Table with lifecycle informationof this document (➜ # 145)
Beta, 12/2018Beta edition
Hardware Revision (HR)
AKD2GFirmwareWorkbenchKAS IDE Remarks
Afrom 02-00-00-000from 2.00.0.0000 from 3.01 Beta revision
Trademarks
AKD is a registered trademark of Kollmorgen Corporation
EnDat is a registeredtrademark of Dr. Johannes Heidenhain GmbH
EtherCAT is a registered trademark and patented technology, licensedby Beckhoff Automation GmbH
Ethernet/IP is a registered trademark of ODVA, Inc.
Ethernet/IP Communication Stack: copyright (c) 2009, Rockwell Automation
HIPERFACE is a registeredtrademark of Max StegmannGmbH
Windows is a registeredtrademark of Microsoft Corporation
Technical changes which improve the performance of the device may be made without prior notice!
This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be reproduced
in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic
means without the written permission of Kollmorgen.
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AKD2G-S Installation, Safety 1 | Tableof Contents
1Table of Contents
1 Table of Contents3
2 General9
2.1 About thisInstallationManual10
2.2 Using the PDF Format10
2.3 SymbolsUsed11
2.4 AbbreviationsUsed12
2.5 Referred Standards13
3 Product Safety14
3.1 You shouldpay attention to this15
3.2 Shock-hazard Protection17
3.2.1 Leakage current17
3.2.2 Residualcurrent protective device (RCD)17
3.2.3 Isolatingtransformers17
3.3 Stop / Emergency Stop / EmergencyOff18
3.3.1 Stop18
3.3.2 Emergency Stop19
3.3.3 Emergency Off19
3.4 Warning note labels20
3.4.1 Notes placedon the product20
3.4.2 Adhesive labelin the package20
3.5 Use asDirected21
3.6 Prohibited Use22
4 Product life cycle handling23
4.1 Transport24
4.2 Packaging24
4.3 Storage24
4.4 Installation, setup and normal operation25
4.5 Decommissioning25
4.6 Maintenance and cleaning25
4.7 Disassembly25
4.8 SystemRepair26
4.9 Disposal26
5 Package27
5.1 PackageSupplied28
5.2 Nameplate28
5.3 Part Number Scheme29
6 Technical description and data30
6.1 The AKD2G Familyof Digital Drives31
6.2 Ambient Conditions,Ventilation, and Mounting Position33
6.3 MechanicalData33
6.4 Performance Data34
6.5 Electrical data35
6.5.1 Singleaxisvariants (S)35
6.5.1.1 Mains supply data, 1 phaseAC, type AKD2G-Sxx- (S)35
6.5.1.2 Mains supply data, 3 phaseAC, type AKD2G-Sxx- (S)35
6.5.1.3 Auxiliary voltage input data, 24V DC, type AKD2G-Sxx- (S)35
6.5.1.4 Output data, type AKD2G-Sxx- (S)36
6.5.2 Dual axisvariants(D: I1=I2)37
6.5.2.1 Mains supply data, 1 phaseAC, type AKD2G-Sxx- (D)37
6.5.2.2 Mains supply data, 3 phaseAC, type AKD2G-Sxx- (D)37
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AKD2G-S Installation, Safety 1 | Tableof Contents
6.5.2.3 Auxiliary voltage input data, 24V DC, type AKD2G-Sxx- (D)37
6.5.2.4 Output data, type AKD2G-Sxx- (D)38
6.6 LCD Displayand Push-buttons (B1, B2)39
6.7 SD Card Slot41
6.8 Electrical Motor Braking42
6.8.1 DynamicBraking42
6.8.2 Rheostatic energy dissipation42
6.8.2.1 Functional description42
6.8.2.2 Technicaldata for AKD2G-Sxx-6V43
6.8.2.3 Technicaldata for AKD2G-Sxx-7V44
7 Mechanical Installation45
7.1 Important Notes46
7.2 Guideto MechanicalInstallation46
7.3 Dimensions47
8 Electrical Installation48
8.1 Important Notes49
8.2 Guideto electricalinstallation50
8.3 Wiring51
8.3.1 General51
8.3.2 Mating connectors51
8.3.3 Cable and Wire Requirements52
8.3.3.1 Cable material52
8.3.3.2 Cable crosssectionsand requirements53
8.3.4 ProtectiveEarth connection54
8.4 EMI NoiseReduction55
8.4.1 Recommendations for EMI noisereduction55
8.4.2 Shielding with external shieldingbusbar56
8.4.2.1 ShieldingConcept56
8.4.2.2 ShieldingBusbar57
8.4.3 Shielding connectionto the drive58
8.4.3.1 ShieldingConcept58
8.4.3.2 Grounding plates and shield connection clamps59
8.4.3.3 Motor connector X1/X2 with shielding connection59
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AKD2G-S Installation, Safety 1 | Tableof Contents
10.8.1.1.3 Versions136
10.8.1.1.4 General Information136
10.8.1.1.5 Variants Supported136
10.8.1.2 AXIS#.SAFE.STO.A137
10.8.1.2.1 Description137
10.8.1.2.2 Context137
10.8.1.2.3 Versions137
10.8.1.2.4 General Information137
10.8.1.2.5 Variants Supported137
10.8.1.3 AXIS#.SAFE.STO.B138
10.8.1.3.1 Description138
10.8.1.3.2 Context138
10.8.1.3.3 Versions138
10.8.1.3.4 General Information138
10.8.1.3.5 Variants Supported138
10.8.1.4 AXIS#.SAFE.STO.REPORTFAULT139
10.8.1.4.1 Description139
10.8.1.4.2 Context139
10.8.1.4.3 Versions139
10.8.1.4.4 General Information139
10.8.1.4.5 Variants Supported139
11 Approvals140
11.1 Conformance with UL/cUL141
11.2 Conformance with CE141
11.3 Conformance with RoHS141
11.4 Conformance with REACH141
11.5 Functional Safetyapproval141
11.6 Conformance with EAC141
12 Index143
13 Record of document revisions145
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AKD2G-S Installation, Safety 1 |
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AKD2G-S Installation, Safety 1 | 2 General
2General
2.1 About this Installation Manual10
2.2 Using the PDF Format10
2.3 Symbols Used11
2.4 Abbreviations Used12
2.5 Referred Standards13
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AKD2G-S Installation, Safety 1 | 2 General
2.1 About this Installation Manual
This document, the AKD®2G Installation Manual ("Instructions Manual" accordingto EC
Machinery Directive 2006/42/EC), describes the AKD®2G series of digital drives and
includes informationneeded to safely install an AKD2G.
This document is valid for AKD2G single axis drive or dual axis drive with 110V to 240V or
240V to 480V mains voltage.
Ouput stages: 3 A or 6 A or 12 A rated current
Programmability options: Base drive or Position Indexer drive
Connectivity options: analog, CANopen, EtherCAT, Ethernet/IP
I/O options: ExtendedI/O (X22), Feedback&EEO (X23)
Functional Safety options: option 1 with STO (SIL2 PLd)
A digital versionof this manual (pdf format)is available on the DVD includedwith yourdrive.
Additional documents:
WorkBench Online Help: describes how to use your drive in common applications. It also
provides tips for maximizing your system performance with the AKD2G. The Online Help
includes the Parameter and Command Reference Guide which provides information for
the parameters and commands used to program the AKD2G.
CAN-BUS Communication: describes how to use your drive in CANopen applications.
EtherCAT Communication: describes how to use your drive in EtherCAT applications.
Ethernet/IP Communication: describes how to use your drive in Ethernet/IP applications.
Accessories Manual: provides information for accessories like cables and regen resistors
used with AKD2G. Regional variants of this manual exist.
All documents can be downloadedfrom the Kollmorgen website www.kollmorgen.com.
2.2 Using the PDF Format
This document includes several features for ease of navigation
Cross ReferencesTable of contents andindex include active cross references.
Table of contents and
index
Page/chapter numbers
in the text
Lines are active cross references. Click on the line andthe appropriate pageis accessed.
Page/chapternumbers with cross references areactive links.
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Page 11
2.3 Symbols Used
Warning Symbols
AKD2G-S Installation, Safety 1 | 2 General
SymbolIndication
Indicates a hazardous situation which, if not avoided, will result
in death or serious injury.
Indicates a hazardous situation which, if not avoided, could result in death or serious injury.
Indicates a hazardous situation which, if not avoided, could result in minoror moderate injury.
Indicates situations which, if not avoided, could result in property damage.
This symbol indicates important notes.
Warning of a danger (general). Thetype of danger is specified
by the text next to the symbol.
Warning of danger from electricity andits effects.
Warning of danger from hot surface.
Warning of danger from suspendedloads.
Warning of danger from automatic start.
Drawing symbols
SymbolDescriptionSymbolDescription
Signal groundDiode
Chassis groundRelay
Protective earthRelay switch off delayed
ResistorNormally open contact
FuseNormally closed contact
State-of-the-art firewallEMC filter
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AKD2G-S Installation, Safety 1 | 2 General
2.4 Abbreviations Used
Abbreviations related to functional safety (➜ # 125).
AbbreviationMeaning
(➜ # 53)"see page53" in this document
ΩOhms
A#, AXIS#A# or AXIS# are placeholders for the axis number. Used with keywords or
signal names
AGNDAnalog ground
AMSLAbove mean sea level
AxisDepends on context, either one AKD2G output stageor one load axis of
the full motionsystem.
CATCategory
CECommunité Européenne
COMSerial interface for a personal computer
DGNDDigital ground
EEPROMElectrically erasableprogrammable memory
EEOEmulatedEncoder Output
EMCElectromagnetic compatibility
EMFElectromagnetic force
F-SMAFiber optic cable connector accordingto IEC 60874-2
FSoEFail safe over EtherCAT
KASKollmorgen AutomationSuite
KAS IDESetup software (Kollmorgen AutomationSuite Integrated Development
Environment)
KDNKollmorgen Developer Network
LEDLight-emitting diode
LSBLow significant byte (orbit)
MSBMain significant byte (or bit)
NIZero pulse
OSSDOutput Signal Switching Device
PCPersonal computer
PEProtective earth
PELVProtective Extra Low Voltage
PLCProgrammable logic control
PWMPulse-width modulation
RAMRandom access memory (volatile memory)
RBrake/RBRegenresistor (also calleda brake resistor)
RBextExternal regenresistor
RBintInternal regenresistor
RCDResidual current device
RESResolver
S1Continuous operation
tbdTo be discussed (in process)
VACVolts, alternatingcurrent
VDCVolts, direct current
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Page 13
2.5 Referred Standards
StandardContent
ISO 4762Hexagon socket head cap screws
ISO 11898Road vehicles — Controller area network (CAN)
ISO 12100Safety of machinery: Basic concepts, general principles for design
ISO 13849Safety of machinery: Safety-related parts of control systems
IEC 60085Electrical insulation - Thermal evaluation and designation Maintenance
IEC 60204Safety of Machinery: Electrical equipment of machinery
IEC 60364Low-voltageelectrical installations
IEC 60439Low-Voltage Switchgear andControlgear Assemblies
IEC 60529International protection rating(IP code)
IEC 60664Insulationcoordination for equipment within low-voltagesystems
IEC 60721Classification of environmental conditions
IEC 61000Electromagnetic compatibility (EMC)
IEC 61131Programmable controllers
IEC 61784Industrial communicationnetworks - Profiles,
IEC 61491Electrical equipment of industrial machines – Serial data link for real-time
IEC 61508Functional safety of electrical/electronic/programmableelectronic safety-
IEC 61800Adjustable speedelectrical power drive systems
IEC 62061Functional safety of electrical/electronic/programmableelectronic safety-
IEC 82079Preparationof instructions for use - Structuring, content andpresentation
UL 61800-5-1 Adjustablespeed electrical powerdrive systems,
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Page 15
3.1 You should pay attention to this
This section helps to recognize risks and avoid dangers to people andobjects.
Specialist staff required!
Only properly qualified personnel arepermitted to perform such tasks as transport, installation and setup. Qualified specialist staff are persons with expertise in transport, installation,
assembly, commissioning and operation of electrotechnical equipment.
Transport, storage, unpacking: only by personnel with knowledge of handling electrostatically sensitive components.
Mechanical installation: only by personnel with mechanical expertise.
Electrical installation: only by personnel with electrotechnical expertise.
Basic tests / setup: only by personnel with expertise in electrical engineeringand drive
technology.
The qualified personnel must know and observe ISO 12100/ IEC 60364 / IEC 60664 and
national accident preventionregulations.
Read the documentation!
Read the available documentationbeforeinstallationand commissioning. Improperhandling
of the devices can cause harm to people or damage to property. The operatorof systems
using the drive system must ensure that all personnel who work with the drive read and understand the manual before using the drive.
Check the Hardware Revision Number of the product (see product label). This numberis the
link between your product andthe manual. The product Hardware Revision Number must
match the HardwareRevision Number onthe cover page of the manual.
Pay attention to the technical data!
Adhere to the technical data and the specifications on connection conditions. If permissible
voltage values or current values are exceeded, the devices can be damaged. Unsuitable
motororwrong wiring will damage the system components. Check the combination of drive
andmotor. Comparethe ratedvoltageand current of the units.
Perform a risk assessment!
The manufacturer of the machine must generate a risk assessment for the machine, andtake
appropriate measures to ensure that unforeseenmovements cannot cause injury or damage
to any person orproperty. Additional requirements on specialist staff may also result from the
risk assessment.
Automatic restart
The drive might restart automatically after power on, voltage dip or interruption of the supply
voltage, dependingon the parameter setting. Risk of death or serious injury for humans working in the machine.
If the parameterAXIS#.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 dangerous zone of the machine. In case of using an undervoltageprotection
device, you must observe EN 60204-1:2006chapter 7.5 .
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The devices contain electrostatically sensitive components which may be damaged by incorrect handling. Electrostatically discharge your body before touching the device. Avoid contact with highly insulatingmaterials (artificial fabrics, plastic film etc.). Place the device on a
conductive surface.
Hot surface!
Drives may have hot surfaces duringoperation. The housing can reach temperatures above
80°C. Risk of minor burns! Measurethe temperature, andwait until the housing has cooled
down below 40 °C before touchingit.
Earthing!
It is vital that you ensure that the drive is safely earthed to the PE (protective earth)busbarin
the switch cabinet. Risk of electric shock. Without low-resistance earthing no personal protection can be guaranteed.
Leakage Current!
Since the leakagecurrent to PE is more than3.5 mA, in compliance with IEC61800-5-1the
PE connection must eitherbe doubled or a connecting cable with a cross-section >10 mm²
must be used. Deviating measures according to regional standards might be possible.
High voltages!
The equipment produces highelectric voltages up to 900 V. Lethal danger exists at live parts
of the device. Do not open or touch the equipment duringoperation. Keep all covers and cabinet doors closed. Built-in protection measures such as insulation or shielding may not be
removed. Work on the electrical installation may only be performedby trainedand qualified
personnel, in compliance with the regulations for safety at work, and only with switchedoff
mains supply, and securedagainst restart.
Never undo any electrical connections to the drive while it is live. There is a danger of electrical arcing with damageto contacts and personal injury. Wait at least 5 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.
Always measure the voltage in the DC bus link and wait until the voltage is below 50 V
before handling components.
Functional Safety!
Beta drives: Safety functionality is not approvednor certified. Do not use this functionality in
applications with functional safety request.
The assessment of the safety functions according to EN13849or EN 62061must finally be
done by the user.
Reinforced Insulation
Thermal sensors, motor holdingbrakes and feedback systems built into the connected motor
must have reinforced insulation(according to IEC61800-5-1) against system components
with powervoltage, accordingto the required application test voltage. All Kollmorgen components meet these requirements.
Never modify the drive!
It is not allowed to modify the drive hardwarewithout permission by the manufacturer. Opening the housing causes loss of warranty.
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Page 17
3.2 Shock-hazard Protection
3.2.1 Leakage current
Leakagecurrent via the PE conductor results from the combination of equipment and cable
leakage currents. Theleakagecurrent frequency patternincludes a number of frequencies,
whereby the residual-current circuit breakers definitively evaluate the 50 Hz current. For this
reason, the leakagecurrent cannot be measured using a conventional multimeter. Contact
ourapplication department for help to calculate the leakage current in your application.
Since the leakagecurrent to PE is more than3.5 mA, in compliance with IEC61800-5-1the
PE connection must eitherbe doubled or a connecting cable with a cross-section >10 mm²
must be used. Use the PE terminal and the PE connection screws in orderto fulfill this
requirement.
The followingmeasures can be used to minimize leakagecurrents:
Reduce the length of the engine cable.
Use low capacitance motor cables (➜ # 52).
3.2.2 Residual current protective device (RCD)
In conformity with IEC 60364-4-41 – Regulations for installationand IEC 60204– Electrical
equipment of machinery, residual current protective devices (RCDs) can be usedprovided
the requisite regulations arecomplied with. The AKD2G is a 3-phase system with a B6
bridge. Therefore, RCDs which aresensitive to all currents must be used in order to detect
any DC fault current.
10 to 30 mAProtection against "indirect contact" (personal fire protection)for stationary
50 to 300 mAProtection against "indirect contact" (personal fire protection) for stationary
Recommendation: In order to protect against direct contact (with motor cables shorter than
5 m) Kollmorgen recommends that each drive be protectedindividually using a 30 mA RCD
which is sensitive to all currents.
If you use a selective RCD, the more intelligent evaluation process will prevent spurious trippingof the RCD.
3.2.3 Isolating transformers
When protection against indirect contact is absolutely essential despite a higher leakage current, or when analternative form of shock-hazard protection is sought, the AKD2G can also
be operated via an isolating transformer. A ground-leakage monitorcan be usedto monitorfor
short circuits.
Keepthe length of wiring between the transformer andthe drive as short as possible.
andmobile equipment, as well as for "direct contact".
equipment
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The control functions Stop, Emergency Stop andEmergency Off are defined by IEC 60204.
Notes for safety aspects of these functions can be found in ISO 13849and IEC 62061.
The parameterAXIS#.DISMODE must be set to implement the different stop categories.
Consult the WorkBench Online Help for configuring the parameter.
No functional safety!
Serious injury could result when the load is not properly blocked. With vertical load the load
could fall.
Functional safety, e.g. with hangingload (vertical axes), requires an additional mechanical brake which must be safely operated, for exampleby a safety control.
Set parameterAXIS#.MOTOR.BRAKEIMM to 1 with vertical axes, to apply the motor
holdingbrake (➜ # 82) immediately after faults or Hardware Disable.
3.3.1 Stop
The stop function shuts down the machinein normal operation. The stop function is defined
by IEC 60204.
The Stop Category must be determinedby a risk evaluation of the machine.
Stop function must have priority over assigned start functions. The following stop categories
aredefined:
Stop Category 0
Shut-down by immediate switching-off the energy supply to the drive machinery (this is an
uncontrolled shut-down). With the safety function STO (➜ # 127) the drive can be stopped
using its internal electronics (IEC 62061 SIL2).
Stop Category 1
A controlled shut-down, whereby the energy supply to the drive machinery is maintainedto
perform the shut-down, and the energy supply is only interrupted whenthe shut-down has
been completed.
Stop Category 2
A controlled shut-down, whereby the energy supply to the drive machinery is maintained.
Stop Category 0 and Stop Category 1 stops must be operableindependently of the operating
mode, whereby a Category 0 stop must have priority.
If necessary, provision must be made for the connection of protective devices and lock-outs.
If applicable, the stop function must signal its status to the control logic. A reset of the stop
function must not create a hazardous situation.
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Page 19
3.3.2 Emergency Stop
The Emergency Stop function is used for the fastest possible shutdown of the machine in a
dangerous situation. The Emergency Stop function is defined by IEC 60204. Principles of
emergency stop devices and functional aspects are defined in ISO 13850.
The Emergency Stop function will be triggeredby the manual actions of a single person. It
must be fully functional and available at all times. The user must understandinstantly how to
operate this mechanism (without consulting references or instructions).
The Stop Category for the Emergency Stop must be determinedby a risk evaluation of the
machine.
In additionto the requirements for stop, the Emergency Stop must fulfil the following requirements:
Emergency Stop must have priority over all otherfunctions andcontrols in all operating
modes.
The energy supply to any drive machinery that could cause dangerous situations must be
switched off as fast as possible, without causing any further hazards (Stop Category 0)
or must be controlledin such a way, that any movement that causes danger, is stopped
as fast as possible (Stop Category 1).
The reset must not initiate a restart.
The Emergency Off function is used to switch-off the electrical power supply of the machine.
This is done to prevent users from any risk from electrical energy (for example electrical
impact). Functional aspects for Emergency Off aredefinedin IEC 60364-5-53.
The Emergency Off function will be triggeredby the manual actions of a single person.
The result of a risk evaluation of the machine determines the necessity for an Emergency
Off function.
Emergency Off is doneby switching off the supply energy by electro-mechanical switching
devices. This results in a category 0 stop. If this stop category is not possible in the application, then the Emergency Off function must be replaced by other measures (for example by
protection against direct touching).
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If a warningnote label is damaged, it must be replaced immediately.
3.4.1 Notes placed on the product
AKD2G
Wait 5 minutes
after removing power
before servicing.
3.4.2 Adhesive label in the package
To meet UL, place the multi-languagelabel on the drive or on the panel near the drive.
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Page 21
3.5 Use as Directed
The AKD2G drives are exclusively intended for drivingsuitablesynchronous servomotors
with closed-loopcontrol of torque, speed, and/or position.
AKD2G are components that are built into electrical plants or machines and can only be operated as integral components of these plants or machines. The manufacturer of the machine
used with a drive must generate a risk assessment for the machine. When the drives arebuilt
into machines or plant, the drive must not be used until it has beenestablished that the
machine or plant fulfills the requirements of the regional directives.
Cabinet and wiring
Drives must only be operated in a closed control cabinet suitable for the ambient conditions
(➜ # 33). Ventilationor cooling may be necessary to keep the temperature within the cabinet
below 40°C.
Use only copper conductors for wiring. The conductor cross-sections can be derived from the
standard IEC 60204 (alternatively for AWG cross-sections: NEC Table 310-16, 75°C
column).
Power supply
The drives can be supplied by 1, 2 or 3 phase industrial supply networks.
Drives in the AKD2G series can be suppliedas follows:
AKD2G-Sxx-6Vxx:
1, 2 or 3 phase industrial supply networks (not morethan200 kA symmetrical rated current at 120 V and 240V).
AKD2G-Sxx-7Vxx:
3 phase industrial supply networks (not more than200 kA symmetrical ratedcurrent at
240V, 400 V and480 V).
Connection to other voltage types of supply networks is possible with an additional isolating
transformer.
Repeated overvoltages betweenphases (L1, L2, L3) and the housingof the drive must not
exceed1000 V peak. In accordance with IEC 61800, voltagespikes (< 50 µs) between
phases must not exceed1000 V. Voltagespikes (<50µs) between a phase and the housing
must not exceed 2000 V.
EMC filter measures for AKD2G-Sxx-6Vxx must be implemented by the user.
Motor voltage rating
The rated voltage of the motors must be at least as high as the DC bus link voltage divided
by √2 produced by the drive (U
nMotor
>=UDC/√2).
Functional Safety
Beta Drives: Safety functionality is neither approved norcertified yet. Do not use this functionality in applications with functional safety request until further notice.
The network, to which the drive is connected, must be secured according to state-of-theart information technology security requirements.
The userIT specialists shall analyze whetherfurther security requirements are applicableto ensure functional safety.
Review the chapter"Use as Directed" in the Functional Safety section (➜ # 123)before
using safety functionality.
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Otheruse thanthat described in chapter “Use as directed” is not intended and can lead to personnel injuries andequipment damage. The drive may not be used with a machine that does
not comply with appropriate national directives or standards. The use of the drive in the following environments is also prohibited:
potentially explosive areas
environments with corrosive and/or electrically conductive acids, alkaline solutions, oils,
vapors, dusts
ships or offshore applications
The drive must not be connected directly to the Internet. If the network, to which the drive is
connected, is not secured according to state-of-the-art information technology, this could be
a functional safety risk.
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AKD2G-S Installation, Safety 1 | 4 Product life cycle handling
4Product life cycle handling
4.1 Transport24
4.2 Packaging24
4.3 Storage24
4.4 Installation, setup and normal operation25
4.5 Decommissioning25
4.6 Maintenance and cleaning25
4.7 Disassembly25
4.8 System Repair26
4.9 Disposal26
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Page 24
AKD2G-S Installation, Safety 1 | 4 Product life cycle handling
4.1 Transport
Transport the AKD2G in accordance with IEC 61800-2 as follows:
Transport only by qualifiedpersonnel in the manufacturer’s original recyclablepackaging.
Avoid shocks while transporting.
Vibration/Shock: AKD2G is tested for environmental class 2M1 of IEC 60721-3-2.
Store at or below maximum stacking height 8 cartons (see "Storage" (➜ # 24))
Transport only within specified temperatureranges:
-25to +70 °C, max. rate of change 20K/hour, class 2K3.
Transport only within specified humidity:
max. 95% relative humidity at +40°C, no condensation, class 2K3.
The drives containelectrostatically sensitive components that can be damaged by incorrect
handling. Electrostatically dischargeyourself beforetouching the drive. Avoid contact with
highly insulating materials, such as artificial fabrics and plastic films. Place the drive on a
conductive surface.
If the packagingis damaged, check the unit for visible damage. Inform the shipperand the
manufacturer of any damageto the package orproduct.
4.2 Packaging
4.3 Storage
The AKD2G packaging consists of recyclable cardboard with inserts and a label on the outside of the box.
ModelPackage
(mm) HxWxL
AKD2G-Sxx-6V03 to 6V12tbd4.2
AKD2G-Sxx-7V03 to 7V12tbd4.3
Matingconnectors arenot included in the packageof a standarddrive.
Matingconnectors areincluded whenthe drive is orderedwith accessories (append “-A”to
the model number).
Store the AKD2G in accordance with IEC 61800-2 as follows:
Store only in the manufacturer’s original recyclable packaging.
Store at or below maximum stacking height 8 cartons.
Store only within specified temperature ranges: -25to +55 °C, max.rate of change
20K/hour, class 1K4.
Storage only within specified humidity: 5 to 95% relative humidity, no condensation, class
1K3.
Store in accordance with the following durationrequirements:
Less than 1 year: without restriction.
More than 1 year: capacitors must be re-formed before setting up and operating the
drive. Re-forming procedures aredescribedin the KollmorgenDeveloper Network
(Forming).
Total Weight
(kg)
24Kollmorgen | kdn.kollmorgen.com | Beta, December 2018
Page 25
AKD2G-S Installation, Safety 1 | 4 Product life cycle handling
4.4 Installation, setup and normal operation
Installation andsetup informationare given in this manual:
Normal operation tested for environmental class 3K3 according to IEC 61800-2(➜ # 33).
The manufacturer of the machine defines the necessary enduser expertise basedonthe risk
assessment for the machine and describes the requirements for normal operation based on
the application.
4.5 Decommissioning
Only professional staff who arequalified in electrical engineering are allowed to decommission parts of the system.
DANGER: Lethal Voltages!
There is a dangerof serious personal injury or death by electrical shock or electrical arcing.
Switch off the main switch of the switchgear cabinet.
Securethe system against restarting.
Block the main switch.
Wait at least 5 minutes after disconnecting.
4.6 Maintenance and cleaning
The device does not require maintenance. Opening the device voids the warranty. The inside
of the unit can only be cleanedby the manufacturer.
Do not immerse or spray the device. Avoid that liquid enters the device.
To clean the device exterior:
1. Decommission the device (see chapter 4.5 "Decommissioning").
2. Casing: Clean with isopropanol or similar cleaning solution.
Caution : Highly Flammable! Risk of injury by explosionand fire.
Observe the safety notes given on the cleaning liquidpackage.
Wait at least 30 minutes after cleaningbeforeputting the device back into operation.
3. Protective grill on fan: Clean with a dry brush.
4.7 Disassembly
Only professional staff who arequalified in electrical engineering are allowed to disassemble
parts of the system.
1. Decommission the device (see chapter 4.5 "Decommissioning").
2. Check temperature.
CAUTION: High Temperature! Risk of minor burns. During operation, the heat sink of
the drive may reach temperatures above 80°C (176°F). Before touching the device,
check the temperature andwait until it has cooled below 40°C (104°F).
3. Remove the connectors. Disconnect the potential earth connection last.
4. Demount: loosen the fastening screws. Remove the device.
Kollmorgen | kdn.kollmorgen.com | Beta, December 201825
Page 26
AKD2G-S Installation, Safety 1 | 4 Product life cycle handling
4.8 System Repair
Only professional staff who arequalified in electrical engineering are allowed to exchange
parts of the drive system.
CAUTION: Automatic Start! During replacement work a combination of hazards andmul-
tiple episodes may occur.
Work on the electrical installationmay only be performed by trained andqualified personnel, in compliance with the regulations for safety at work, andonly with use of prescribed personal safety equipment.
Exchange of the device
Only the manufacturercan repairthe device. Opening the device voids the warranty.
1. Decommission the device (see chapter 4.5 "Decommissioning").
2. Demount the device (see chapter4.7 "Disassembly").
3. Send the device to the manufacturer.
4. Install a new device as described in this manual.
5. Setup the system as described in this manual.
Exchange of other drive system parts
If parts of the drive system (forexample cables) must be replaced, proceed as follows:
4.9 Disposal
1. Decommission the device (see chapter 4.5 "Decommissioning").
2. Exchange the parts.
3. Check all connections for correct fastening.
4. Setup the system as described in this manual.
To dispose the unit properly, contact a certified electronic scrap disposal merchant.
In accordance with the WEEE-2012/19/EC guidelineand similar, the manufacturer accepts
returns of old devices and accessories for professional disposal. Transport costs are the
responsibility of the sender.
Contact Kollmorgen andclarify the logistics.
Sendthe devices in the original packaging to the manufacturer address:
North AmericaSouth America
KOLLMORGEN
201West Rock Road
Radford, VA 24141, USA
EuropeAsia
KOLLMORGEN Europe GmbH
Pempelfurtstr. 1
40880Ratingen, Germany
KOLLMORGEN
AvenidaJoãoPaulo Ablas, 2970
Jardim da Glória, Cotia – SP
CEP 06711-250, Brazil
KOLLMORGEN
Floor 4, Building 9, No. 518,
North FuquanRoad, Changning District,
Shanghai 200335, China
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Page 27
AKD2G-S Installation, Safety 1 | 5 Package
5Package
5.1 Package Supplied28
5.2 Nameplate28
5.3 Part Number Scheme29
Kollmorgen | kdn.kollmorgen.com | Beta, December 201827
Page 28
AKD2G-S Installation, Safety 1 | 5 Package
5.1 Package Supplied
When a standard drive from the AKD2G series is delivered, the following items areincluded
in the drive package:
AKD2G
Printedcopy of AKD®2G Product Safety Guide .
DVD with WorkBench setup software .
Panel safety label
Matingconnectors arenot included in the packageof a standarddrive.
Matingconnectors areincluded whenthe drive is orderedwith accessories (append “-A”to
the model number). With the accessories option all connectors to match the drive variant are
included, excepting SubD (Feedback 3), RJ25 (CAN bus) andRJ45 (service and fieldbus
networks).
Accessories Sold Separately
Accessories must be ordered separately if required.
EMC filters for mains supply voltage, categories C2 or C3.
External regenresistor.
Connector kits
Hybrid cable. Assembled hybridmotor cables are available for all regions.
Motorcable. Assembledmotor cables are available for all regions.
Feedback cable. Assembled feedback cables areavailable for all regions.
SFA (Smart Feedback Adapter) .
SDB Module (Safe Dynamic Brake Module).
Ethernet service cable.
5.2 Nameplate
A nameplate is attached to the side of the drive. The picturebelow is similar to the nameplate
on the device.
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Page 29
5.3 Part Number Scheme
Use the part numberscheme for product identification only, not for the order process,
because not all combinations of features are possible.
Matingconnectors arenot included in the packageof a standarddrive.
Matingconnectors areincluded whenthe drive is orderedwith accessories (append “-A”to
the model number).
AKD2G-S Installation, Safety 1 | 5 Package
Example AKD2G-SPE-7V06S-A1IO-0000
AKD2G IP20 housing, position indexer, EtherCAT, 240 V to 480 V mains supply, 6 A rated
current, single axis, HardwareRevision A, dual channel STO SIL2 PLd, with additional I/O
connector X22, uncoated, no mating connectors.
Example AKD2G-SPE-6V03D-A1DX-A000-A
AKD2G IP20 housing, position indexer, EtherCAT, 120 V to 240 V mains supply, 2 x 3 A
rated current, dual axis, HardwareRevision A, dual channel STO SIL2 PLd, with all possible
connector (basis + X23), PCBs coated, with mating connectors.
Kollmorgen | kdn.kollmorgen.com | Beta, December 201829
Singleaxis or dual axis in one housing
Supply voltages: single phase AC, dual phase AC, three phase AC
Singleorgroupsupply, single or groupmains fusing
Motionbus on board, TCP/IP service channel on board
SFD3, HIPERFACE DSL motor feedback support on board
Support for second feedback
Step / Direction input on board
Encoder emulation on board
Use with synchronous servomotors, linear motors, and induction machines
SIL2 / PLd dual channel STO
One, two or three phase AC supply, voltage range85 to 528 V, 47 to 63 Hz.
Connection to higherAC voltage mains only via isolating transformer.
Fusingto be provided by the user.
B6 bridge rectifier, integral soft-start circuit.
DC bus link voltage range 120 to 750VDC
Output stage IGBT modulewith floatingcurrent measurement.
Internal regen resistor for all models, external regenresistor if required.
Appropriate insulation / creepagedistances andelectrical isolationfor safe electrical separation, perIEC 61800-5-1, between the powerinput / motor connections andthe signal
electronics.
Soft-start, overvoltage detection, short-circuit protection, phase-loss detection.
Temperature monitoring of the drive and motor.
Motoroverload protection: foldback mechanism.
Kollmorgen | kdn.kollmorgen.com | Beta, December 201831
6.2 Ambient Conditions, Ventilation, and Mounting Position
Storage, Transport(➜ # 24)
Normal operationEnvironmental class 3K3 according to IEC 61800-2
Surrounding temperature in operation
Humidity in operation Relative humidity 5 to 85%, no condensation, IEC 61800-2class
Site altitudeUp to 1000 m above mean sea level (AMSL): no restriction
Pollution levelPollutionlevel 2 as per IEC 60664-1
VibrationClass 3M1 according to IEC 61800-2
ShockClass L accordingto IEC 61800-2
Drive protectionIP 20 according to IEC 60529
Drive EMC immunityIncreased immunity accordingto EN 61800-5-2
MountingVertical position, in a cabinet with protection of at least IP 54
VentilationBuilt-in fan in all drive variants
Internal regen resistor used:
0 to +40 °C underrated conditions
+40 to +60 °C with current derating3 % perKelvin
Internal regen resistor not used:
0 to +50 °C underrated conditions
+50 to +60 °C with current derating2 % perKelvin
3K3
1,000 to 2,000 m AMSL: power derating 1.5%/100 m
Maximum altitude: 2000 m AMSL
The drive shuts down in case of excessively high temperature in
the control cabinet. Make sure sufficient forced ventilationis suppliedwithin the control cabinet.
6.3 Mechanical Data
Weight (with X22 and X23)kg2.62.92.62.9
Widthmm76757675
Height, without connectors
front/back
Height, with connectorsmm303340303340
Depth, without connectorsmm221221221221
Depth, with connectorsmm<235<235<235<235
Normal Switchingfrequency (dynamic)kHz1512
Loaded Switching Frequency (dynamic)kHz10.48.2
Current Loop Update Periodµs1.28*
Velocity Loop Update Periodµs62.5
Position Loop Update Periodµs250
Current Loop BandwidthHz3000
Velocity Loop BandwidthHz750
Position Loop BandwidthHz350
Max. motor electrical frequencyHz599
* Control updates every 1.28 µs. Current commandis updated every 62.5 µs.
AKD2G-Sxx-
7V06, 7V12
7V03
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6.5.1.1 Mains supply data, 1 phase AC, type AKD2G-Sxx- (S)
Input dataUnits6V03S6V06S6V12S
Rated supply voltage (L1/N)VAC1 x 100 V to 240 V
Rated supply input frequencyHz50 Hz to 60 Hz ±5%
Permittedswitch on/off frequency1/h30
Rated input power@240VkVA1.22.382.64
Rated input current at 1 x 110 VacA59.911
Rated input current at 1 x 240 VacA59.911
Max. inrush currentA10
Rated DC bus link voltageVDC310
6.5.1.2 Mains supply data, 3 phase AC, type AKD2G-Sxx- (S)
Input dataUnits 6V03S6V06S6V12S7V03S7V06S7V12S
Rated supply voltage (L1/L2/L3)VAC3 x 100 V to 240 V3 x 200 V to 480 V
Rated supply input frequencyHz50 Hz to 60 Hz ±5%
Permittedswitch on/off frequency1/h3030
Rated input power@240V (*480V)kVA1.22.382.642.24*4.49*7.65*
Rated input current at 3 x 110 VacA2.95.79.2--Rated input current at 3 x 240 VacA55.79.22.75.49.2
Rated input current at 3 x 400 VacA---2.75.49.2
Rated input current at 3 x 480 VacA---2.75.49.2
Max. inrush currentA10
Rated DC bus link voltageVDC310620
6.5.1.3Auxiliary voltage input data, 24V DC, type AKD2G-Sxx- (S)
Input dataUnits 6V03S6V06S6V12S7V03S7V06S7V12S
Aux. voltage supply (PELV)VDC24 V (±10%, check voltage drop)
- control current without motor brakeA1
- control current with one motorbrakeA3.5
Kollmorgen | kdn.kollmorgen.com | Beta, December 201835
at 1 x 110VacArms3612--at 1 x 240VacArms3612--at 3 x 110VacArms3612--at 3 x 240VacArms36123612
at 3 x 400VacArms---3612
at 3 x 480VacArms---3612
Peak output current (for 5s, ± 3%)Arms9183091830
Continuous output power @ rated input current
at 1 x 110VackVAtbdtbdtbd---
at 1 x 240VackVAtbdtbdtbd---
at 3 x 110VackVAtbdtbdtbd---
at 3 x 240VackVAtbdtbdtbdtbdtbdtbd
at 3 x 400VackVA---tbdtbdtbd
at 3 x 480VackVA---tbdtbdtbd
Peak output power (for 1 s)
at 1 x 110VackVAtbdtbdtbd--at 1 x 240VackVAtbdtbdtbd--at 3 x 110VackVAtbdtbdtbd--at 3 x 240VackVAtbdtbdtbdtbdtbdtbd
at 3 x 400VackVA---tbdtbdtbd
at 3 x 480VackVA---tbdtbdtbd
6.5.2.1 Mains supply data, 1 phase AC, type AKD2G-Sxx- (D)
Input dataUnits6V03D6V06D
Rated supply voltage (L1/N)VAC1 x 100 V to 240 V
Rated supply input frequencyHz50 Hz to 60 Hz ±5%
Permittedswitch on/off frequency1/h30
Rated input power@ 240VkVA2.382.64
Rated input current at 1 x 110 VacA9.911
Rated input current at 1 x 240 VacA9.911
Max. inrush currentA10
Rated DC bus link voltageVDC310
6.5.2.2 Mains supply data, 3 phase AC, type AKD2G-Sxx- (D)
Input dataUnits6V03D6V06D7V03D7V06D
Rated supply voltage (L1/L2/L3)VAC3 x 100 V to 240V3 x 200 V to 480V
Rated supply input frequencyHz50 Hz to 60 Hz ±5%
Permittedswitch on/off frequency1/h30
Rated input power@ 240V (*480V)kVA2.383.824.49*7.65*
Rated input current at 3 x 110 VacA2.95.7-Rated input current at 3 x 240 VacA55.75.49.2
Rated input current at 3 x 400 VacA--5.49.2
Rated input current at 3 x 480 VacA--5.49.2
Max. inrush current (at 240 V/480 V, 20°C)A10
Rated DC bus link voltageVDC310620
6.5.2.3Auxiliary voltage input data, 24V DC, type AKD2G-Sxx- (D)
Input dataUnits6V03D6V06D7V03D7V06D
Aux. voltage supply (PELV)VDC24 V (±10%, check voltage drop)
- current without motorbrakeA1.25
- control current with one motorbrakeA3.75
- control current with two motor brakesA6.25
Kollmorgen | kdn.kollmorgen.com | Beta, December 201837
at 1 x 110VacArms2x32x6-at 1 x 240VacArms2x32x6-at 3 x 110VacArms2x32x6-at 3 x 240VacArms2x32x62x32x6
at 3 x 400VacArms--2x32x6
at 3 x 480VacArms--2x32x6
Peak output current (for 5s, ± 3%)Arms2x92x182x92x18
Continuous output power @ rated input current
at 1 x 110VackVAtbdtbd-at 1 x 240VackVAtbdtbd-at 3 x 110VackVAtbdtbd-at 3 x 240VackVAtbdtbdtbdtbd
at 3 x 400VackVA--tbdtbd
at 3 x 480VackVA--tbdtbd
Peak output power (for 1 s)
at 1 x 110VackVAtbdtbd-at 1 x 240VackVAtbdtbd-at 3 x 110VackVAtbdtbd-at 3 x 240VackVAtbdtbdtbdtbd
at 3 x 400VackVA--tbdtbd
at 3 x 480VackVA--tbdtbd
Emissions (low/high speed fan)
Noise emissiondB(A)tbdtbdtbdtbd
Brake output
VoltageVDC24 V (±10%)
Output current, minimummArequired 100 per brake (fault detection)
Output current, maximumA2.5 per brake
38Kollmorgen | kdn.kollmorgen.com | Beta, December 2018
The drive offers an LCD display andtwo push-buttons B1 / B2 for navigation.
Push-button actions
A short buttonpress invokes the action corresponding to the symbol directly above the button. On the dashboard for example,
a short press on B1 causes the menu system to appear, and
a short press on B2 causes a help screen to appear.
A long press (greaterthan2 seconds) on B2 returns the display to the previous screen.
More B1 / B2 Functions Description
Boot from SD cardPush both buttons duringpower up to boot with data from SD
card. Press the buttons first, then hold it down while turning on
the 24 V power supply.
Boot from flash fallback
image
Remove the SD card, then press both buttons and hold them
down while turning on the 24 V powersupply to boot from an onboardrecovery image. Thefallback imageincludes a set of bootloader, operational, andcontrol FPGA that implements sufficient programming support to update missing or corrupt files.
LCD display
Left Coloredsection
Color: axis status (enabled, disabled, or faulted).
First icon: axis commandsource (analog, service, electronic gearing, or fieldbus).
Secondicon: axis operationmode (torque, velocity, or position).
Axis ID: A1 or A2.
Right Non-coloredsection:
No Fault/Warning: three virtual LEDs correspondingto axis disable sources
Fordual-axis drives, the top section shows axis 1 information, the bottom section those for
axis 2.
Single axis LCD display
Forsingleaxis drives, the top section shows axis 1 information while the section betweenthe
centerand bottom bars is a data area wheresome important actual values of the axis arevisible: position, velocity, current.
40Kollmorgen | kdn.kollmorgen.com | Beta, December 2018
The display shows the code of the fault or warning that occurred. If a fault occurs, the color of
the left section switches to red. Navigate with B1 / B2 to the Fault screen to see a short
description of the fault or warning.
See WorkBench Onlinehelp for more details.
6.7 SD Card Slot
Supported SD card types
SD cards are formatted by the manufacturer. The following table outlines the SD card types
andAKD2G support.
SD TypeFile SystemCapacitySupported
SD (SDSC)FAT161MB to 2GBYES
SDHCFAT324GB to 32GBYES
SDXCexFAT (Microsoft)>32GB to 2TBNO
AKD2G offer a SD card slot for
to boot the drive with data from the SD Memory
card
These features can be started from the drive display
using push-buttons B1/B2.
Features
Boot AKD2G with data from SD card:
Remove 24V. Apply 24V with both buttons pressed. Release buttons after the display is
updated.
Kollmorgen | kdn.kollmorgen.com | Beta, December 201841
Dynamic braking is a methodto slow down a servo system by dissipating the mechanical
energy driven by the motor back EMF.
Dynamic braking is not functional safe..
The AKD2G has a built in advanceddynamic braking mode which operates fully in hardware.
When activated, the drive shorts the motor terminals. This forces all of the dynamic braking
current to be stopping current and insures the fastest stoppingper ampere of motor terminal
current.
When current is not beinglimited, the mechanical energy is being dissipatedin the motor
resistance.
When current is being limited, energy is returned to the drive bus capacitors.
The drive also limits the maximum dynamic brakingmotor terminal current via the
AXIS#.DBILIMIT parameter to insure that the drive, motor, andcustomerload do not see
excessive currents/forces.
Whether and how the AKD2G uses dynamic brakingdepends on (AXIS#.DISMODE).
6.8.2 Rheostatic energy dissipation
When the amount of motorback EMF builds the bus capacitor voltageup enough the drive
activates the rheostatic regenerative circuit to start dumping the returned energy in the regen
resistor (also called regenerative resistor or brake resistor). All AKD2G offer internal resistor
plus the ability to connect an external resistor dependingon the application requirements.
External regenresistors aredescribed in the regional Accessories Manual.
6.8.2.1 Functional description
1. Individual drives, not coupled through the DC bus link circuit (+DC, -DC)
When the energy fed back from the motor has an averageor peak power that exceeds the preset level for the brake powerrating, the drive generates the warning "W2010 Regen Energy
Critical”. If the power exceeds the set fault level, the regenerative circuit will switch off.
2. Several drives coupled through the DC bus link (+DC, -DC)
Using the built-in regenerative circuit, several drives of the same series can be operatedfrom
a common DC-bus link (➜ # 75), without any additional measures. 90% of the combined
powerof all the coupled drives is always available for peak and continuous power. If the
powerof the drive with the lowest switch-off threshold (resulting from tolerances) exceeds
the set fault level, the regenerative circuit will switch off.
Switch-off on over voltage: With the regenerative circuit switched off, the DC bus link
voltage is not dissipated and thereforethe level increases. The drive reports an over-voltage
fault if the DC bus thresholdis exceeded. The drive power stage is disabledand the load
coasts to a stop with the fault message “F2006Bus Over voltage". The ready to operate contact (terminals X21/B5-B6) is opened(➜ # 110).
Observe the regeneration time (someminutes) after full loadwith peak brake power.
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Page 43
6.8.2.2 Technical data for AKD2G-Sxx-6V
Technical data for the regenerative circuit depends on the drive type and the mains voltage.
Supply voltages, capacitance, and switch-on voltages are all nominal values.
Technical data for the regenerative circuit depends on the drive type and the mains voltage.
Supply voltages, capacitance, and switch-on voltages are all nominal values.
Risk of electrical shock, if the servo amplifier(or the motor)is not properly EMC-grounded.
Do not use painted (i.e. non-conductive) mountingplates.
In unfavourable circumstances, use copper mesh tape betweenthe earthingbolts and
earth potential to deflect currents.
Protect the drive from impermissible stresses. In particular, do not let any components
become bent or any insulationdistances altered duringtransport and handling. Avoid contact with electronic components andcontacts.
The drive will switch itself off in case of overheating. Ensure that there is an adequate flow
of cool, filtered air into the bottom of the control cabinet, or use a heat exchanger(➜ # 33).
Do not mount devices that produce magnetic fields directly besidethe drive. Strongmagnetic fields can directly affect internal components. Install devices which produce magnetic
field with distance to the drives and/or shield the magnetic fields.
7.2 Guide to Mechanical Installation
The followingtools arerequired(at a minimum)to install the AKD2G; your specific installation may requireadditional tools:
M5 hexagon socket-cap screws (ISO 4762)
4 mm T-handle Allen key
No. 2 Phillips head screwdriver
Small slotted screwdriver
Install the drive unit as follows:
1. Prepare the site.
Mount the drive in a closed control cabinet (ambient conditions (➜ # 33)). The site must
be freefrom conductive or corrosive materials. For the mounting position in the cabinet
(➜ # 47).
2. Check ventilation.
Check that the ventilation of the drive is unimpeded, and keepwithin the permitted ambient temperature (ambient conditions (➜ # 33)). Keep the required space clearance above
andbelow the drive (➜ # 47).
3. Check the cooling system.
If cooling systems are used for the control cabinet, position the coolingsystem so that
condensationwater cannot drip onto the drive orperipheral devices.
4. Mount the drive.
Assemble the drive andpower supply near each otheron the conductive, groundedmounting plate in the cabinet.
5. Ground the drive.
ForEMC-compliant shieldingand grounding, (➜ # 55). Ground the mounting plate, motor
housing andCNC-GND of the control system.
46Kollmorgen | kdn.kollmorgen.com | Beta, December 2018
Mounting material: three M5 hexagonsocket screws to ISO 4762, 4 mm T-handle Allen key
Outlinewidth and height dimensions are measuredon footprint level (mounting plate).
Dimensions on the front plate areslightly smaller. All dimensions in mm.
48Kollmorgen | kdn.kollmorgen.com | Beta, December 2018
Page 49
8.1 Important Notes
Only professional staff who arequalified in electrical engineering are allowed to install the
drive. Wires with colorgreen with one ormore yellow stripes must not be used other than for
protective earth (PE) wiring.
There is a dangerof serious personal injury or death by electrical shock or electrical arcing.
Capacitors can still have dangerous voltages present up to 5 minutes after switchingoff the
supply power. Control and powerconnections can still be live, even if the motoris not rotating.
Only install andwire the equipment whenit is not live.
Make sure that the cabinet is safely disconnected (for instance, with a lock-out andwarning signs).
Never remove electrical connections to the drive while it is live.
Wait at least 5 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.
To be sure, measure the voltage in the DC bus link andwait until it has fallen below 50 V.
Wrongmains voltage, unsuitable motororwrong wiring will damage the drive. Check the
combination of drive and motor. Comparethe rated voltage and current of the units. Implement the wiring according to the matchingconnection diagram, see (➜ # 62)and following.
Make sure that the maximum permissible rated voltage at the terminals L1, L2, L3 or +DC, –
DC is not exceededby morethan10% even in the most unfavorable circumstances (see
IEC 60204-1).
Excessively highexternal fusing will endanger cables anddevices. The fusing of the mains
powerand logic power must be installedby the user. Hints for use of Residual-current circuit
breakers (RCD) (➜ # 17).
Since the leakagecurrent to PE is more than3.5 mA, in compliance with IEC61800-5-1the
PE connection must eitherbe doubled or a connecting cable with a cross-section >10 mm²
must be used. Deviating measures according to regional standards might be possible.
The drive status shall be monitored by the PLC to acknowledgecritical situations. We
recommend wiring the ready to operate relay contact in series into the emergency off circuit
of the installation. The emergency off circuit must operate the supply contactor.
It is permissible to use the setup software to alter the settings of the drive. Any other alterations will invalidate the warranty.
Kollmorgen | kdn.kollmorgen.com | Beta, December 201849
Kollmorgen recommends to install the drive electrical system as follows:
1. Select cables in accordance with IEC 60204 (➜ # 52).
2. Install shieldingand groundthe drive.
ForEMC-compliant shieldingand grounding, see (➜ # 55).
Ground the mounting plate, motor housing andCNC-GND of the control system.
3. For functional safety information, see (➜ # 123).
4. Wire the drive and connectors.
Observe the "Recommendations for EMI noise reduction": (➜ # 55).
Wire the "Ready to Operate" contact into the emergency off circuit of the system.
Connect the digital control inputs andoutputs.
Connect up analogground (also if a fieldbus is used).
Connect the analog input source, if required.
Connect the motor (hybrid cable orpower, brake and feedback cables).
Connect shielding at both ends.
If required, connect the external regenresistor (with fusing).
AKD2G-Sxx-6V: connect EMC filters (shielded lines between filter and drive) for
secondenvironment requirements to product category C2.
Connect the auxiliary voltage supply
Connect the main electrical supply.
Check maximum permitted voltage value(➜ # 35).
Check proper use of residual-current circuit breakers (RCD): (➜ # 17).
Connect the PC (➜ # 98) for setting upthe drive.
Only professional staff who arequalified in electrical engineering are allowed to install the
drive. Wires with colorgreen with one ormore yellow stripes must not be used other than for
protective earth (PE) wiring. Wheninstallingorreplacingcables, use only standardized components, which complies to the cable andwire requirements (➜ # 52).
High Voltage up to 900 V!
There is a dangerof serious personal injury or death by electrical shock or electrical arcing.
Only install andwire the equipment whenit is not live, that is, when neither the electrical
supply northe 24 V auxiliary voltage northe supply voltages of any otherconnected
equipment is switchedon.
Make sure that the cabinet is safely disconnected (for instance, with a lock-out andwarning signs). The individual voltages are switchedonfor the first time duringsetup.
The chassis ground symbol, which is used in all the wiringdiagrams, indicates that you
must take care to provide anelectrically conductive connection with the largest feasible surface areabetween the unit indicated andthe mounting plate in the control cabinet. This connection is for the effective grounding of HF interference, andmust not be confused with the
PE-symbol (PE = protective earth, safety measureas per IEC 60204).
8.3.2 Mating connectors
l Connectors X1, X2, X21, X22 arespring clamp connectors.
l X3 andX10are connectors with screw terminals.
l Connectors X22 and X23 are optional.
Forinformationon the chemical, mechanical, andelectrical characteristics of the cables
please refer to the accessories manual or contact customersupport.
To reach the maximum permitted cable length, you must use cablematerial with the following capacitance requirements:
Motorpower cable: less than 150pF/m (phase core to shieldcapacitance)
MotorFeedback cable: less than 120 pF/m (signal core to shieldcapacitance)
Hybrid motor cable:
- less than 120pF/m (phase core/core capacitance)
- less than 210pF/m (phase core/shieldcapacitance)
- less than 120pF/m (signal core/core capacitance)
- less than 210pF/m (signal core/shield capacitance)
- BUS Element: 45 pF/m @ 800kHz & a charact. wave resistance of 110±10Ω @ 10MHz
Cables shouldnot exceedthe maximum lengths stated in the tables below. The recommendedmaximum cablelength of motor cables depends on the used cable meterial andthe
feedback type.
Cable functionality is only guaranteed up to the maximum length when using unmodified Kollmorgenengineered cables.
AKM2GAKM1G
Performance Line CablesPerformance Line CablesValue Line Cables
52Kollmorgen | kdn.kollmorgen.com | Beta, December 2018
Page 53
8.3.3.2 Cable cross sections and requirements
The tables below describe the recommended interface cross sections andcablerequirements relatedto AKD2G in accordance with IEC 60204.
Formulti-axes systems, observe the specific operating conditions for yoursystem.
Protective Earth connection of the system components is a safety measureper IEC 60204.
Ensurethe proper groundingof all components with the PE rail in the control cabinet as reference potential. Connect each groundindividually with the intended groundingcable(neutral
point connection).
The leakage current from AKD2G against PE is more than3.5 mA. In accordance with EN
61800-5-1, the PE connectionmust therefore either be double implemented or a connection
cable with >10mm² cross-section used.
In order to keepthe impedance as low as possible, we recommenda copper earthingstrap for
the PE connection on the PE block.
Wire the PE connections immediately after installingthe devices as the first electrical connection. Now you insert all the otherlines andconnectors. For disassembly, release the PE
connections as the last connection.
Forthe use of residual current protective devices (RCD), refer to (➜ # 17).
54Kollmorgen | kdn.kollmorgen.com | Beta, December 2018
Electromagnetic radiation may, by acting on electrically conductive materials, leadto potential hazardous danger(warming, failure of implants).
Work on the electrical installationmay only be performed by trained andqualified personnel, in compliance with the regulations for safety at work, andonly with switched off
mains supply, and securedagainst restart.
Grounding, equipotential bonding andradiation-reducingshields may not be removed.
8.4.1 Recommendations for EMI noise reduction
The followingguidelines will help you to reduce problems with electrical noise in your application.
Ensure good connections between the cabinet components. Connect the back
panel andcabinet doorto the cabinet body using several conductive braids. Never rely on
hinges or mounting bolts for ground connections.
Ensure good ground connection. Connect from cabinet to proper earth ground. Ground
leads should be the same gauge as the leads to main power, but must cover the regional
legal requirements, example (➜ # 54).
Use Kollmorgen cables. Route power and control cables separately, Kollmorgen recommends a distance of at least 200mm to improve interference immunity.
Ground the shielding at both ends. Groundall shielding with largeareas (low impedance), with metalized connector housings or shield connection clamps whereverpossible. For cables entering a cabinet, connect shields on all 360° of the cable. Never
connect a simple “pigtail.” Formore information onshielding concepts, (➜ # 56).
With separate mains filter, maintain separation of leads entering and exiting the
mains filter (line power filter). Locate the filter as close as possible to the point where
the incomingpower enters the cabinet. If it is necessary for input power andmotorleads
to cross, cross them at 90°.
Feedback lines and Hybrid Cables may not be extended, since the shielding
would be interrupted and the signal processing may be disturbed.Install all feed-
back cables with an adequate cross-section, per IEC 60204 (➜ # 52)and use the requested cable material to reach maximum cable length.
Splice cables properly. If you need to divide cables, use connectors with metal backshells. Ensurethat both shells connect along the full 360° of the shields.
Use differential inputs for analog signals. Noise susceptibility in analog signals is
greatly reduced by using differential inputs. Use twisted-pair, shieldedsignal lines, connecting shields on both ends.
Cables between drives and filters or external regen resistors must be shielded.
Install all power cables with an adequate cross-section per IEC 60204 (➜ # 52)and use
the requested cablematerial to reach maximum cable length.
Kollmorgen | kdn.kollmorgen.com | Beta, December 201855
The power cable shields (line in, motor cable, external regen resistor) can
be routed to an additional busbar via shieldclamps.
Kollmorgen recommends using Weidmüller KLBÜ shield clamps.
A possible scenario for setting up a busbar for the above shieldclamps is
described below.
1. Cut a busbar of the required
length from a brass rail (cross-section 10 x 3 mm) and drill holes in it
as indicated. All shield clamps
required must fit between the drill
holes.
Risk of injury due to the spring
force of the coil spring.
Use pincers.
2. Squeeze togetherthe coil spring
andthe supportingplate and push
the busbar throughthe opening in
the holder.
3. Mount the busbarwith the
shield clamps fitted on the
assembly plate. Use either metal
spacerbushes or screws with
nuts and accessories to maintain
a spacing of 50 mm. Earth the busbarusing a single conductor with a
cross-section of at least 2.5 mm².
4. Strip the external cable sheath
to a length of approx. 30 mm, taking carenot to damage the braided
shield. Push the shieldclamp up
androute the cable to it via the busbar.
Make sure there is goodcontact
between the shield clamp and the
braided shield.
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You can connect cable shielding directly to the drive by using grounding plates, shield connection clamps, and a motor connector with strain relief andgrounding plate.
8.4.3.1 Shielding Concept
Example with AKD2G-Sxx--7Vxx, dual-axis.
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8.4.3.2 Grounding plates and shield connection clamps
A grounding plate is mounted to the drive.
Use shield connection clamps (see accessories manual). These hook into the
grounding plate andensureoptimum contact betweenthe shield and the grounding plate.
Kollmorgen recommends using Phoenix Contact SK14 shield clamps with cable
clamp range of 6-13mm.
8.4.3.3 Motor connector X1/X2 with shielding connection
Alternative connection for the motor powerconnection by mating connector with shieldplate
andstrain relief. Kollmorgen motor powerand hybridmotor cables are configured with shield
plate.
Strip the external cablesheath to a length of
approx. 80 mm, taking care not to damage the
braided shield. Push the braided shield (1)back
over the cable and secure with a rubbersleeve (2)
or shrink sleeve.
Shorten all the wires apart from the protective earth
(PE) wire (green/yellow) by about 20 mm so that
the PE wire is now the longest wire. Strip all wires
andfit wire end ferrules.
Securethe braided shield of the cable with metal
cable ties (3) and fasten the cable.
Wire the connectoras shown in the connection diagram. Plug in the connector to the socket on the
front of the AKD2G and secureit with the red clip.
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4 pin, pitch 7.62 mm plus 2x2 pin pitch 3.81 mm
Spring clamps
Motorpower, Motor brake
X1: Input for feedback 1 (➜ # 84)
X2: Input for feedback 2 (➜ # 84)
Wiring example:
DC Bus link (➜ # 75)
Motorsinglecableconnection (➜ # 78)
Motordual cable connection (➜ # 80)
Pin SignalDescription
1UMotor phase U
2VMotor phase V
3WMotor phase W
retention latch,shield screw
5PEProtective earth
B+ BR+Motor holdingbrake +
B- BR-Motor holdingbrake -
F+ COM+SFD3 + or HIPERFACE DSL +
F- COM-SFD3 - or HIPERFACE DSL -
8.5.5.2 X3: Mains, regen resistor, DC-Bus
Pin SignalDescription
1PEProtective earth
2L13~ mains supply L1, 1~ supply L, DC supply +
3L23~ mains supply L2
4L33~ mains supply L3, 1~ supply N, DC supply 5RBintinternal regenresistor
6-RBexternal regen resistor 7+DC (+RBext)DC Bus link+ and/orexternal regen resistor +
8-DCDC Bus link -
8 pin, pitch 7.62 mm
Screw terminals
Optional T version(in process)
Mains supply, External regen resistor, DC Bus
Wiring example:
Power supply (➜ # 70)
DC Bus link (➜ # 75)
External regenresistor (➜ # 76)
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1n.c.not used4CAN_lowCAN bus low signal
2ShieldChassis5CAN_GNDCAN bus ground
3CAN_highCAN bus highsignal6n.c.not used
8.5.5.6 X20: Service
RJ-11
X14 IN port, X13 OUT port
Up to 1 Mbit operation
Node ID to be set by WorkBench
Interface Details: (➜ # 95)
RJ45 with built-in greenand yellow LEDs
100/10 Mbit Ethernet TCP/IP
Supports auto-IP, DHCP and fixed IP addressing
Supports point-to-point (i.e. Auto-IP) and connection via network switches
Supports automatic discovery in WorkBench if in the same
sub-net.
Interface Details: (➜ # 98)
2 x 11 pins (left column A, right columnB), pitch 3.5 mm
Spring clamps
Analog anddigital I/O
Input for feedback 4 (➜ # 84)
Wiring examples:
Analog input (➜ # 101)
Analog output (➜ # 102)
Digital input (➜ # 103)
Digital Output (➜ # 107)
Feedback (➜ # 86)
Digital I/O connectivity
Pin SignalDescription
A1 Analog-In (AIN) 1 +
A2 Analog-In (AIN) 1 -
Analog Input +/- 10 V
A3* Digital-In (DIN) 1Fast, isolated, sink, type EN 61131-2 type 1
A4* Digital-In (DIN) 2Fast, isolated, sink, type EN 61131-2 type 1
A5 Digital-In (DIN) 3Slow, isolated, sink, type EN 61131-2type 1
A6 Digital-In (DIN) 4Slow, isolated, sink, type EN 61131-2type 1
A7 Digital-In (DIN) 5Slow, isolated, sink, type EN 61131-2type 1
A8 Digital-In (DIN) 6Slow, isolated, sink, type EN 61131-2type 1
A9 Digital-In (DIN) 7Slow, isolated, sink, type EN 61131-2type 1
A10 Digital-In (DIN) 8Slow, isolated, sink, type EN 61131-2type 1
A11 STO-A-A1Slow, isolated, sink, fail-safe, STO axis 1 channel A
A3 Step, CWFast, isolated, sink, type EN 61131-2type 1
A4 Direction, CCWFast, isolated, sink, type EN 61131-2type 1
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Page 67
8.5.5.8 X22: I/O extended, EEO2, Feedback 5
Digital I/O connectivity
Pin SignalDescription
A12 STO-A-A2Slow, isolated, sink, fail-safe, STO axis 2 channel A
A13 Digital-In (DIN) 9Slow, isolated, sink, type EN 61131-2type 1
A14 Digital-In (DIN) 10Slow, isolated, sink, type EN 61131-2 type 1
A15 Digital-In (DIN) 11Slow, isolated, sink, type EN 61131-2 type 1
A16 Digital-In (DIN) 12Slow, isolated, sink, type EN 61131-2 type 1
A17 AGNDGround for analog I/O
A18 Analog-In (AIN) 2+
A19 Analog-In (AIN) 2A20* Digital-In/Out (DIO) 1 + RS485 input or output
A21* Digital-In/Out (DIO) 1 -RS485 input or output
2 x 10 pins (left column A, right columnB), pitch 3.5 mm
Spring clamps
Analog anddigital I/O
Input for feedback 5 (➜ # 84)
Output for incremental encoder emulation (EEO2)
Wiring examples:
Analog input (➜ # 101)
Analog output (➜ # 102)
Digital input (➜ # 103)
Digital output (➜ # 107)
Feedback (➜ # 87)
Encoder emulation (EEO2) (➜ # 91)
Master-Slave (➜ # 93)
Analog Input, +/- 10 V
B12 STO-B-A2Slow, isolated, sink, fail-safe, STO axis 2 channel B
B13 Digital-Out (DOUT) 5Isolated, high-side, 100 mA
B14 Digital-Out (DOUT) 6Isolated, high-side, 100 mA
B15 Digital-Out (DOUT) 7 +
B16 Digital-Out (DOUT) 7 -
B17 Digital-Out (DOUT) 8 +
B18 Digital-Out (DOUT) 8 -
Fast, isolated, sink or source, 100mA
Fast, isolated, sink or source, 100mA
B19 Analog-Out (AOUT) 2Analog Output, 0 to +10 V
B20* Digital-In/Out (DIO) 2 + RS485 input or output
B21* Digital-In/Out (DIO) 2 -RS485 input or output
*Feedback 5 connectivity (input)
PinIncremental
Step/Dir CW/CCW
Encoder
A20Track A +Step +CW +
A21Track A -Step -CW B20Track B +Dir +CCW +
*EEO2 connectivity (output)
PinIncremental Encoder
A20A+
A21A B20B+
B21B -
B21Track B -Dir -CCW -
Kollmorgen | kdn.kollmorgen.com | Beta, December 201867
0.5 m cable, 3 flying leads for connection to X1, X2
When connected to X1: Input for feedback 1 (➜ # 84)
When connected to X2: Input for feedback 2 (➜ # 84)
Output for incremental encoder emulation (EEO3 / EEO4) (➜ # 92)
SFA Adapter converts conventional feedback signals to 2 wire feedback format
Wiring examples:
9-Thermal control (-)
10+5 V-+5 V+5 V+5 V 8 to 9 V +5 V +5 V+5 V+5 V+5 V +5 V +5 V +5 V
110 V-0 V0 V0 V0 V0 V0 V0 V0 V0 V0 V0 V0 V
12-S1SIN+A+A+-SIN+A+A+A+A+---13-S3SIN-A-A--SIN-A-A-A-A----14-S2COS+ B+B+-COS+B+B+B+B+---15-S4COS-B-B--COS-B-B-B-B-----
CLK = CLOCK, DAT = DATA, SEN = SENSE, Stp = Step
Resol-
ver
BiSSBEnDAT
2.1
EnDAT
2.2
Hiper-
face
▌
Sine/
Sine/
Cos
Cos
SEN+ SEN+SEN+SEN+-SEN+--
Incr. Enc.
+Hall
Incr. Enc.
+Hall
Hall
Smart
Abs
Step/
Dir
EEO3 / EEO4 connectivity (output)
X41 Pin
6Zero+
7Zero110 V
12A +
13A14B+
15B-
Incremental
Encoder
CW/
CCW
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Drives in the AKD2G series can be suppliedas follows:
AKD2G-Sxx-6V
1, 2 or 3 phase industrial AC supply networks: 120V or 240 V.
DC supply networks: on request.
AKD2G-Sxx-7V
3 phase industrial AC supply networks: 240 V, 400V or 480 V.
DC supply networks: on request.
Connection to other voltage types of AC supply networks is possible with an additional isolating transformer.
Periodic overvoltages between phases (L1, L2, L3) andthe housing of the drive must not
exceed1000 V peak.
In accordance with IEC 61800, voltagespikes (< 50 µs) betweenphases must not exceed
1000 V. Voltage spikes (<50µs) between a phase and the housing must not exceed 2000 V.
8 pin, pitch 7.62 mm
optional T version
Wiring example:
1 phase AC supply (➜ # 73)
2 phase AC supply (➜ # 73)
3 phase AC supply (➜ # 74)
DC supply (➜ # 74)
AKD2G-Sxx-6V requires external EMC filter for use in
industrial environment, product category C.
Matingconnector data see (➜ # 51).
Pin SignalDescription
1PEProtective earth
2L13~ mains supply L1, 1~ supply L, DC supply +
3L23~ mains supply L2
4L33~ mains supply L3, 1~ supply N, DC supply -
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UL fuses: Class J, 600 VAC 200 kA (SCCR rating), time-delay. The fuse must be UL and
CSA listed, UL recognizedis not sufficient. Alternate fuses and breakers to Class J must
have similar or better Ip andI2T performance per UL 508A SB4.2 at the necessary SCCR
rating.
CE fuses: types gS or gG, 400 V/500 V, time-delay
Fuse holders: Combined with the standardfuse blocks, finger safe fuse holders must be
used accordingto IEC 60529.
Automatic circuit breakers: in process, ask Kollmorgenfor details.
Groupinstallation: in process, ask Kollmorgen for details.
Fuse Ampere ratings below are the maximum allowable. Lower Ampere ratings may be used
as appropriate to the application but may cause nuisance trips.
AC supply, single drives, line fusing
F1, F2, F3: depends on sum current and cabinet requirements.
Filters for special EMC requirements only (➜ # 141).
FN1, FN2, FN3 recommended rating see table below
Drive
Model
FN1, FN2, FN3: max.
Ampere rating
Example class J
Cooper Bussmann
Example class J
Ferraz Shawmut
AKD2G-Sxx-6V03S15 A (Time-Delay)LPJ15SP/DFJ15AJT10/HSJ15
AKD2G-Sxx-6V06S
15 A (Time-Delay)LPJ15SP/DFJ15AJT15/HSJ15
AKD2G-Sxx-6V03D
AKD2G-Sxx-6V12S
15 A (Time-Delay)LPJ15SP/DFJ15AJT15/HSJ15
AKD2G-Sxx-6V06D
AKD2G-Sxx-7V03S15 A (Time-Delay)LPJ15SP/DFJ15AJT15/HSJ15
AKD2G-Sxx-7V06S
15 A (Time-Delay)LPJ15SP/DFJ15AJT15/HSJ15
AKD2G-Sxx-7V03D
AKD2G-Sxx-7V12S
15 A (Time-Delay)LPJ15SP/DFJ15AJT15/HSJ15
AKD2G-Sxx-7V06D
Kollmorgen | kdn.kollmorgen.com | Beta, December 201871
The followingdiagram describes external 24 VDC power supply (PELV). The required supply
current ratingdepends on the use of motor brake (➜ # 35) or(➜ # 37).
2 pin, pitch 5.08 mm
Matingconnector data see (➜ # 51).
Undervoltagefault limit 19 V
Overvoltage fault limit 30 V
The AKD2G drive is able to protect the connected motorfrom overloading, if the parameters
areset correctly andthe thermal protection sensor is connected and supervised. With Kollmorgenmotors the valid data areautomatically set by the internal WorkBench motor database.
The dynamic voltagerise can lead to a reductionin the motor operating life and, on unsuitablemotors, to flashovers in the motor winding.
Only install motors with insulationclass F (acc. to IEC60085) or above.
Only install cables that meet the requirements (➜ # 52).
8.9.1 Motor connectivity, some examples
Axis 1: single cable connection (➜ # 78)
commutationfeedback: SFD3 or DSL
Axis 2: dual cableconnection (➜ # 78)
commutationfeedback: EnDAT, HIPERFACE,
Resolver etc. via SFA
Axis 1: dual cableconnection (➜ # 80)
commutationfeedback: Resolver, SFD, EnDAT,
HIPERFACE, BiSS, SinCos, ComCoder, Hall,
SmartAbs etc. via X23
position feedback:
- X21: Step/Direction
- X22: Step/Direction or incremental encoder
Axis 2: single cable connection (➜ # 78)
commutationfeedback: SFD3 or DSL
Axis 1: dual cableconnection (➜ # 80)
commutationfeedback: EnDAT, HIPERFACE,
Resolver etc. via SFA
position feedback:Resolver, SFD, EnDAT,
HIPERFACE, BiSS, SinCos, ComCoder, Hall,
SmartAbs etc. via X23
Axis 1: dual cableconnection (➜ # 80)
commutationfeedback: Resolver, SFD, EnDAT,
HIPERFACE, BiSS, SinCos, ComCoder, Hall,
SmartAbs etc. via X23
position feedback:
- X21: Step/Direction
- X22: Step/Direction or incremental encoder
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Motors with two wire feedback systems like SFD3 or Hiperface DSL can be connected to
AKD2G via a single Kollmorgen hybrid cable. Dependingon the AKD2G version (singleor
dual axis), one or two singlecablemotor connections arepossible.
Drive typeCommutation
Axis 1
Singleaxis standardX1--X21-Singleaxis with Option I/OX1--X21 X22Singleaxis with Option F3X1--X21-X23
Singleaxis with Option DXX1--X21 X22 X23
Dual axis standardX1X2-X21 X22Dual axis with Option DXX1X2-X21 X22 X23
8.9.2.1 Motor Power, Brake and Feedback connectors X1, X2
X1 (Feedback 1) / X2 (Feedback 2)
MotorPower: 4 pin, pitch 7.62 mm
MotorBrake: 2 pin, pitch 3.81 mm
MotorFeedback: 2 pin, pitch 3.81 mm
Cable length: maximum 50 m
Use Kollmorgen cables
Matingconnector data see (➜ # 51).
Feedback types: SFD3, HIPERFACE DSL
Commutation
Axis 2
Velocity/Position loop
closure
Pinout is identical for connectors X1 andX2.
Pin SignalDescription
1UMotor phase U
2VMotor phase V
3WMotor phase W
5PEProtective earth
B+ BR+Brake positive line (safety notes and details referto (➜ # 82))
B- BR-Brake negative line (safety notes anddetails refer to (➜ # 82))
F+ COM+
F- COM-
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SFD3, HIPERFACE DSL
Page 79
8.9.2.2 Feedback connectors X21, X22, X23
Velocity/Position loopclosing
Use Kollmorgen cables
Matingconnector data see (➜ # 51).
Cable length: maximum 50 m
Motors with conventional commutation feedback systems like resolver or sine encodercan
be connected to AKD2G with separated power/brake andfeedback cables. Feedback functions are assigned with parameters in WorkBench. Scaling and other settings are performed
in WorkBench, too. Velocity / Position loop closing and electronic gearing/ master-slave connection are possible via X21, X22, X23 depending on the drive versionand physical restrictions.
X1 (Feedback 1) / X2 (Feedback 2)
X23 (Feedback 3)
X21 (Feedback 4)
X22 (Feedback 5)
Matingconnector data see (➜ # 51).
MotorPower: 4 pin, pitch 7.62 mm
MotorBrake: 2 pin, pitch 3.81 mm
SFA connection: 2 pin, pitch 3.81 mm
Feedback types: see SFA connectivity (➜ # 89)
SubD HD 15poles
Feedback types: see X23 connectivity (➜ # 88)
2 x 11 pins (left connector A, right connector B)
Feedback types: see X21 connectivity (➜ # 86)
2 x 10 pins (left connector A, right connector B)
Feedback types: see X22 connectivity (➜ # 87)
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Use Kollmorgen cables
Matingconnector data see (➜ # 51).
Cable length: maximum 50 m
ConnectorFunctionalityPinout, Wiring
X1/X2SFD3, DSL, SFA(➜ # 85)
X41SFA at X1 or X2 , several conventional feedback types(➜ # 89)
X21Step/Direction, CW/CCW(➜ # 86)
X22Step/Direction, CW/CCW, Incremental Encoder(➜ # 87)
X23Several conventional feedback types(➜ # 88)
Feedback connector X1, X2, X41
Conventional feedback systems can be connected to X1 or X2 via the optional feedback
adapterSFA. SFA offers the additional connector X41.
Connector X1 is a standard connector. Input for SFD3, DSL, or SFA.
Connector X2 is standardfor dual-axis drives. Input for SFD3, DSL, or SFA.
SFA: adapterfor several conventional feedback types
Feedback connector X21
Connector X21 is a standardconnector.
Input for Step/Direction and CW/CCW.
Feedback connector X22
Connector X22 is standard connector for dual-axis drives.
Connector X22 is part of option DX or IO for single axis drives.
Input for Step/Direction, CW/CCW, Incremental encoder
Feedback connector X23
Connector X23 is part of option DX or F3.
Input for several conventional feedback types.
Kollmorgen | kdn.kollmorgen.com | Beta, December 201881
A 24 V holding brake in the motor can be controlled directly by the drive. For properfunction,
check voltagedrop, measure voltageat brake input and check brake function (on and off).
Brake voltagesupply via 24 V ±10% auxiliary voltagesupply of the drive on X10. Minimum
andmaximum brake current see Electrical Data (➜ # 36)respectively (➜ # 38).
AKD2G offers onemotor brake output for every axis on connector X1 and X2 (➜ # 82).
ConnectorUsable for
X1Primary motor brake axis 1
X2Primary motor brake axis 2
No functional Safety!
Serious injury could result when the load is not properly blocked. This function does not
ensure functional safety.
Functional safety, e.g. with hangingload (vertical axes), requires an additional brake.
The HardwareEnable does not initiate a controlledstop but switches off the powerstage
immediately.
Set parameterAXIS#.MOTOR.BRAKEIMM to 1 with vertical axes, to apply the brake
immediately after faults or Hardware Disable.
Pinout X1 / X2
Pin SignalDescription
B+ BR+Brake positive line
B- BR-Brake negative line
Wiring
Usually the brake lines arepart of the Kollmorgenhybrid single cable connection to X1
respectively X2 (➜ # 78).
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The brake function must be enabled through a parameter. The diagram below shows the timing and functional relationships between the controlledstop signal, speed,and braking force.
All values can be adjusted with parameters; values in the diagram are default values.
The drive speed setpoint is internally driven down an adjustableramp (AXIS#.CS.DEC) to
0V.
With default values the output for the brake is switchedonwhenthe speed has reached
5rpm (AXIS#.CS.VTHRESH) for at least 6ms (AXIS#.CS.TO). The rise (t
) and fall (t
brH
brL
times of the holdingbrake that is built into the motor aredifferent for the various types of
motor.
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AKD2G offers up to five feedback channels. These channels can serve
to commutate the motor (singlecable(➜ # 78)or dual cable (➜ # 82)),
to close the velocity and/orposition loops, and
to act as a command source (electronic gearing, flying sheer, master-slave (➜ # 90)).
The usage of the five channels may be freely configuredin software, subject only to a few
restrictions that are not physically sensible.
Exactly one feedback channel peraxis can commutate the motor.
At most onefeedback channel per axis can serve as the command source andthe same
feedback channel cannot also commutate the motor.
A feedback channel can serve as the command source for more than one axis.
FB1 cannot commutate axis 2. FB2 cannot commutate axis 1.
2 x 11 pins (left connector A, right connector B), pitch 3.5 mm
Fast input, isolated, sink, type EN 61131-2 type 1
Input for commutationorposition feedback.
Input for Electronic Gearing, (➜ # 90)
Matingconnector data see (➜ # 51).
Standardfor dual axis drives, (➜ # 29), optional for single axis
drives
2 x 10 pins (left connector A, right connector B), pitch 3.5 mm
RS485 inputs
Input for commutationorposition feedback.
Input for Electronic Gearing, (➜ # 90)
Output for encoderemulation(EEO2), (➜ # 91)
Matingconnector data see (➜ # 51).
EEO output connection is similar.
X22 PinStep/DirectionCW/CCWIncremental Encoder
A20Step +CW +Track A +
A21Step -CW -Track A B20Direction +CCW +Track B +
B21Direction -CCW -Track B A17AGNDAGNDAGND
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Connectivity OptionF3 orDX (➜ # 29)
Sub-D highdensity 15 pin, female
Use Kollmorgen feedback cables
Input for several feedback types
Input for Electronic Gearing, (➜ # 90)
Output for encoderemulation(EEO1), (➜ # 91)
Digital input (➜ # 103), Digital output (➜ # 107)
Matingconnector data see (➜ # 51).
Encoder power supply (X23 pins 10/11):
l Maximum voltage 9 V with shorted sense contacts (4/5), rated voltage 5 V +/-5%.
l Rated supply current is 350 mA.
l Voltage rise time ~4 ms with full load and 220 µF of capacitance.
l Encoder power lines capacitance 10 µF to 220 µF
SFA (Smart Feedback Adapter)converts conventional feedback signals to a 2-wire serial signal. SFA can be
mounted to a top hat rail EN50022–35×7.5(or EN50022–35×15) or laid into the cable duct.
SFA adds a 15 pole HD SubD female connector X41 to the system for connection of a Kollmorgen motor feedback cable (see regional Accessories Manual).
Sub-D highdensity 15 pin, female
0.5 m shielded cablewith 3 flying leads for connection to X1 or X2
Input for Electronic Gearing, (➜ # 90)
Connected feedback must be set in WorkBench
Use Kollmorgen feedback cables
Output for encoderemulation(EEO3/EEO4), (➜ # 91)
Master-Slave (➜ # 93)
Connect the threeflying leads of the SFA cableto X1 (FB1, EEO3)or X2 (FB2, EEO4) :
AKD2G offers several feedback channels. These channels may also be usedas the command source (input) for electronic gearing or master-slave or for EEO (Emulated Encoder Output).
AKD2G offers up to five feedback channels. Any of these channels may be used as the gearing command source. The gearing source is selected for each axis using
AXIS#.GEAR.FBSOURCE. Refer to the WorkBench Online Help for more information.
EEO
channel
ConnectorPinout and
wiring example
X1(➜ # 85)
X41(➜ # 89)
X2(➜ # 85)
X41(➜ # 89)
Keyword to configure
the sensor type
FB1.SELECT
FB2.SELECT
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8.10.2 Emulated Encoder Output (EEO)
The drive calculates the motor shaft position from the cyclic- absolute signals of the commutationfeedback, generating incremental-encodercompatible pulses or CW/CCW signals
or Pulse/Direction signals from this information.
The resolutionand the index (zero) position can be set in WorkBench. The outputs are driven
from an internal supply voltage. Refer to the WorkBench Online Help for more information.
When using a multispeed resolver(morethan2 poles) as commutationfeedback, the EEO
will create only onezeropulse per each mechanical revolution of the motor. Thezeropulse
is dependent on the motors starting position!
Examples for Master-Slave connection see (➜ # 93).
Technical characteristics X22, EEO2
Pulse outputs on the connectorX22 are 2 signals, tracks A andB, with 90° phase difference
(i.e. in quadrature, hence the alternative term “A quad B” output).
Electrical Interface: RS-485, max. current 100 mA, the maximum number of connected
slaves is determined by the loadingcharacteristics of the slaves, 32 slaves can be driven
if the input impedance of the bias network is 10kΩ and only one slave has a DC termination resistor.
Max signal (channel)output frequency: 3 MHz
The pulses perrevolutionvalueis settable
Pulse phase shift: 90°±20°
X22Signals EEO2Description
A17AGNDAnalog ground
A20Track A+EEO2 output, channel A positive
A21Track A-EEO2output, channel A negative
B20Track B+EEO2 output, channel B positive
B21Track B-EEO2output, channel B negative
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Pulse outputs on the SubD connector X23 are3 signals, A, B and Index, with 90° phase difference (i.e. in quadrature, hence the alternative term “A quad B” output), with a zero pulse.
Electrical Interface: 5V TTL, current 60 mA, max. number of connected slaves is determinedby the loading characteristics of the slaves, 32 slaves can be drivenif the input
impedance of the bias network is 10kΩ and only one slave has a DC terminationresistor.
Max signal (channel)output frequency: 3 MHz
The pulses perrevolutionvalueis settable
Pulse phase shift: 90°±20°
X23Signals EEO1Description
6Zero+EEO1 output, index positive
7Zero-EEO1 output, index negative
110 VEEO1 output, ground
12Track A+EEO1 output, channel A positive
13Track A-EEO1 output, channel A negative
14Track B+EEO1 output, channel B positive
15Track B-EEO1 output, channel B negative
Technical characteristics X41 (SFA), EEO3/EEO4 (in process)
Pulse outputs on the SubD connector X41 are3 signals, A, B and Index, with 90° phase difference (i.e. in quadrature, hence the alternative term “A quad B” output), with a zero pulse.
Electrical Interface: 5V TTL, current 60 mA, max. number of connected slaves is determinedby the loading characteristics of the slaves, 32 slaves can be drivenif the input
impedance of the bias network is 10kΩ and only one slave has a DC terminationresistor.
Max signal (channel)output frequency: 3 MHz
The pulses perrevolutionvalueis settable
Pulse phase shift: 90°±20°
X41Signals EEO3Description
6Zero+EEO3 output, index positive
7Zero-EEO3 output, index negative
110 VEEO3 output, ground
12Track A+EEO3 output, channel A positive
13Track A-EEO3 output, channel A negative
14Track B+EEO3 output, channel B positive
15Track B-EEO3 output, channel B negative
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Page 93
8.10.3 Master-Slave control
Several AKD2G can be connected as slave drives to another AKD2G which acts as a master. The slave drives use the master's encoder output signal (EEO, (➜ # 91)) as command
input and follow these commands (velocity and direction).
8.10.3.1 Master-Slave using X22
The master is configured for EEO4 (➜ # 91) on X2, the Slave uses X1 for command input.
The motionbus interface has RJ-45 connectors and can be used for communicating with fieldbus devices.
RJ45 with built-in green/red dual-color LED
X12 IN port, X11 OUT port
EtherCAT
Pin SignalDescription
1Tx+Transmit +
2Tx-Transmit 3Rx+Receive +
4TerminationBob Smith termination
5TerminationBob Smith termination
6Rx-Receive 7TerminationBob Smith termination
8TerminationBob Smith termination
Do not connect the Ethernet line for the PC or PAC with the set up software to the motion
bus interface X11/X12. The service Ethernet cable must be connected to X20.
Bus topology example (EtherCAT)
We suggest to use Kollmorgen ENCP cables. For more possible system solutions refer to
the WorkBench Online Help.
Communication profile
ForEtherCAT communication profile description refer to the manual "AKD2G EtherCAT Communication".
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8.12 CAN-Bus Interface (X13/X14)
AKD2G drives with connectivity option CN can be connectedto a CAN-Bus via two 6-pin
RJ25 connectors X13/X14.
Pin SignalDescription
1TerminationInternal Termination Resistor
2ShieldChassis
3CAN_highCAN bus high signal
4CAN_lowCAN bus low signal
5CAN_GNDCAN bus ground
6TerminationInternal Termination Resistor
RJ25
Up to 1000 kbit/s operation
Node ID to be set by WorkBench
Baudrate to be set by WorkBench
8.12.1 CAN-Bus Topology
We recommend the use of KollmorgenCBP000 cables.
Cable requirements
To meet ISO 11898, a bus cablewith a characteristic impedance of 120 Ω should be used.
The maximum usable cable length for reliable communicationdecreases with increasing
transmission speed.
As a guide, you can use the followingvalues measured by Kollmorgen; however, these values arenot assured limits:
Characteristic impedance: 100–120 Ω
Cable capacitance max.: 60 nF / 1000 m
Lead loopresistance: 159.8 Ω / 1000 m
Transmission Rate (kBaud)1000500250125
Maximum Cable Length (m)25100250500
Lowercablecapacitance (max. 30 nF / 1000 m) andlower lead resistance (loop resistance,
115Ω / 1000 m) allow largerdistances. The characteristic impedance 150± 5 Ω requires terminating resistor 150 ± 5 Ω.
Communication profile
ForCANopencommunication profile descriptionrefer to the manual "AKD2G CAN-Bus Communication".
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8.12.3 Baud rate for CAN-Bus
The transmission rate can be set via the parameter CANBUS.BAUD in WorkBench.
Baud rate [kBit/s] CANBUS.BAUD
125125 (default)
250250
500500
10001000
With a fix baud rate, the drive sends the boot up messagewith the baud rate saved in the
drive's non volatile memory after a power cycle.
8.12.4 Node Address for CAN-Bus
The node address can be set via parameter CANBUS.NODEID in WorkBench.
After changing the nodeaddress, you must turn off the 24 V auxiliary supply for the drive and
then turnit onagain.
8.12.5 CAN-Bus Termination
The last bus device on both ends of the CAN-Bus system must have terminationresistors.
The AKD2G has built-in 132ohms resistors that can be activated by connecting pins 1 and 6.
An optional termination plug is available for AKD2G (P-AKD-CAN-TERM). The optional termination plug is an RJ25 connectorwith an enclosed wire jumper betweenpins 1&6. The termination plug should be insertedinto the X13 connector of the last drive in the CAN network.
RJ45 with built-in green/red dual-color LED
100/10 Mbit Ethernet TCP/IP
Supports Auto-IP, DHCP andfixed IP addressing
Supports point-to-point (i.e. Auto-IP) and connection via network
switches
Supports automatic discovery in WorkBench if in the same subnet.
Pin SignalDescription
1Tx+Transmit +
2Tx-Transmit 3Rx+Receive +
4TerminationBob Smith termination
5TerminationBob Smith termination
6Rx-Receive 7TerminationBob Smith termination
8TerminationBob Smith termination
Operating, position control, and motion-block parameters can be set up by using the setup
software on an ordinary commercial PC (➜ # 117).
Connect the service interface X20 of the drive to an Ethernet interface on the PC directly or
via a network switch, while the supply to the equipment is switched off. Use standard
Cat. 5 Ethernet cables for connection (in some cases crossover cables will also work).
Confirm that the link LED on the AKD2G (RJ45 connector) and on your PC (or network
switch) areboth illuminated. If both lights are green, then you have a good electrical connection.
8.13.1 Possible Network Configurations
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Page 99
8.14 I/O Connection (X21/X22/X23)
8.14.1 Pinout
X21
standard
2 x 11 pins, pitch 3.5 mm
A: left connector
B: right connector
±10VDC
commonmode rejection ratio: > 30 dB at 60 Hz
resolution 16 bit and full monotonic
update rate: 16 kHz
non-linearity < 0.1% of full scale
offset drift max. 250µV/°C
input impedance > 13 kΩ
0 to +10 VDC, max 20 mA
resolution 16 bit and full monotonic
update rate: 4 kHz
non-linearity < 0.1% of full scale
offset drift max. 250µV/°C
short circuit protected to AGND
output impedance 110Ω
ON: 11 VDC to 30 VDC, 2 mA to 15 mA
OFF: -5 VDC to 5 VDC, max.15 mA
galvanic isolationfor 60VDC
activation / de-activation delay: < 1 µs / < 1 µs
ON: 11 VDC to 30 VDC, 2 mA to 15 mA
OFF: -5 VDC to 5 VDC, max.15 mA
galvanic isolationfor 60VDC
delay activation/de-activation: about 5 µs / 500 µs
max. 30 VDC, 100 mA
short circuit proof
galvanic isolationfor 60VDC
delay activation/de-activation: about 5 µs / 300 µs
volt-freecontacts, 100 mA
sink or source
galvanic isolationfor 60VDC
delay activation/de-activation: about 5 µs / 50 µs
reference potential X22: AGND, X23: 0V
input OFF: -0.3 V to +0.3 V
selectabletermination, difference/singleended
delay activation/de-activation: about 50 ns
max. 30 VDC, 1A
max. 42 VAC, 1 A
isolation 400 VDC contact/coil
delay open/close: 10 ms / 10 ms
ON: 17 VDC to 30 VDC, 5 mA to 6 mA
OFF: 0 VDC to 5 VDC, max.1 mA
galvanic isolationfor 60VDC
delay activation/de-activation about: 1.5 ms / 3.5 ms
100Kollmorgen | kdn.kollmorgen.com | Beta, December 2018
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