Kollmorgen AKD2G-S Series, AKD2G Series, AKD2G-S-7V03, AKD2G-S-7V12, AKD2G-S-6V03 Product Safety Manual
...
AKD®2G-Sxx
Product Safety Guide
Edition: -, Beta, December 2018
Valid for AKD2G, Hardware Revision A
Part Number 907-200024-99
English Deutsch Français Italiano Português Español Русский 中 国
Original language is English. All other content is translated from the genuine English content.
Forsafe and proper use, follow
these instructions.
Keepthem for futurereference.
Beta Drives: Approvals (CE, Functional Safety, UL) are pending.
Record of Document Revisions
Revision Remarks
...
Table with lifecycle informationof this document see (➜ # 75)
Beta, 12/2018 Beta edition
Contents
Product Safety Guide English (➜ # 3) Product Safety Guide Português (➜ # 49)
Product Safety Guide Deutsch (➜ # 25) Product Safety Guide Español (➜ # 50)
Product Safety Guide Français (➜ # 47) Product Safety GuideРусский (➜ # 51)
Product Safety Guide Italiano (➜ # 48)
Product Safety Guide 中国
(➜ # 52)
Appendix/Electrical Data (➜ # 54) Appendix/Dimensions (➜ # 60)
Appendix/Connection Overview (➜ # 61) Appendix/Approvals (➜ # 74)
Hardware Revision (HR)
AKD2G Firmware Workbench KAS IDE Remarks
A from 02-00-00-000 from 2.00.0.0000 from 3.01 Beta revision
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.
Technische Änderungen zur Verbesserung der Leistung der Geräte ohne vorherige Ankündigung vorbehalten.
Dieses Dokument ist geistiges Eigentum von Kollmorgen. Alle Rechte vorbehalten. Kein Teil dieses Werkes darf in
irgendeiner Form (Fotokopie, Mikrofilm oder in einem anderenVerfahren) ohne schriftliche Genehmigung von Kollmorgen reproduziert oder elektronisch verarbeitet, vervielfältigt oder verbreitet werden.
Sous réserve de modifications techniques apportés en vue d'amélioration des appareils!
Ce document est la propriété intellectuelle de Kollmorgen.Tous droits réservés. Sans autorisation écrite de
l'entreprise Kollmorgen, aucune partie de cet ouvrage n'a le droit d'être ni reproduite par des moyens quelconques
(impression, photocopie, microfilm ou autre procédure) ni traitée, polycopiée ou distribuée électronique.
Il produttore si riserva la facoltà di apportare modifiche tecniche volte al miglioramento degli apparecchi
Questo documento è la proprietà intellettuale di Kollmorgen. Tutti i diritti riservati. Nessuna parte del documento può
essere riprodotta in qualsiasi forma (fotocopia, microfilm o altro processo) senza l’approvazione scritta della ditta Kollmorgen o rielaborata, riprodotta o diffusa mediante l’uso di sistemi elettronici.
Alterações técnicas que melhoram o desempenho do dispositivo podem ser feitos sem aviso prévio!
Este documento é uma propriedade intelectual da Kollmorgen. Todos os direitos reservados. Nenhuma parte deste
trabalho pode ser reproduzida sob qualquer forma (por fotocópia, microfilme ou qualquer outro método) ou
armazenado, processado, copiado ou distribuído por meios eletrônicos sem a permissão escrita da Kollmorgen.
Los cambios técnicos que mejoran el rendimiento del dispositivo pueden llevarse a cabo sin aviso previo.
Este documento es propiedad intelectual de Kollmorgen. Todos los derechos reservados. Ninguna parte de esta
obra, bajo concepto alguno, podrá reproducirse (por fotocopia, microfilm ni ningún otro método) ni almacenarse, procesarse, copiarse ni distribuirse por medios electrónicos sin el permiso por escrito de Kollmorgen.
Сохраняется право внесения технических изменений с целью усовершенствования приборов!
Настоящий документ является интеллектуальной собственностью Kollmorgen. Все права защищены.
Воспроизведение любой части данного издания в любой форме (фотокопия, микрофильм или иной метод) или
редактирование, размножение или распространение с помощью электронных систем без письменного
разрешения компании Kollmorgen запрещаются.
如有提升设备性能的技术变更，恕不另行通知！
本文档知识产权归 Kollmorgen 所有 。版 权所 有 。未 经 Kollmorgen 书面许可，不得以任何形式( 利 用 影 印 、缩 微 胶
片或任何其他方法) 复 制 本 文 档 的 任 何 部 分 ，也 不 得 利 用 电 子 手 段 存 储 、处 理 、复制或分发本文 档 的 任 何 部 分 。
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AKD2G Product Safety Guide | 1 English
1 English
1.1 General 4
1.1.1 Notes for the PrintedEdition (paper version) 4
1.1.2 Symbols Used 5
1.1.3 Abbreviations Used 6
1.2 Product Safety 7
1.2.1 You should pay attention to this 7
1.2.2 Use as Directed 9
1.2.3 ProhibitedUse 10
1.2.4 Warning note labels 11
1.3 Product life cycle handling 12
1.3.1 Transport 12
1.3.2 Packaging 12
1.3.3 Storage 12
1.3.4 Installation, setup and normal operation 13
1.3.5 Decommissioning 13
1.3.6 Maintenance and cleaning 13
1.3.7 Disassembly 13
1.3.8 System Repair 14
1.3.9 Disposal 14
1.4 Technical description and general data 15
1.4.1 Drive part number scheme 15
1.4.2 PackageSupplied 16
1.4.3 Ambient Conditions, Ventilation, andMounting Position 16
1.4.4 Electrical Data 17
1.4.5 Display, B1/2 push-buttons, S1/2 rotary switches 17
1.4.6 Fault and Warning Messages 18
1.5 Functional Safety 19
1.6 Mechanical Installation 20
1.7 Electrical Installation 21
1.8 Setup 22
1.9 Troubleshooting the AKD2G 24
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AKD2G Product Safety Guide | 1 English
1.1 General
This guide presents the relevant information forsafe installation andsetup of the AKD®2G
series of digital drives with functional safety support. This guideis valid for AKD®2G single
axis drive or dual axis drive with 110V to 240V or 240V to 480V mains voltage.
Ouput stages: 3 A, 6 A, 12A rated current
Programmability options: Base drive or Position Indexer drive
Connectivity options: analog, CANopen, EtherCAT
I/O options: Extended I/O (X22), 2ndFeedback&EEO (X23)
Functional Safety options:
safety option 1 (SIL2 PLd) with STO or
safety option 2 (SIL3 PLe) with STO, SS1-t, SBC, SDB and SBT or
safety option 3 (SIL3 PLe) with STO, SS1-t, SS1-r, SS2, SLS, SSM, SSR, SDI, SLA,
SAR, SLI, SLP, SCA, SBC, SDB and SBT.
Forfull informationrefer to additional Kollmorgendocuments for the AKD2G series of drives:
Installation Manual (PDF format):
This manual provides instructions for installationand drive setup.
Accessories Manual (PDF format):
It provides informationfor accessories like cables andregen resistors used with AKD2G.
Regional variants of this manual exist.
CAN-BUS Communication (PDF format):
Describes how to use your drive in CANopen applications.
EtherCAT Communication (PDF format):
Describes how to use your drive in EtherCAT applications.
WorkBench Online help (HTML5 format):
Describes how to use your drive in common applications. It also provides tips for maximizing yoursystem performance with the AKD2G. The online help includes the Para-
meter and Command Reference Guide which provides information for the parameters and
commands used to program the AKD2G.
Beta Drives:
Approvals (CE, Functional Safety, UL) are pending.
All documents are in preliminary.
These documents can be found on the DVD in the drive package. All documents can be
downloadedfrom the Kollmorgen website www.kollmorgen.com.
1.1.1 Notes for the Printed Edition (paper version)
A printed version of the manual is enclosed with each product. For
environmental reasons, the document was reduced in size and printed on DINA5.
Shouldyou experience difficulties reading the font size of the
scaled-down printed version, you can print and usethe PDF versionin DINA4 format 1:1. Youcan find the PDFversion on the
DVD accompanying the product and on the Kollmorgen website.
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1.1.2 Symbols Used
Symbol Indication
DANGER
Indicates a hazardous situation which, if not avoided, will result in death or serious injury.
AKD2G Product Safety Guide | 1 English
WARNING
CAUTION
Indicates a hazardous situation which, if not avoided, could
result in death or serious injury.
Indicates a hazardous situation which, if not avoided, could
result in minor or moderate injury.
Indicates situations which, if not avoided, could result in property damage.
This symbol indicates important notes.
Warning of a danger (general). The type of danger is 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 suspended loads.
Warning of danger from automatic start.
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AKD2G Product Safety Guide | 1 English
1.1.3 Abbreviations Used
Abbreviation Meaning
(➜ # 53) "see page 53" in this document
Ω Ohms
A#, AXIS# A# or AXIS# are placeholders for the axis number. Used with keywords or
signal names
AGND Analog ground
AMSL Above meansealevel
Axis Depends on context, eitherone AKD2G output stageor one loadaxis of
the full motion system.
CAT Category
CE Communité Européenne
COM Serial interface for a personal computer
DGND Digital ground
EEPROM Electrically erasable programmablememory
EEO EmulatedEncoder Output
EMC Electromagnetic compatibility
EMF Electromagnetic force
F-SMA Fiber optic cableconnector according to IEC 60874-2
FSoE Fail safe over EtherCAT
KAS Kollmorgen AutomationSuite
KAS IDE Setup software (Kollmorgen Automation Suite Integrated Development
Environment)
KDN Kollmorgen Developer Network
LED Light-emitting diode
LSB Low significant byte (or bit)
MSB Main significant byte (orbit)
NI Zero pulse
OSSD Output Signal Switching Device
PC Personal computer
PE Protective earth
PELV Protective Extra Low Voltage
PLC Programmable logic control
PWM Pulse-width modulation
RAM Random access memory (volatile memory)
RBrake/RB Regenresistor (also called a brake resistor)
RBext External regenresistor
RBint Internal regen resistor
RCD Residual current device
RES Resolver
S1 Continuous operation
tbd To be discussed (inprocess)
VAC Volts, alternating current
VDC Volts, direct current
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1.2 Product Safety
1.2.1 You should pay attention to this
Specialist staff required!
Only properly qualified personnel are permitted 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 engineering and drive
technology.
The qualifiedpersonnel must know andobserve ISO 12100 / IEC 60364 / IEC 60664and
national accident prevention regulations.
Read the documentation!
Read the availabledocumentation beforeinstallation and commissioning. Improperhandling
of the devices can cause harm to people ordamage to property. The operator of systems
using the drive system must ensurethat all personnel who work with the drive readand understand the manual before usingthedrive.
AKD2G Product Safety Guide | 1 English
Check Hardware Revision!
Check the HardwareRevision Number of the product (seeproduct label). This numberis the
link between your product and the manual. The product HardwareRevision Number must
match the Hardware Revision Number on thecoverpage of the manual.
Pay attention to the technical data!
Adhereto the technical data and the specifications on connection conditions. If permissible
voltage values or current values are exceeded, the devices can be damaged. Unsuitable
motoror wrong wiring will damage the system components. Check the combination of drive
andmotor. Compare the rated voltageandcurrent of the units.
Perform a risk assessment!
The manufacturerof 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 onspecialist staff may also result from the
risk assessment.
Automatic restart
The drive might restart automatically after power on, voltage dipor interruption of the supply
voltage, depending ontheparametersetting. Risk of death orserious injury for humans working in the machine.
If the parameterAXIS#.ENDEFAULT is set to 1, then place a warningsign to the machine
(Warning: Automatic Restart at Power On)and ensure, that power onis not possible, while
humans are in a dangerous zone of the machine. In case of using anundervoltage protection
device, you must observe EN 60204-1:2006 chapter 7.5 .
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AKD2G Product Safety Guide | 1 English
Observe electrostatically sensitive components!
The devices contain electrostatically sensitive components which may bedamaged 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 during operation. The housing can reach temperatures above
80°C. Risk of minorburns! Measure the temperature, and wait until the housing has cooled
down below 40 °C before touching it.
Earthing!
It is vital that you ensure that the drive is safely earthed to the PE (protective earth) busbarin
the switch cabinet. Risk of electric shock. Without low-resistance earthing nopersonal protection can be guaranteed.
Leakage Current!
Since the leakage current to PE is more than 3.5 mA, in compliance with IEC61800-5-1 the
PE connection must either bedoubledor a connecting cable with a cross-section >10 mm²
must be used. Deviating measures accordingto regional standards might be possible.
High voltages!
The equipment produces highelectric voltages up to 900 V. Lethal dangerexists at live parts
of the device. Do not open or touch the equipment during operation. Keepall covers and cabinet doors closed. Built-in protection measures such as insulation orshieldingmay not be
removed. Work on the electrical installation may only be performedby trained and qualified
personnel, in compliance with the regulations for safety at work, and only with switched off
mains supply, and secured against restart.
Never undo any electrical connections to the drive while it is live. There is a danger of electrical arcingwith damageto contacts andpersonal injury. Wait at least 5 minutes after disconnecting the drive from the main supply powerbefore touching potentially live sections of
the equipment (such as contacts) or removing any connections.
Always measure thevoltage in the DC bus link andwait 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 accordingto EN13849 or EN 62061 must finally be
done by the user.
Reinforced Insulation
Thermal sensors, motor holdingbrakes andfeedback systems built into the connected motor
must have reinforcedinsulation (according to IEC61800-5-1) against system components
with power voltage, accordingto the requiredapplication test voltage. All Kollmorgen components meet these requirements.
Never modify the drive!
It is not allowed to modify the drive hardware without permission by the manufacturer. Opening the housingcauses loss of warranty.
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1.2.2 Use as Directed
The AKD2G drives are exclusively intended for driving suitablesynchronous servomotors
with closed-loop control of torque, speed, and/orposition.
AKD2G arecomponents that arebuilt into electrical plants or machines andcanonly be operated as integral components of these plants or machines. Themanufacturer of the machine
used with a drive must generate a risk assessment for the machine. When the drives are built
into machines or plant, the drive must not be used until it has been established that the
machine or plant fulfills the requirements of the regional directives.
Cabinet and wiring
Drives must only be operatedin a closed control cabinet suitable for the ambient conditions
(➜ # 16). Ventilation or cooling may be necessary to keep the temperaturewithin the cabinet
below 40°C.
Use only copperconductors for wiring. The conductor cross-sections can bederived 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 or3phase industrial supply networks.
Drives in the AKD2G series can besupplied as follows:
AKD2G Product Safety Guide | 1 English
AKD2G-Sxx-6Vxx:
1, 2 or 3 phase industrial supply networks (not morethan 200 kA symmetrical ratedcurrent at 120 V and 240 V).
AKD2G-Sxx-7Vxx:
3 phase industrial supply networks (not morethan200 kA symmetrical rated current at
240V, 400 V and 480 V).
Connection to othervoltage types of supply networks is possible with an additional isolating
transformer.
Repeated overvoltages betweenphases (L1, L2, L3)and the housing of the drive must not
exceed1000V peak. In accordance with IEC 61800, voltagespikes (< 50 µs) between
phases must not exceed 1000 V. Voltage spikes (<50 µs) between a phase and the housing
must not exceed 2000 V.
EMC filter measures for AKD2G-Sxx-6Vxx must beimplemented by the user.
Motor voltage rating
The rated voltage of the motors must be at least as highas the DC bus link voltagedivided
by √2 produced by the drive (U
nMotor
>=UDC/√2).
Functional Safety
Beta Drives: Safety functionality is neither approvednorcertified yet. Do not use this functionality in applications with functional safety request until furthernotice.
The network, to which the drive is connected, must besecuredaccording to state-of-theart informationtechnology security requirements.
The user IT specialists shall analyze whether furthersecurity requirements are applicableto ensure functional safety.
Review the chapter "Use as Directed" in the Functional Safety section beforeusing safety
functionality.
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AKD2G Product Safety Guide | 1 English
1.2.3 Prohibited Use
Otheruse thanthat described in chapter “Use as directed”is not intended and can lead to personnel injuries andequipment damage. Thedrive may not be used with a machine that does
not comply with appropriate national directives or standards. Theuse 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 offshoreapplications
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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1.2.4 Warning note labels
If a warning note label is damaged, it must be replaced immediately.
1.2.4.1 Notes placed on the product
AKD2G
Wait 5 minutes
after removingpower
before servicing.
1.2.4.2 Adhesive label in the package
To meet UL, place the multi-language label onthedrive or on the panel near the drive.
AKD2G Product Safety Guide | 1 English
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AKD2G Product Safety Guide | 1 English
1.3 Product life cycle handling
1.3.1 Transport
Transport the AKD2G in accordance with IEC 61800-2 as follows:
Transport only by qualifiedpersonnel in the manufacturer’s original recyclable packaging.
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" (➜ # 12))
Transport only within specifiedtemperature ranges:
-25to +70 °C, max. rateof change20 K/hour, class 2K3.
Transport only within specifiedhumidity:
max. 95% relative humidity at +40°C, nocondensation, class 2K3.
The drives contain electrostatically sensitive components that can be damagedby incorrect
handling. Electrostatically dischargeyourself before touching the drive. Avoid contact with
highly insulating materials, such as artificial fabrics and plastic films. Place the drive on a
conductive surface.
If the packagingis damaged, check the unit for visible damage. Inform the shipper andthe
manufacturer of any damageto the package or product.
1.3.2 Packaging
1.3.3 Storage
The AKD2G packagingconsists of recyclable cardboardwith inserts and a label on the outside of the box.
Model Package
(mm) HxWxL
AKD2G-Sxx-6V03 to 6V12 tbd 4.2
AKD2G-Sxx-7V03 to 7V12 tbd 4.3
Matingconnectors are not included in the package of a standard drive.
Matingconnectors are includedwhen the drive is ordered with accessories (append“-A” to
the model number).
Store the AKD2G in accordance with IEC 61800-2as follows:
Store only in the manufacturer’s original recyclablepackaging.
Store at or below maximum stacking height 8 cartons.
Store only within specified temperatureranges: -25 to +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 followingduration requirements:
Less than 1 year: without restriction.
More than 1 year: capacitors must be re-formed before setting up and operating the
drive. Re-formingprocedures are describedin the Kollmorgen DeveloperNetwork
(Forming).
Total Weight
(kg)
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1.3.4 Installation, setup and normal operation
Installation and setup information aregiven in this Guide:
Mechanical installation(➜ # 20)
Electrical installation (➜ # 21)
Setup (➜ # 22)
Normal operationtested for environmental class 3K3 accordingto IEC 61800-2 (➜ # 16).
The manufacturerof the machine defines the necessary end userexpertise based onthe risk
assessment for the machineand describes the requirements for normal operation based on
the application.
1.3.5 Decommissioning
Only professional staff who are qualified in electrical engineering are allowedto 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 mainswitch of the switchgearcabinet.
Securethe system against restarting.
Block the mainswitch.
Wait at least 5 minutes after disconnecting.
AKD2G Product Safety Guide | 1 English
1.3.6 Maintenance and cleaning
The device does not require maintenance. Opening the device voids the warranty. Theinside
of the unit can only be cleanedby the manufacturer.
Do not immerse orspray the device. Avoid that liquidenters the device.
To cleanthedevice exterior:
1. Decommission the device (see chapter1.3.5 "Decommissioning").
2. Casing: Clean with isopropanol or similarcleaning solution.
Caution : Highly Flammable! Risk of injury by explosion and fire.
Observe the safety notes given on the cleaningliquid package.
Wait at least 30minutes after cleaning beforeputting the device back into operation.
3. Protective grill on fan: Cleanwith a dry brush.
1.3.7 Disassembly
Only professional staff who are qualified in electrical engineering are allowedto disassemble
parts of the system.
1. Decommission the device (see chapter1.3.5 "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 and wait until it has cooledbelow 40°C (104°F).
3. Remove the connectors. Disconnect the potential earth connection last.
4. Demount: loosen the fastening screws. Remove the device.
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AKD2G Product Safety Guide | 1 English
1.3.8 System Repair
Only professional staff who are qualified in electrical engineering are allowedto exchange
parts of the drive system.
CAUTION: Automatic Start! During replacement work a combinationof hazards and mul-
tiple episodes may occur.
Work on the electrical installation may only be performedby trainedandqualifiedpersonnel, in compliance with the regulations for safety at work, and only with use of prescribed personal safety equipment.
Exchange of the device
Only the manufacturer can repair the device. Opening the device voids the warranty.
1. Decommission the device (see chapter1.3.5 "Decommissioning").
2. Demount the device (see chapter 1.3.7 "Disassembly").
3. Sendthedevice to the manufacturer.
4. Install a new device as described in this manual.
5. Setup the system as describedinthis manual.
Exchange of other drive system parts
If parts of the drive system (forexample cables) must be replaced, proceed as follows:
1.3.9 Disposal
1. Decommission the device (see chapter1.3.5 "Decommissioning").
2. Exchangethe parts.
3. Check all connections for correct fastening.
4. Setup the system as describedinthis manual.
To dispose the unit properly, contact a certified electronic scrap disposal merchant.
In accordance with the WEEE-2012/19/EC guideline and similar, the manufacturer accepts
returns of old devices and accessories for professional disposal. Transport costs are the
responsibility of the sender.
Contact Kollmorgen and clarify the logistics.
Sendthedevices in the original packaging to the manufacturer address:
North America South America
KOLLMORGEN
201West Rock Road
Radford, VA 24141, USA
Europe Asia
KOLLMORGEN Europe GmbH
Pempelfurtstr. 1
40880Ratingen, Germany
KOLLMORGEN
AvenidaJoãoPaulo Ablas, 2970
Jardim da Glória, Cotia – SP
CEP 06711-250, Brazil
KOLLMORGEN
Floor 4, Building9, No. 518,
North Fuquan Road, Changning District,
Shanghai 200335, China
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1.4 Technical description and general data
The AKD2G is a digital servo drive with extended functionality that is ideal for complex drive
tasks with functional safety requirements.
1.4.1 Drive part number scheme
Use the part numberscheme forproduct identification only.
AKD2G Product Safety Guide | 1 English
Accessories
Model number followed by "-A" (Accessories)
Matingconnectors includedinthepackage.
SFA (Smart Feedback Adapter)
SFA converts conventional feedback signals to a 2-wire serial signal.
SDB Module (Safe Dynamic Brake Module)
Requiredfor SDB usage. When SDB is activated, the external Safe Dynamic Brake
Module (SDB-Module) shorts the motor terminals.
Hybrid motor cables
Motorcables with integrated power, brake and feedback leads.
External regen resistors
High powerresistors for dissipationof generative energy.
Foraccessories referto yourregional Accessories Manual.
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AKD2G Product Safety Guide | 1 English
1.4.2 Package Supplied
When a standard drive from the AKD2G series is delivered, the following items are included
in the drive package:
AKD2G
Printedcopy of AKD®2G Product Safety Guide .
DVD with WorkBench setup software.
Panel safety label
Matingconnectors are not included in the package of a standard drive.
Matingconnectors are includedwhen the drive is ordered with accessories (append“-A” to
the model number). With the accessories option all connectors to match the drive variant are
included, exceptingSubD (Feedback 3), RJ25 (CAN bus) and RJ45 (service and fieldbus
networks).
Accessories Sold Separately
Accessories must beordered separately if required.
EMC filters for mains supply voltage, categories C2 or C3.
External regen resistor.
Connector kits
Hybrid cable. Assembledhybrid motorcables are available for all regions.
Motorcable. Assembled motor 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.
1.4.3 Ambient Conditions, Ventilation, and Mounting Position
Storage, Transport (➜ # 12)
Normal operation Environmental class 3K3 accordingto IEC 61800-2
Surrounding tem-
perature in operation
Humidity in operation Relative humidity 5 to 85%, no condensation, IEC 61800-2class
Site altitude Up to 1000 m above mean sea level (AMSL): no restriction
Pollution level Pollution level 2 as perIEC 60664-1
Vibration Class 3M1according to IEC 61800-2
Shock Class L accordingto IEC 61800-2
Drive protection IP 20 according to IEC 60529
Drive EMC immunity Increasedimmunity according to EN 61800-5-2
Mounting Vertical position, in a cabinet with protection of at least IP 54
Ventilation Built-in fan in all drive variants
Internal regenresistor used:
0 to +40 °C under rated conditions
+40 to +60 °C with current derating3 % perKelvin
Internal regenresistor not used:
0 to +50 °C under rated conditions
+50 to +60 °C with current derating2 % perKelvin
3K3
1,000 to 2,000m AMSL: powerderating1.5%/100 m
Maximum altitude: 2000m AMSL
The drive shuts down in case of excessively high temperaturein
the control cabinet. Make sure sufficient forcedventilationis suppliedwithin the control cabinet.
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1.4.4 Electrical Data
Electrical data (➜ # 54)
1.4.5 Display, B1/2 push-buttons, S1/2 rotary switches
AKD2G with Safety Option 1 AKD2G with Safety Option 2 or 3
1.4.5.1 Display
The LCD display offers several screens, which can benavigatedby pushingtheB1 or B2 buttons. Different colors visualize the current axis status.
AKD2G Product Safety Guide | 1 English
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AKD2G Product Safety Guide | 1 English
1.4.5.2 Push-buttons B1 / B2
A short button press invokes the action correspondingto the symbol directly above the button. On the dashboard for example,
a short press on B1 causes the menusystem to appear, and
a short press on B2 causes a help screen to appear.
A long press (greaterthan2seconds) onB2 returns the display to the previous screen.
More B1/B2 functions Description
Boot from SD card Push both buttons during power upto boot with data from SD
Boot from flash fallback
image
1.4.5.3 Rotary switches S1 / S2
AKD2G with functional safety option 2 or 3 offertwo decimal rotary switches for setting the
Safe ID. The SafeID is calculatedbasedon a fixed numberplus an adder set with the rotary
switches.
card. Press the buttons first, thenhold it down while turning on
the 24 V powersupply.
Push both buttons during power up, without an SD card, to boot
from anon-boardrecovery image. Press the buttons first, then
holdit down while turning onthe 24V powersupply.
Axis 1: 256 + adder1to 99, SafeID range257 to 355
Axis 2: 512 + adder1to 99, SafeID range513 to 611
1.4.6 Fault and Warning Messages
Fault codes and Warning codes follow the samefour digit code"G G X X", where GG is a two
digit groupcode, and XX is a two digit ID. Thedisplay on the front panel of the drive shows
the codeof the fault or warning that occurred for the axis. Navigate with B1 / B2 to the Fault
screento see a short descriptionof the fault or warning.
Eliminate errors andfaults in compliance with work safety rules. Troubleshootingonly by
qualified and trained staff.
More informationabout fault messages, remedy and clearingfaults can befoundin the
WorkBench onlinehelp and in KDN.
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1.5 Functional Safety
Beta Drives: Functionality Safety of AKD2G is neitherapprovednor certified. Do not use
this functionality in applications with functional safety request.
There are three optional levels of Functional Safety implementation forAKD2G:
Option1 (SIL2 PLd): STO, activation by safe I/O
Option2 (SIL3 PLe): STO, SS1-t, SBC, SBT, SDB, activation by safe I/O or FSoE
Option3 (SIL3 PLe): STO, SS1-t, SS1-r, SS2, SLS, SSM, SSR, SDI, SLA, SAR, SLI,
SLP, SCA, SBC, SBT, SDB, activation by safe I/O or FSoE
Resulting Functional Safety classification (SIL and/or PL level) must becalculated across
the drive system.
The safety properties given by Kollmorgencan bereached if the Kollmorgen components are
used. Refer to the matchingAKD2G-S Installation Manual for full information ontheinstalled
functional safety option.
Parameterizing of the safety functions shall be doneby trained personnel only. The level of
experience shall beappropriate tothecomplexity and safety integrity level of the drive system.
AKD2G Product Safety Guide | 1 English
CAUTION
Risk of electrical shock! The safety functions do not provide anelectrical separation from the
poweroutput. If manual access to powerterminals is necessary,
disconnect the drive from mains supply,
consider the discharging time of the DC-Bus link.
High electrical voltage!
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AKD2G Product Safety Guide | 1 English
1.6 Mechanical Installation
Fordimensions and cabinet mountingsee(➜ # 60).
CAUTION
Risk of electrical shock, if drive (or motor)is not properly EMC-grounded.
Do not use painted (i.e. non-conductive) mounting plates.
Observe the hints in chapter "Recommendations for EMI noise reduction"in the Install-
ation Manual
Protect the drive from impermissible stresses. In particular, do not let any components
become bent or any insulation distances altered during transport and handling. Avoid contact with electronic components and contacts.
The drive will switch itself off in case of overheating. Ensure that there is an adequate flow
of cool, filtered air into thebottom of the control cabinet, or use a heat exchanger.
Do not mount devices that produce magnetic fields directly beside the drive. Strong magnetic fields can directly affect internal components. Install devices which produce magnetic
field with distance to the drives and/orshieldthemagnetic fields.
Guide to Mechanical Installation
The following tools arerequired (at a minimum) to install the AKD2G; yourspecific installation may require additional tools:
M5 hexagon socket-cap screws (ISO 4762)
4 mm T-handle Allen key
No. 2 Phillips headscrewdriver
Small slotted screwdriver
High EMC Voltage Level!
Dimensions and mounting hole positions dependon the drive variant (➜ # 60).
Install the drive unit as follows:
1. Prepare the site.
Mount the drive in a closed control cabinet, ambient conditions (➜ # 16). Thesite must be
free from conductive or corrosive materials. For the mountingposition in the cabinet see
(➜ # 60).
2. Check ventilation.
Check that the ventilationof the drive is unimpeded, and keep within the permitted ambient temperature(➜ # 16). Keep 50 mm space clearance above and below the drive.
3. Check cooling system.
If cooling systems are usedfor the control cabinet, position the coolingsystem so that
condensation water cannot driponto the drive or peripheral devices.
4. Mount the drive.
Assemble the drive on the conductive, grounded mountingplate in the cabinet.
5. Ground the drive.
ForEMC-compliant shieldingand grounding seeInstallation Manual. Ground the mounting
plate, motor housing and CNC-GND of the control system andof the 24V DC supply
voltage.
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1.7 Electrical Installation
Connector position and wiring overview (➜ # 61), connector pinout (➜ # 67)
Only professional staff who are qualified in electrical engineering are allowedto install the
drive. Wires with colorgreen with one ormore yellow stripes must not be used other thanfor
protective earth (PE)wiring.
AKD2G Product Safety Guide | 1 English
DANGER
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 power connections can still be live, even if the motor is not rotating.
Only install and wire the equipment when it is not live.
Make surethat the cabinet is safely disconnected (forinstance, with a lock-out and warning 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 undoingany connections.
To be sure, measure the voltage in the DC bus link and wait until it has fallen below 50 V.
Wrongmains voltage, unsuitable motoror wrong wiring will damage the drive. Check the
combination of drive and motor. Compare the rated voltage and current of the units.
The fusingof the mains power, logic power and regenresistor must beinstalled by the user,
best values (➜ # 66). Excessively high external fusing will endanger cables and devices.
Hints for use of residual-current circuit breakers (RCD) see Installation Manual.
The drive status shall bemonitored by the PLC to acknowledge critical situations. We
recommend wiring theready to operate relay contact in series into the emergency off circuit
of the installation. The emergency off circuit must operate the supply contactor.
Since the leakage current to PE is more than 3.5 mA, in compliance with IEC61800-5-1 the
PE connection must either bedoubledor a connecting cable with a cross-section >10 mm²
must be used. Use the PE terminal andthePE connection screws in order to fulfill this
requirement.
High Voltage up to 900 V!
Guide to electrical installation
Install the drive electrical system as follows:
1. Select cables in accordance with IEC 60204 .
2. Install shieldingand groundthe drive.
ForEMC-compliant shieldingand grounding, see Installation Manual.
Ground the mountingplate, motor housing and CNC-GND of the control system.
3. Wire the drive and connectors.
Observe the "Recommendations for EMI noise reduction": see Installation Manual
Connect all interface according to the connector pinassignments.
4. Check the wiringagainst the wiring diagram and connector pinassignments.
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AKD2G Product Safety Guide | 1 English
1.8 Setup
Fordetailed information on the parameterization of functional safety refer to the AKD2GS Installation Manual and the WorkBench Online Help.
Programmingparameters andcontrol loop behavior: see WorkBench online help.
The fieldbus setup is describedin the corresponding manual on the DVD.
Only professional personnel with extensive knowledge in the fields of electrical engineering
anddrive technology areallowed to test and set up the drive.
DANGER
There is a dangerof serious personal injury or death by electrical shock. Lethal danger exists
at live parts of the device.
Built-in protection measures such as insulation orshielding may not be removed.
Work on the electrical installation may only be performedby trainedandqualifiedpersonnel, in compliance with the regulations for safety at work, and only with switched off
mains supply, and secured against restart.
WARNING
Risk of death orserious injury for humans working in the machine. The drive might restart
automatically after power on, voltage dipor interruption of the supply voltage, dependingon
the parameter setting. If parameterAXIS#.ENDEFAULT is set to 1,
then place a warning sign ("WARNING: Possible Automatic Restart" or similar) to the
machine.
Ensure, that power onis not possible, while humans are in a dangerous zone of the
machine.
CAUTION
Risk of minor burns. The heat sink of the drive can reach temperatures up to 80°C in operation.
Check the heat sink temperaturebeforehandlingthe drive.
Wait until the heat sink has cooled down to 40°C before touching it.
Lethal Voltage!
Automatic Restart!
High Temperature!
If the drive has been storedfor more than 1 year, you must re-form the capacitors in the DC
bus link circuit. Re-forming procedures aredescribedintheKollmorgenDeveloperNetwork
(Forming).
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AKD2G Product Safety Guide | 1 English
MAC Address
The unique MAC address is pre-defined by the manufacturer (seenameplate).
Service IP Address
The AKD2G service port X20 supports auto-IP, DHCP andstatic IP addressing.
The drive is delivered with IP address 0.0.0.0. Dependingon the connection (switch or PC)
either DHCP or auto-IP mechanism assignes a unique IP address.
WorkBench uses the IP address to detect AKD2G devices in the LAN and start com-
munication. With WorkBench you canset a static IP address for thedrive (keyword
IP.ADDRESS).
EtherCAT Node Address
The EtherCAT node address is set automatically by the EtherCAT master.
CAN Node Address
Set a CAN node ID for thedrive in WorkBench (keyword CANBUS.NODEID).
FSoE Address (Safe ID)
Functional Safety options 2 and3 offer FSoE support. Two rotary switches in the front are
used to set the FSoE address of the drive. Default setting: S1 = 0, S2 = 1
S1 S2 Function Set while Remarks
x y FSoE address
Safe ID
24 V is OFF The SafeID is calculatedbasedon a fixed number
plus an adder set with the rotary switches.
Example:
Rotary switches: S1 = 2, S2 = 3 → adder= 23
Resulting SafeID axis 1 : 256 + 23 = 279
Resulting SafeID axis 2 : 512 + 23 = 535
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