Kollmorgen AKD-N00607 User manual

AKD®Near Servo Drive

Installation Manual

Edition: C, December 2014

Valid for AKD-N, Hardware Revision B

Part Number 903-200018-00

Original Document

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.

Record of document revisions

Revision Remarks

A, 11/2013 First edition

B, 05/2014 STO section updated

C, 12/2014 Patents updated, typos corrected, HR changed acc. to export control

Hardware Revision (HR)

AKD-N AKD-C Firmware/

WorkBench

Export

Classification Remarks

A A from 1.11 3A225 AKD-C and AKD-N start revisions

B A from 1.13 - AKD-N Hardware Revision for export classification

tracebility purposes

Trademarks

lAKD is a registered trademark of Kollmorgen Corporation

lEnDat is a registered trademark of Dr. Johannes Heidenhain GmbH

lEtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH

lHIPERFACE is a registered trademark of Max Stegmann GmbH

lWindows is a registered trademark of Microsoft Corporation

Current patents

lUS Patent 5.162.798 (used in control card R/D)

lUS Patent 5.646.496 (used in control card R/D and 1 Vp-p feedback interface)

lUS Patent 6.118.241 (used in control card simple dynamic braking)

lUS Patent 8.154.228 (Dynamic Braking For Electric Motors)

lUS Patent 8.214.063 (Auto-tune of a Control System Based on Frequency Response)

lUS Patent 8.566.415 (Safe Torque Off over network wiring)

Patents referring to fieldbus functions are listed in the matching fieldbus manual.

Technical changes which improve the performance of the device may be made without prior notice!

Printed in Germany

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.

2 Kollmorgen | December 2014

1 Table of Contents

1 Table of Contents 3

2 General 7

2.1 About this Manual 8

2.2 Using the PDF Format 8

2.3 Notes for the Printed Edition (paper version) 8

2.4 Symbols Used 9

2.5 Abbreviations Used 9

3 Safety 10

3.1 You should pay attention to this 11

3.2 Use as Directed 13

3.3 Prohibited Use 13

3.4 Handling 14

3.4.1 Packaging 14

3.4.2 Transport 14

3.4.3 Storage 14

3.4.4 Maintenance and cleaning 14

3.4.5 Uninstalling 15

3.4.6 Repair and disposal 15

4 Approvals 16

4.1 Conformance with UL/cUL 17

4.2 Conformance with EC Low Voltage and EMC Directives 17

4.3 Conformance with EC Machinery Directive, Functional Safety 17

5 Package 18

5.1 Package Supplied 19

5.2 Nameplate 19

5.3 Part Number Scheme 20

6 Technical description and data 21

6.1 The AKD-N Family of Digital Drives 22

6.2 Mechanical Data 23

6.3 Electrical Data 23

6.4 Performance Data 23

6.5 Ambient Conditions, Ventilation, and Mounting Position 24

6.6 Inputs/Outputs 24

6.7 Connectors 25

6.8 Cable Requirements 25

6.9 Cable length definition 26

6.10 Dynamic Braking 27

6.11 Regen circuit 27

6.11.1 Functional description 27

6.11.2 Technical data 27

6.12 LED Codes 28

6.13 Switch-On and Switch-Off Behavior 29

AKD-N Installation | Table of Contents

Kollmorgen | December 2014 3

6.13.1 Switch-on behavior in standard operation 29

6.13.2 Switch-off behavior 30

6.13.2.1 Switch-off behavior using a digital input (controlled stop) 30

6.13.2.2 Switch-off behavior using the DRV.DIS command 31

6.13.2.3 Switch-off behavior using HW Enable input on AKD-C (uncontrolled stop) 32

6.13.2.4 Switch-off behavior in the event of a fault 33

6.14 Safe Torque Off (STO) 36

6.14.1 Global STO, control via AKD-C 36

6.14.2 Local STO, control via digital input on AKD-N-DS 36

6.14.3 Safety characteristic data 36

6.14.4 Response Time 37

6.14.5 Use as directed 37

6.14.6 Prohibited use 37

6.14.7 Enclosure, wiring 37

6.14.8 Local STO safety instructions 38

6.14.9 Technical data and pinout local STO 39

6.14.10 Functional description local STO 40

6.14.10.1 Signal diagram (sequence) 40

6.14.11 Functional test 41

6.14.11.1 Global STO 41

6.14.11.2 Local STO 41

6.14.11.3 Local STO application example 42

7 Mechanical Installation 43

7.1 Important Notes 44

7.2 Temperature Management 44

7.3 Mechanical Drawings 45

7.3.1 Dimensions AKD-N, preferred mounting 45

7.3.2 Dimensions AKD-N with optional heat sink, preferred mounting 46

8 Electrical Installation 47

8.1 Important Notes 48

8.2 Guide to Electrical Installation 48

8.3 System Topology of a Decentralized Servo System 49

8.3.1 System limits 49

8.3.2 Example 49

8.4 Wiring 50

8.5 Connection Overview 51

8.5.1 Connector assignment AKD-Nzzz07-DB 51

8.5.2 Connector assignment AKD-Nzzz07-DF/DS 51

8.5.3 Connection diagram AKD-Nzzz07-DB 52

8.5.4 Connection diagram AKD-Nzzz07-DF/DS 53

8.6 Hybrid Connection (X1, X2) 54

8.7 I/O Connection (X3) 54

8.7.1 Digital Inputs 55

8.7.2 Digital Output 56

8.8 Motor Power Connection (X4) 57

8.8.1 Connector X4 AKD-Nzzz07-DB/DS/DF, hybrid, single line 57

AKD-N Installation | Table of Contents

4 Kollmorgen | December 2014

8.8.2 Connector X4 AKD-Nzzz07-DF/DS, dual line 57

8.9 Motor Brake Connection (X4) 58

8.10 Motor Feedback Connection (X4, X5) 59

8.10.1 Connector X4 AKD-Nzzz07-DB/DS/DF, hybrid, single line 59

8.10.2 Connector X5 AKD-Nzzz07-DF/DS, dual line 60

8.11 Optional Connector (X6) 61

8.11.1 Pinout AKD-Nzzz07-DF 61

8.11.2 Pinout AKD-Nzzz07-DS 61

9 Setup 62

9.1 Important Notes 63

9.2 Setup software WorkBench 64

9.3 Initial System Test 65

9.3.1 Unpacking, mounting, and wiring 65

9.3.2 Set IP address 65

9.3.3 Confirm connections 65

9.3.4 Install and start WorkBench 66

9.3.5 Enable the drive using the setup wizard 66

9.4 Fault and Warning Messages 66

10 Index 67

AKD-N Installation | Table of Contents

Kollmorgen | December 2014 5

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AKD-N Installation | Table of Contents

6 Kollmorgen | December 2014

2 General

2.1 About this Manual 8

2.2 Using the PDF Format 8

2.3 Notes for the Printed Edition (paper version) 8

2.4 Symbols Used 9

2.5 Abbreviations Used 9

AKD-N Installation | 2 General

Kollmorgen | December 2014 7

AKD-N Installation | 2 General

2.1 About this Manual

This manual, AKD-N Installation Manual ("Instructions 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:

lDecentralized 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. This document is expected to be published in April

2015.

lAKD-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.

lDecentralized System User Guide: describes how to use your drive in common applic-

ations. 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.

lEtherCAT Communication: describes how to use your system in EtherCAT applications.

lAccessories Manual.It provides documentation for accessories like cables and regen res-

istors 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 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 act-

ive 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 prin-

ted 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.

8 Kollmorgen | December 2014

2.4 Symbols Used

Symbol Indication

DANGER

Indicates a hazardous situation which, if not avoided, will

result in death or serious injury.

WARNING

Indicates a hazardous situation which, if not avoided, could

result in death or serious injury.

CAUTION

Indicates a hazardous situation which, if not avoided, could

result in minor or moderate injury.

Indicates situations which, if not avoided, could result in

property damage.

This symbol indicates important notes.

Warning of a danger (general). The type of danger is spe-

cified by the text next to the symbol.

Warning of danger from electricity and its effects.

Warning of suspended loads.

2.5 Abbreviations Used

Abbreviation Meaning

CE Communité Européenne

EMC Electromagnetic compatibility

LED Light-emitting diode

OSSD Output signals Switching Device

PC Personal computer

PE Protective earth

PELV Protective extra low voltage

PLC Programmable logic control

PWM Pulse-width modulation

RAM Random access memory (volatile memory)

ROD Incremental encoder (A quad B)

Rth Specific thermal resistance

SELV Safety Extra Low Voltage

STO Safe torque off

VAC Volts, alternating current

VDC Volts, direct current

AKD-N Installation | 2 General

Kollmorgen | December 2014 9

AKD-N Installation | 3 Safety

3 Safety

3.1 You should pay attention to this 11

3.2 Use as Directed 13

3.3 Prohibited Use 13

3.4 Handling 14

10 Kollmorgen | December 2014

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