 2013 AKD N Installation 6 Technical description and data 6 9 Cable length definition NOTE
42. onal Safety 18 5 e T LT 19 5 1 Package Supplied sss RR eee RR rere eres 20 5 2 Nameplate o tercero c ieri ieri detta E PA a 20 5 3 Part Number Scheme 21 6 Technical description and data c cece cece eee ccceececeeceeeeeees 22 6 1 The AKD N Family of Digital Drives 0 0 c ccc ccc ccc ccc cece ccc cece cee eee 23 6 2 Mechanical Data 24 6 3 Electrical Data 24 6 4 Performance Data 00000 iii iii 24 6 5 Ambient Conditions Ventilation and Mounting Position 00 0000000 25 6 6 Inputs Outputs a arte aio e ILS ie yi Shot lait 25 6 7 e 26 6 8 Cable Requirements _ 2 22 2 ss e cee cece cece eee RR rre rere sese 26 6 9 Cable length definition RR RR Reese sese 27 6 10 Dynamic Braking 22 000 ccc cece cece cece cece cece ccececeeeeeeeees 28 6 11 Regen circuit vive eee eee e eee 28 6 11 1 Functional description i 28 6 11 2Technicaldata cilea ds 28 6 12 LED Codes u a 29 Kollmorgen November 2013 AKD N Installation Table of Contents 6 13 2 Switch off behavior essere raaraa ennan 31 6 13 2 1 Switch off behavior using a digital input controlled stop eee eee ee ee 31 6 13 2 2 Switch off behavior using the DRV DIS command 22 ee cece eee cece eee eee 32
43. only within specified humidity 5 to 95 relative humidity no condensation class 1K3 3 4 4 Maintenance and cleaning The drive does not require 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 Cooling fins Clean with a dry brush Kollmorgen November 2013 AKD N Installation 3 Safety 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 the fuses that supply the sys tem Contacts can still have dangerous voltage present up to seven minutes after switching off mains voltage Risk of electrical shock 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 at connector X14 at AKD C and wait until the voltage is below 60 V before handling components 2 Removethe 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 Risk of minor burns Before touching the device check the temperature and wait until ithas cooled below 40 C 104 F 4 Uninstall Remove
44. ontrolled stop and then disable the drive and apply the holding brake if present See the AKD N User Guide for information on configuring Digital Inputs Standard Operation Dinx mode 13 AKD C 24V L1 L2 L3 Digital Input x Power Stage enable controlled Motor Speed If velocity drops below threshold CS VTHRESH or timeout occurs brake is applied Kollmorgen November 2013 32 AKD N Installation 6 Technical description and data 6 13 2 2 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 N User Guide for configuring inputs and software commands Sometimes this ena ble signal is called Software Enable SW Enable DRV DISMODE Disable axis immediately if velocity drops below threshold 0 CS VTHRESH or timeout occurs brake is applied Category 0 stop according to IEC 60204 p 37 DRV DISMODE Use controlled stop to disable drive if velocity drops below threshold 2 CS VTHRESH or timeout occurs brake is applied Category 1 stop according to IEC 60204 p 37 Standard Operation DRV DIS AKD C 24V L1 L2 L3 DRV DIS DRV ACTIVE o Power Stage a enable s t D I uncontrolled Q gt 5 Motor Speed CS VTHRESF t n ti Power Stage Q enable O t a controlled a a Motor Speed If velocity drops below threshold CS VTHRESH or timeout occurs brake is applied
45. osition 00000 25 Inputs Outputs 00000 25 Connectors crn es ene le 26 Cable Requirements LL sse RR Re Re ese sese esee esses 26 Cable length definition 00 27 Dynamic Braking 2 2 0 esses essere raono rarnana 28 Regen CIFcuit ad AT a BAG aan an pana akan oa NE nce AA an 28 FED Codes seria iii ANA ate 29 Switch On and Switch Off Behavior 00 30 Safe Torque Off STO 2 cece cc cece cece oada adoa aoaaa aaa aaa aaa 37 Kollmorgen November 2013 AKD N Installation 6 Technical description and data 6 1 The AKD N Family of Digital Drives Available AKD N versions Variant short Description Current Connectivity AKD N DB Hybrid DC power and fieldbus connection 3106 EtherCAT 1 0 Hybrid motor power and feedback connection Hybrid DC power and fieldbus connection AKD N DF Hybrid or dual line motor power and feedback 3to6A EtherCAT I O connection Local tertiary fieldbus interface anian Hybrid DC power and fieldbus connection Hybrid or dual line motor power and feedback 3to6 A connection Local drive STO input EtherCAT I O Local STO Standard features e Supply voltage range 55 VDC to 800 VDC e Motion bus onboard e SFD Hiperface DSL Comcoder ENDAT 2 1 amp 2 2 BiSS HIPERFACE 1Vp p Sin Cos encoders incremental encoders support onboard e Safe Torque Off STO accordin
46. port 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 components 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 Kollmorgen November 2013 AKD N Installation 3 Safety gt gt gt gt Kollmorgen November 2013 Hot surface Drives may have hot surfaces during operation The housing can reach temperatures above 80 C Risk of minor burns Measure the temperature and wait until the housing has cooled down below 40 C before touching it Earthing It is vital that you ensure that the drive is safely earthed to the PE protective earth system in the maschine Risk of electric shock Without low resista
47. power voltage according to the required application test voltage All Kollmorgen com ponents meet these requirements 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 N 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 must generate a risk assessment for the machine and take appropriate measures to ensure that unforeseen movements cannot cause personnel injury or property damage Kollmorgen Decentralized Drive System AKD N series drives must only be operated in a motion system with components from Koll morgen Required additional Kollmorgen components are the intelligent power supply AKD C CCx WCx HCx series of hybrid cables motor power and feedback cables servomotors Assembling AKD N drives must only be operated in environments suitable for the ambient conditions defined on p 25 Optional finned heat sink may be necessary to keep the drive flange tem perature below 85 C Observe the information given in the Decentral System Projecting Guide Wiring Use only Kollmorgen CCx WCx HCx series of hybrid cables for connecting AKD N and AKD C devices Power supply AKD N series drives must be powered by AKD C intelligent power supplies with DC
48. re 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 November 2013 AKD N Installation 9 Setup 9 4 Fault and Warning Messages 9 4 1 Fault and Warning Messages When a fault occurs the AKD C fault relay is opened the output stage is switched off motor loses all torque or the load is dynamically braked If a warning is issued prior to the fault the warning has the same number as the associated fault Wamings do not trip the power stage of the drive or fault relay output Within a string several drives might show warnings or faults All actual faults and warnings can be monitored with the WorkBench setup software via the AKD C service interface or with the used motion controller software connected via the AKD C motion bus interface NOTE More information about fault messages remedy and clearing faults can be found in the Work Bench online help Kollmorgen November 2013 10 Index A Abbreviations 9 AKD Family 23 Ambient temperature 25 C Cable and Wire Requirements 26 CE conformance 18 Connection Diagrams DB Variant l 22 ee ee 53 DF DS Variants 222222 c cece eee eee 54 Connection Overview 52 Connector
49. rences 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 on the DVD accompanying the product and on the Kollmorgen website Kollmorgen November 2013 AKD N Installation 2 General 2 4 Symbols Used Warning Symbols Symbol Indication Indicates a hazardous situation which if not avoided will DANGER 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 Indicates situations which if not NO TICE avoided could result in property damage This is not a safety symbol NO TE This symbol indicates important notes Warming of a danger general The type of danger is specified by the text next to the symbol Warning of danger
50. rive type Certification in process Kollmorgen November 2013 AKD N Installation 5 Package 5 Package 5 1 Package Supplied 0 00 20 5 2 Nameplate 00 0 0 0 I RR RR RR RR RR RR erre eR erre re erre sess reser 20 5 3 Part Number Scheme 21 Kollmorgen November 2013 AKD N Installation 5 Package 5 1 Package Supplied When a drive from the AKD N series is ordered the following items are included in the drive package e AKD N e Printed copy of AKD N Installation Manual e DVD containing the setup software WorkBench and all product documentation in digital format e Two connector covers M12 for unused X3 and X6 NOTE The mating connectors are not included in the package The M23 connector cover for protecting X2 of the last AKD N in a string is part of delivery of the AKD C package Accessories Sold Separately Accessories must be ordered separately if required refer to your regional accessories man ual e Heatsink 40 mm or 50 mm e Heat conducting film e Motor cable feedback cable e Hybrid cable for connection to next AKD N e Cable for digital I O connection e Cable for local STO connection AKD N DS only e Cable for tertiary fieldbus AKD N DF only 5 2 Nameplate The nameplate depicted below is attached to the side of the drive sample data entries are for a6A type Pkoutmoncen _ 2575507 d Eno re HW Rev A RS Rango Fe 59 0 902204200 HIHIH TH Model No AKD N
51. rson 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 The equipment produces potentially lethal voltages up to 900 V Risk of electrical shock Check that all connection components that are live in operation are safely protected 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 The drive might restart automatically after power on depending on the parameter setting Risk of death or serious injury for humans working in the machine If parameter DRV ENDEFAULT is set to 1 then place a warning sign to the machine Warning Automatic Restart at Power On and ensure that power on is not possible while humans are in a dan gerous zone of the machine The heat sink of the drive can reach temperatures up to 80 C in oper ation Risk of light burns Check the heat sink temperature before han dling the drive Wait until the heat sink has cooled down to 40 C before touching it 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 Kollmorgencan provide training courses for the decentral drive system upon request Kollmorgen November 2013 AKD N Insta
52. rt 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 November 2013 AKD N Installation Table of Contents 1 Table of Contents 1 Table of Contents 00 3 2 General _ ess ell 7 2 1 About this Manual 8 2 2 Using the PDF Format esses esses esses esses esses sese 8 2 3 Notes for the Printed Edition paper version iii 8 24 Symbols Used baa oor Win eo he ie aves Eee ee oe edo be 9 2 5 Abbreviations Used ____ 000 sss ssl e ll lll Illis 9 3 Sdfety n t spi LU tai li 10 3 1 You should pay attention to this oaan anaa adara nnan n nanan nannn 11 3 2 Use as Directed 13 3 9 Prohibited Use n bibles Peedi eel gece uie pelare do 13 2 4 Handling s ret ie lei eee na 14 3 4 1 Packaging i 14 9 4 2 ez ori liana leider 14 3 4 3 Storage i 14 3 4 4 Maintenance and cleaning e e cece cece cece e esses seen 14 3 4 5 Uninstalling 000000 15 3 4 6 Repair and disposal 0000000000 e eee eee 15 AA Ra 16 4 1 Conformance with UL cUL l a i anana iii iii iii 17 4 2 Conformance with EC Low Voltage and EMC Directives 0000000 17 4 3 Conformance with EC Machinery Directive Functi
53. s and parameters for your drive The PC is connected to the AKD C by an Ethernet cable see AKD C Installation Manual The setup software provides the com munication between the PC the AKD C and the AKD N With WorkBench every drive that is connected to the same AKD C as the PC is visible and controllable You can select a drive out of the list alter parameters and instantly observe the effect on the drive since there is a continuous online connection to the drive You can also read impor tant actual values from the selected drive which are displayed on the monitor of the PC oscilloscope functions 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 Kollmorgen November 2013 AKD N Installation 9 Setup 9 3 Initial System Test 9 3 1 Unpacking mounting and wiring e Unpack the drive and accessories Observe the safety instructions in the documentation e Mount the drive 3 p 43ff e Connect the AKD N via the hybrid cables to the AKD C 9 p 48ff e Connect Motor gt p 58 and feedback p 60 single line or dual line connection depending on motor and AKD N version e Make sure you have on hand the following information about the drive components m rated mains supply voltage m 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 protoc
54. s in the motor winding e Only install motors with insulation class F acc to IEC60085 or above e Only install Kollmorgen cables that meet the requirements p 26 8 8 1 Connector X4 AKD Nzzz07 DB DS DF hybrid single line Motors with single line connection motor power lines motor holding brake lines and motor feedback lines combined in one hybrid cable can be connected to X4 of the AKD Nzzz07 DB or DS variants X4 CCJNA1 X4 Protective earth motor housing Signal Description Feedback p 60 Brake 3 p 59 Motor phase U Motor phase W Motor phase V 8 8 2 Connector X4 AKD Nzzz07 DF DS dual line Motors with dual line connection motor power lines and motor holding brake lines in one cable motor feedback lines in a separate cable can be connected to X4 and X5 of the AKD Nzzz07 DF and DS variants X4 CMxNA1 d Motor DI AKON Signal Description X4 A B C D ae Brake gt p 59 Protective earth motor housing Kollmorgen November 2013 AKD N Installation 8 Electrical Installation 8 9 Motor Brake Connection X4 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 Check voltage drop measure the voltage at brake input and check brake function brake and no brake Maximum current for the motor brake is 1A with AKD N00307 and 1 5 A with AKD N00607 The stand by power supply from AKD C limits the number of
55. sequence for switching the drive on U AKD C 24V L1 L2 L3 U String DC Power c a a ue Local Global STO U 100ms AKD C HW Enable SW Enable no fault Power Stage enable Motor Speed Kollmorgen November 2013 AKD N Installation 6 Technical description and data 6 13 2 Switch off behavior NOTE The AKD C 24 V supply must remain constant Hardware Enable input disables all AKD N power stages immediately Configured Digital Inputs and fieldbus commands can be used to perform controlled stops 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 N User Guide for configuring the parameter With vertical load the load could fall Serious injury could result when the load is not properly blocked 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 Set parameter MOTOR BRAKEIMM to 1 with vertical axes to apply the motor holding brake immediately after faults or Hardware Disable 6 13 2 1 Switch off behavior using a digital input controlled stop This is a category 2 stop according to IEC 60204 A digital input can be configured to bring the motor to a c
56. sink type Digital Input Wiring Diagram NE lt DIGITAL IN3 5 a DCOM83 6 Digital Inputs 1 and 2 SOURCE Sensors 24V against I O GND fast fast l O GND SINK Sensors l O GND fast fast 24V against l O GND These inputs are particularly fast and are therefore suitable for latch functions for example Technical characteristics e Floating reference common line is DCOMS e Sink or Source type sensors possible e High 15 to 30V 2 to 15 mA Low 3to 5V lt 1mA e Update rate Hardware 2 us Digital Input 3 Choose the function you require in WorkBench Technical characteristics e Floating reference common line is DCOMS e Sink or Source type sensors possible e High 15 to 30V 2 to 15 mA Low 3 to 5 V 1 mA e Update rate Software 250 us 56 Kollmorgen November 2013 AKD N Installation 8 Electrical Installation 8 7 2 Digital Output The drive supplies one programmable digital output and the permanent STO Status output for drives with DS option For the programmable output choose the required function in the setup software Messages from pre programmed 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 out put is to be assigned to a pre programmed function then the parameter set must be saved in the drive By default the output is not programmed off For more information refer to the
57. the AKD N 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 3 p 15 then send the drive in the original pack aging to the manufacturer see table below Transport costs are the responsibility of the senders 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 Kollmorgen KOLLMORGEN Europe GmbH 201 West Rock Road Pempelfurtstr 1 Radford VA 24141 D 40880 Ratingen Kollmorgen November 2013 AKD N Installation 4 Approvals 4 Approvals 4 1 Conformance with UL CUL 0 00000 17 4 2 Conformance with EC Low Voltage and EMC Directives 00000 17 4 3 Conformance with EC Machinery Directive Functional Safety 18 Kollmorgen November 2013 AKD N Installation 4 Approvals 4 1 Conformance with UL cUL Planned 4 2 Conformance with EC Low Voltage and EMC Directives NOTICE CE Declarations of Conformity can be found on the Kollmorgen website or on page Approv als in the Kollmorgen Product WIKI Conformance with the EC EMC Directive 2004 108 EC and the Low Voltage Directive 2006 95 EC is mandatory for the suppl
58. tructions Manual according to EC Machinery Directive 2006 42 EC describes the AKD N series of digital drives and includes information needed to safely install an AKD N A digital version of this manual pdf format is available 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 Decentralized System Projecting Guide describes how to build a decentralized drive sys tem with AKD C and AKD N It provides tips for system topology cooling and max imizing the system performance e AKD C Installation Manual describes the AKD C series of intelligent power supply for Kollmorgen decentralized drive system and includes information needed for safe assem bling installation and system setup e Decentralized System User Guide describes how to use your drive in common appli cations It also provides tips for maximizing your system performance The User Guide includes the Parameter and Command Reference Guide which provides documentation for the parameters and commands used to program the AKD N e EtherCAT Communication describes how to use your system in EtherCAT applications e Accessories Manual It provides documentation for accessories like cables and regen resistors used with AKD C and AKD N Regional variants of this manual exist 2 2 Using the PDF Format This document includes several features for ease of navigation Cross Refe
59. urrent derating 1 5 100m Cold plate size Aluminum cold plate minimum size AKD N00307 350x350x10 mm AKD N00607 500x500x10 mm The drive operates to full ratings if the mounting surface for the cold plate is between 10 C and 85 C and the ambient air tem perature is between 10 C and 40 C Ventilation Free air convection 6 6 Inputs Outputs Electrical Data Digital inputs X3 as per IEC61131 2 type 1 ON 15 VDC to 30 VDC 2 MA to 15 mA OFF 3 VDC to 5 VDC 1 mA galvanic isolation for 30 VDC 2 high speed inputs update rate 2 us 1 standard input update rate 250 us Digital outputs X3 as per IEC61131 2 type 1 max 30 VDC 100 mA short circuit proof galvanic isolation for 30 VDC Update rate 250 us STO input option DS ON 18 VDC to 30 VDC 50 mA to 100 mA OFF 0 VDC to 12 VDC 50mA galvanic isolation for 60 VDC STO outputs X3 option DS as per IEC61131 2 type 1 max 30 VDC 100 mA short circuit proof galvanic isolation for 30 VDC Update rate 62 5 us Kollmorgen November 2013 25 26 AKD N Installation 6 Technical description and data 6 7 Connectors Given voltage and current data are the lowest values allowed by UL and CE Hybrid IN X1 4 x 0 34mm 22 awg male 7 poles 3x 2 5 mm3 14 awg 18A 850V female 7 poles 3x 2 5 mm3 14 awg 18A 850V 8 poles 8 poles 4x 1 0 mm 18 awg 10A 30 V 17 poles STO Fieldbus X6 Connector female 4 x 0 34 mm2 22 awg 4 poles Rated voltage with p
60. 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 The product Hardware Revision Number must match the Hardware Revision 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 Automatic Restart The drive might restart automatically after power on depending on the parameter setting A Risk of death or serious injury for humans working in the machine If the parameter DRV ENDEFAULT is set to 1 then place a waming sign to the machine Warning Automatic Restart at Power On and ensure that power on is not possible while humans are in a dangerous zone of the machine 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 trans
61. ve the required ambient conditions as described in chapter Ambient Conditions Ven tilation and Mounting Position 3 p 25 The AKD N can be used in an environment that meets IP67 The cables must be laid durably firmly protected from outside damage for example by lay ing the cable in a duct placed in different sheathed cables or protected individually by grounding connection Wiring must meet the requirements of the standard IEC 60204 1 Kollmorgen November 2013 40 AKD N Installation 6 Technical description and data 6 14 8 Technical data and pinout local STO The local STO input is not compatible with IEC 61131 2 STO Enable input Input does not match IEC61131 2 ON 18 VDC to 30 VDC 100 mA OFF 0 VDC to 12 VDC lt 50 mA Galvanic isolation for 250 VDC Tolerated OSSD pulse duration 0 2 ms As per IEC61131 2 type 1 Max 30 VDC 100 mA Galvanic isolation for 250 VDC X6 Pinout Description STO Enable STO Enable Safety Sensor TI 24V GND M12 A coded X3 Pinout Description see Digital Output p 57 Control 24V STO Status I R gt 240 Ohm Kollmorgen November 2013 AKD N Installation 6 Technical description and data 6 14 9 Functional description local STO With AKD N with option DS 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 When the local STO func tion Safe Torque Off is not needed
62. voltage from 55 VDC up to 800 VDC Motor voltage rating The AKD N 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 gt U V2 nMotor Safe torque off The Safe Torque Off STO functionality is in the certification process As long as the func tion is not safety certified it should not be used as safety function according to ISO 13849 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 device may not be used e with a machine that does not comply with appropriate national directives or standards e fordriving elevators e in applications with continuous operational short circuits to the motor power contacts The use of the device in the following environments is also prohibited e potentially explosive areas e environments with corrosive and or electrically conductive acids alkaline solutions oils vapors dusts e ships or offshore applications Wiring the system with hybrid cables from other manufacturers than Kollmorgen is not allowed Changing Kollmorgen cables or connectors is not allowed Kollmorgen November 2013 AKD N Installation 3 Safety 3 4 Handling 3 4 1 Packaging The
63. y 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 described 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 Kollmorgen declares the conformity of the product series AKD Nzzz07 with the following directives EC Directive 2006 95 EC low voltage Used harmonized standard EN61800 5 1 2007 EC Directive 2004 108 EC electromagnetic compatibility Used harmonized standard EN 61800 3 2004 The AKD Nzzz07 meet the noise immunity requirements to the 2nd environmental category industrial environment For noise emission theAKD Nzzz07 meet the requirement to a prod uct of the Category C2 motor cable up to 5 m These devices can cause high frequency interferences in non industrial environments and may require measures for interference suppression such as additional external EMC filters Kollmorgen November 2013 AKD N Installation 4 Approvals 4 3 Conformance with EC Machinery Directive Functional Safety Conformance with the EC Machinery Directive 2006 42 EC is mandatory for the supply of safety components within the European Community Safe Torque Off STO string type Certification in process Safe Torque Off STO single d
64. ys available for peak and con tinuous power Switch off on over voltage The drive that has the lowest switch off threshold resulting from tolerances 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 voltage The AKD C fault relay contact terminals X15 5 6 is opened due to this fault 6 11 2 Technical data Technical data are listed in the AKD C Installation Manual Kollmorgen November 2013 AKD N Installation 6 Technical description and data 6 12 LED Codes The built in LED indicates the status of the drive after the 24 V supply for AKD C is switched on If the AKD C service connection to the PC or to the PAC doesn t work then the LED is the only way to get information DANGER The built in LED does not safely indicate the real voltage level If connectors are unplugged or contacts are touched there is a danger of electrical arcing with damage to contacts and serious personal injury Always measure the voltage in the DC bus link at connector X14 at AKD C and wait until the voltage is below 60 V before handling any com ponent in the decentral servo system The LED delivers information with three colors red green yellow and blink frequency Spe cialist can analyze the blink frequency more information to that can be found in the Work Bench online help Basic information Color R

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