Kollmorgen AKD-C, AKD-N Installation Manual

Page 1

AKD

Central Power Supply

Installation Manual

Edition: H, February 2018 Valid for AKD-C, Hardware Revision A Part Number 903-200019-00 Original Document

Keep allmanuals as a product component during the life span of the product. Pass all manualsto future users and owners of the product.

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Record of Document Revisions

Revision Remarks

...

F, 09/2016

Table with lifecycle information of this document see (➜ # 91)

Warning notes updated, projecting guide notes, warning labels described, UL Markings updated,

circuit breaker removed from UL approval, mains frequency 40-70Hz, SCCR 42kA G, 10/2017 Safety characteristic value MTTFd added, reference to safe slip rings (Stemmann) H, 02/2018 Part number scheme (Mx types removed), Trademark list updated

Hardware Revision (HR)

AKD-N AKD-C

Firmware/

WorkBench

Export

Classification

Remarks

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

B A from 1.13 -

AKD-N Hardware Revision for export classification tracebility purposes

Trademarks

AKD is a registered trademark of Kollmorgen Corporation EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH HIPERFACE is a registered trademark of Max Stegmann GmbH SpeedTec is a registered trademark of TE Connectivity Ltd. Windows is a registeredtrademark of Microsoft Corporation

Current patents

US Patent 8.154.228 (Dynamic BrakingFor Electric Motors) US Patent 8.214.063 (Auto-tune of a Control System Based on Frequency Response) US Patent 8.566.415 (Safe Torque Off over network wiring)

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

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

Printed in Germany 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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AKD-C Installation | Table of Contents

1 Table of Contents

1 Table of Contents 3

2 General 7

2.1 About thisManual 8

2.2 Using the PDF Format 8

2.3 Notes for the Printed Edition (paper version) 8

2.4 SymbolsUsed 9

2.5 AbbreviationsUsed 10

2.6 Standards Used 11

3 Safety 12

3.1 You should payattention to this 13

3.2 Use asDirected 15

3.3 Prohibited Use 16

3.4 Warning notes placed on the product 16

4 Handling 17

4.1 Packaging 18

4.2 Transport 18

4.3 Storage 18

4.4 Decommissioning 18

4.5 Maintenance and cleaning 19

4.6 Disassemble 19

4.7 SystemRepair 19

4.8 Disposal 20

5 Approvals 21

5.1 Conformance with UL/cUL 22

5.1.1 UL Markings/ Marquages UL 22

5.2 Conformance with EC Low Voltage and EMC Directives 23

5.3 Conformance with EC Machinery Directive, FunctionalSafety 23

5.4 Conformance with EAC 24

5.5 Conformance with RoHS 24

5.6 Conformance with REACH 24

6 Package 25

6.1 Package Supplied 26

6.2 Nameplate 26

6.3 Part Number Scheme 27

7 Technical description and data 28

7.1 The AKD-C Central Power Supply 29

7.2 MechanicalData 30

7.3 Electrical Data 30

7.4 Fusing 31

7.4.1 External power supplyfusing 31

7.4.2 External regen resistor fusing 31

7.5 Ambient Conditions, Ventilation, and Mounting Position 31

7.6 Grounding System 32

7.7 SignalInputs/Outputs 32

7.8 Connectors 33

7.9 Recommended Tightening Torques 33

7.10 Cable Requirements 33

7.11 Cable Length Definition 34

7.12 Dynamic Braking 35

7.13 Regen circuit 35

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AKD-C Installation | Table of Contents

7.13.1 Functional description 35

7.13.2 Technicaldata 35

7.14 Switch-On and Switch-Off Behavior 36

7.14.1 Switch-on behavior in standard operation 36

7.14.2 Switch-off process, standard operation 37

7.15 GlobalSafe Torque Off(STO) 38

7.15.1 STO Safetyinstructions 38

7.15.2 Use as directed 39

7.15.3 Prohibited use 39

7.15.4 Safety characteristicdata 39

7.15.5 Response Time 39

7.15.6 General information 40

7.15.7 Enclosure, wiring 41

7.15.8 Technicaldata and connection 42

7.15.9 Functional description 43

7.15.9.1 Signal diagram (sequence) 44

7.15.9.2 Functional test 44

7.15.9.3 GlobalSTO application example with KSM 45

7.15.9.4 OSSD testpulses 45

7.16 Shock-hazard Protection 46

7.16.1 Leakage current 46

7.16.2 Residualcurrent protectivedevice (RCD) 46

7.16.3 Isolating transformers 46

7.17 LED Display 46

8 Mechanical Installation 47

8.1 Important Notes 48

8.2 Dimension Drawing 49

8.3 Mounting Example 50

9 Electrical Installation 51

9.1 Important Notes 52

9.2 Guide to ElectricalInstallation 53

9.3 EMI Noise Reduction 54

9.3.1 Recommendations for EMI noise reduction 54

9.3.2 Shielding connection to the device 55

9.3.2.1 Shield connection clamps for X12, X13, X14, X15, X16 55

9.3.2.2 Ethernet connectors X10, X11, X18 55

9.3.2.3 DC power connector X20A, X21A (cable CCNCN1) 55

9.3.2.4 Local fieldbus connectors X20B, X21B (cable CCNCN1) 55

9.4 SystemTopology of a Decentralized Servo System 56

9.4.1 System limits 56

9.4.2 Examplefor one AKD-C 56

9.4.3 Examplefor several AKD-C 57

9.5 Wiring 58

9.6 Connection Overview 59

9.6.1 Connector assignment 59

9.6.2 Connection diagram 60

9.7 Electrical Supply Connection 61

9.7.1 Connection to various mainssupplynetworks 61

9.7.2 Mainssupply connection (X12) 62

9.7.2.1 Three phase connection 62

9.7.3 24 VDC supply voltage (X13) 63

9.8 DC Bus link (X14) 64

9.8.1 Regen resistor (X14) 65

9.8.1.1 Internal regen resistor 65

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AKD-C Installation | Table of Contents

9.8.1.2 External regen resistor 65

9.8.2 Capacitor Modules(X14) 66

9.8.2.1 Technical Data 66

9.8.2.2 Example installationwith KCM-S and KCM-E 67

9.8.2.3 Example installationwith KCM-P and KCM-E 68

9.8.2.4 Discharging KCM modules 69

9.9 Drive String Connection 70

9.9.1 String assignment 71

9.9.2 DC power (X20A, X21A) 72

9.9.3 LocalFieldbus (X20B, X21B) 72

9.10 I/O Connection 73

9.10.1 I/O connectors X15 and X16 73

9.10.2 DigitalInput (ENABLE, X15) 74

9.10.3 DigitalOutput (X15) 75

9.10.4 FAULT relaycontacts 76

9.10.5 STO signals(X16) 76

9.11 Motion BusInterface (X10/X11) 77

9.11.1 Pinout 77

9.11.2 BusProtocols 77

9.11.3 Network configuration 77

9.11.4 EtherCAT 77

9.12 Service Interface (X18) 78

9.12.1 Pinout 78

9.12.2 ServiceBus Protocols 78

9.12.3 PossibleNetwork Configurations 78

9.13 Push-button (B1) 79

9.14 Rotary Switches(S1), Setting IP address 79

10 Setup 80

10.1 Important Notes 81

10.2 Setup software WorkBench 82

10.2.1 Use as directed 82

10.2.2 Software description 83

10.2.3 Hardware requirements 83

10.2.4 Operating systems 83

10.2.5 Installation under Windows 84

10.3 InitialSystem Test 85

10.3.1 Unpacking,mounting, and wiring 85

10.3.2 Set IP address 85

10.3.3 Confirm connections 85

10.3.4 Installand start WorkBench 86

10.3.5 Enable the drive using the setup wizard 86

10.4 Fault and Warning Messages 87

10.5 Troubleshooting the AKD-C 88

11 Index 89

12 Record of Document Revisions 91

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AKD-C Installation |

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AKD-C Installation | 2 General

2 General

2.1 About this Manual 8

2.2 Using the PDF Format 8

2.3 Notes for the Printed Edition (paper version) 8

2.4 Symbols Used 9

2.5 Abbreviations Used 10

2.6 Standards Used 11

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AKD-C Installation | 2 General

2.1 About this Manual

This manual, AKD-C Installation Manual ("Instructions Manual" accordingto EC Machinery Directive 2006/42/EC), describes the AKD-C (Central Power Supply) and includes information needed to safely install decentral drive system with an AKD-C and several AKD-N drives. A digital version of this manual (pdf format) is available onthe DVD included with your device. Manual updates can be downloaded from the Kollmorgen website (www.kollmorgen.com).

Additional documents include the following:

Decentralized Drive System Projecting Guide: describes how to build a decentralized drive system with AKD-C and AKD-N. It provides tips for system topology, cooling, and maximizing the system performance. AKD-N Installation Manual: describes the AKD-N series of drives for Kollmorgen decentralizeddrive system and includes information needed for safe assembling and installation of the drives. WorkBench Online Help: describes how to use your drive in common applications. It also provides tips for maximizing your system performance. The Online Help includes the Para- meter and Command Reference Guide which provides documentation for theparameters andcommands used to program the drive.

EtherCAT Communication: describes how to use yoursystem in EtherCAT applications.

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

istors used with AKD-C and AKD-N. Regional variants of this manual exist.

2.2 Using the PDF Format

This document includes several features for ease of navigation

Cross References Table of contents 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 and the appropriate page is accessed.

Page/chapternumbers with cross references are active links.

2.3 Notes for the Printed Edition (paper version)

A printed version of the manual is enclosed with each product. For environmental reasons, the document was reduced in size and printed on DIN A5.

Should you experience difficulties reading the font size of the scaled-down printed version, you can print and use the PDF version in DIN A4 format 1:1. You can find the PDF version on the DVD accompanying the product and on the Kollmorgen website.

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2.4 Symbols Used

Warning Symbols

Symbol Indication

DANGER

Indicates a hazardous situation which, if not avoided, will result in death or serious injury.

AKD-C Installation | 2 General

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 and its effects.

Warning of danger from hot surface.

Warning of danger from suspended loads.

Warning of danger from automatic start.

Drawing symbols

Symbol Description Symbol Description

Signal ground Diode

Chassis ground Relay

Protective earth Relay switch off delayed

Resistor Normally open contact

Fuse Normally closed contact

State-of-the-art firewall

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AKD-C Installation | 2 General

2.5 Abbreviations Used

Abbreviation Meaning

(➜ # 53) "see page 53" in this document CE Communité Européenne COM Serial interface for a personal computer DCOM Communication line for digital inputs Disk Magnetic storage (diskette, hard disk) EEPROM Electrically erasable programmable memory EMC Electromagnetic compatibility KAS Kollmorgen Automation Suite KAS IDE Setup software (KollmorgenAutomation Suite Integrated Development

LED Light-emitting diode LSB Low significant byte (or bit) MSB Main significant byte (or bit) NI Zero pulse OSSD Output signals Switching Device PC Personal computer PE Protective earth PELV Protective extra low voltage PLC Programmable logic control PWM Pulse-width modulation RAM Random access memory (volatile memory) RBrake/RB Regenresistor (also called a brake resistor) RBext External regen resistor RBint Internal regen resistor RCD Residual current device RES Resolver ROD Incremental encoder (A quad B) STO Safe torque off VAC Volts, alternating current VDC Volts, direct current

Environment)

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2.6 Standards Used

Standard Content

ISO 4762 Hexagon socket head cap screws ISO 11898 Road vehicles — Controller area network (CAN) ISO 12100 Safety of machinery: Basic concepts, general principles for design ISO 13849 Safety of machinery: Safety-related parts of control systems IEC 60085 Electrical insulation - Thermal evaluation and designation Maintenance IEC 60204 Safety of Machinery: Electrical equipment of machinery IEC 60364 Low-voltage electrical installations IEC 60439 Low-Voltage Switchgear and Controlgear Assemblies IEC 60529 International protection rating (IP code) IEC 60664 Insulation coordination for equipment within low-voltage systems IEC 60721 Classification of environmental conditions IEC 61000 Electromagnetic compatibility (EMC) IEC 61131 Programmable controllers IEC 61491 Electrical equipment of industrial machines – Serial data link for real-time com-

IEC 61508 Functional safety of electrical/electronic/programmable electronic safety-

IEC 61800 Adjustable speed electrical power drive systems IEC 62061 Functional safety of electrical/electronic/programmable electronic safety-

IEC 82079 Preparation of instructions for use - Structuring, content and presentation UL 840 UL Standard for Safety for Insulation Coordination Including Clearances and

UL 508C UL Standard for Safety Power Conversion Equipment

AKD-C Installation | 2 General

munications between controls and drives.

related systems

Creepage Distances for Electrical Equipment

ANSI - American National StandardInstitute, Inc. IEC - International Electrotechnical Commission ISO - International Organization forStandardization UL - Underwriters Laboratories

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AKD-C Installation | 3 Safety

3 Safety

3.1 You should pay attention to this 13

3.2 Use as Directed 15

3.3 Prohibited Use 16

3.4 Warning notes placed on the product 16

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3.1 You should pay attention to this

This section helps you to recognize and avoid dangers to people and objects.

Specialist staff required!

Only properly qualified personnel are permitted to perform such tasks as transport, assembly, setup and maintenance. Qualified specialist staff are persons who are familiar with the transport, installation, assembly, commissioningand operation of drive technology andwho bring their relevant minimum qualifications to bear on their duties:

Transport: only by personnel with knowledge of handling electrostatically sensitive components. Unpacking: only by electrically qualified personnel. Installation: only by electrically qualified personnel. Basic tests / Setup: only by qualified personnel with knowledge of electrical engineering anddrive technology

The qualified personnel must know and observe ISO 12100 / IEC 60364 / IEC 60664 and national accident prevention regulations.

Read the documentation!

Read the available documentationbefore installation and commissioning. Improper handling of the device can cause harm to people ordamage to property. The operatorof systems using the AKD-C must ensure that all personnel who work with the system read and understand the manual before using the device.

AKD-C Installation | 3 Safety

Check Hardware Revision!

Check the Hardware Revision Number of the product (see product label). This number is the link between your product and the manual. The product Hardware Revision Numbermust match the Hardware Revision Number on the cover page of the manual.

Pay attention to the technical data!

Adhere to the technical data and the specifications on connection conditions. If permissible voltage values or current values are exceeded, the devices can be damaged. Unsuitable motor or wrong wiring will damage the system components. Check the combination of drive andmotor. Compare the rated voltage and current of the units.

Perform a risk assessment!

The manufacturer of the machine must generate a risk assessment for the machine, and take appropriate measures to ensure that unforeseen movements cannot cause injury or damage to any person or property. Additional requirements on specialist staff may also result from the risk assessment.

Automatic Restart!

The drive might restart automatically after power on, voltagedip or interruption of the supply voltage, depending on the parameter setting. Risk of death or serious injury for humans working in the machine.

If the parameter DRV.ENDEFAULT for one AKD-N 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 undervoltage protection device, you must observe EN 60204-1:2006 chapter 7.5 .

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AKD-C Installation | 3 Safety

Observe electrostatically sensitive components!

The devices containelectrostatically sensitive components which may be damaged by incorrect handling. Electrostatically discharge your body before touching the device. Avoid contact with highly insulating materials (artificial fabrics, plastic film etc.). Place the device on a conductive surface.

Earthing!

It is vital that you ensure that the device is safely earthed to the PE (protective earth) busbar in the switch cabinet. Risk of electric shock. Without low-resistance earthing no personal 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 be doubled or a connecting cable with a cross-section >10 mm² must be used. Deviating measures according to regional standards might be possible.

Residual current protective or monitoring devices!

AKD-C with AKD-N can cause a d.c. current in the protective earthing conductor. Where a residual current-operated protective (RCD) or monitoring (RCM) device is used for protection in case of direct or indirect contact, only an RCD or RCM of Type B is allowed on the supply side of AKD-C.

Lethal voltages!

The equipment produces high electric voltages up to 900V. Do not open or touch the equipment duringoperation. Keep all covers closed.

Duringoperation, AKD-C may have uncovered live sections, according to their level of enclosure protection.

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 performed by 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 AKD-C while it is live. There is a danger of electrical arcing with damage to contacts and personal injury. Wait at least 7 minutes after disconnecting the product from the supply voltages (mains supply and 24V supply) before touching potentially live sections of the equipment (such as contacts) or removing any connections.

Always measure the voltage in the DC bus link at connector X14 and wait until the voltage is below 50 V before handling components.

Functional Safety

The STO safety implementation on the AKD is certified. The safety circuit implementation used for the safety function "Safe Torque Off" in the drive is suited for SIL 2 accordingto IEC 62061 and PLd/ CAT3 according to ISO 13849-1. The assessment of the safety functions according to EN13849 or EN 62061 must finally be done by the user.

Never modify the product!

It is not allowed to modify the product without permission by the manufacturer. Opening the housing causes loss of warranty.

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3.2 Use as Directed

The AKD-C series power supplies are exclusively intendedfor operating AKD-N series drives within a decentralized drive system.

AKD-C are components that arebuilt into electrical plants or machines and can only be operated as integral components of these plants or machines. The manufacturer of the machine must generate a risk assessment for the machine.

When the devices 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.

Kollmorgen Decentral drive system

AKD-C series power supply must only be operated in a motion system with components from Kollmorgen. Required additional Kollmorgen components are the "near servo drives" AKD-N, hybrid cables, motor power and feedback cables, servomotors.

Assembling

AKD-C devices must only be operated in environments suitable for the ambient conditions defined on (➜ # 31). Observe the information givenin the Decentralized System Projecting Guide.

Wiring

Use only Kollmorgen CCNxN1 series of hybrid cables for connecting AKD-N and AKD-C devices.

AKD-C Installation | 3 Safety

Power supply

AKD-C must be powered from a 3 phase industrial supply network (not more than 42 kA symmetrical rated current at 400 V and 480 V).

For the cases of group installations and of DC powered drives

AKD has not been evaluated by Kollmorgen, UL, or TÜV for group installations nor are ratings defined for DC input voltage.

Group installations must be reviewed and evaluated by the user for branch circuit protection*, wire size, wire voltage rating, fuse protection, system dielectric requirements, overvoltage andinput** current rating.

In case of DC supplied drives the built-in EMC filter will not work. The user is responsible to keep the conducted emissions and the immunity of the drive within the required noise levels.

* Special care must be taken in branch circuit design with mixed rating drives to avoid the smaller drives becoming the effective ‘fuse’ rather than the circuit protective fuse.

** The power supply system design must ensure inrush current protection by limiting input current during power up. DC supply polarity must be properly wired. Improper polarity of DC powerwill damage the drive and void warranty.

Auxiliary voltage supply, Standby power

Standby power for the drive strings must only be used for supplying the AKD-N electronics. 24 VDC supply unit must accord to PELV (EN 60204-1) requirements.

Safe torque off

Review the section "Use as Directed" in the STO chapter(➜ # 38) beforeusing this safety function (SIL2, PLd, category 3 according to ISO 13849). 24 VDC supply unit for global STO supply must accord to PELV (EN 60204-1) requirements.

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AKD-C Installation | 3 Safety

3.3 Prohibited Use

Otheruse than that described in chapter “Use as directed”is not intended and can lead to personnel injuries and equipment damage.

The device may not be used

with a machine that does not comply with appropriate national directives or standards, for driving elevators, in applications with continuous, operational short circuits to the external regen resistor contacts. in applications with any short circuits to the DC-Bus link contacts.

The use of the device 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

Wiring the system with hybrid cables from other manufacturers than Kollmorgen is not allowed. Changing Kollmorgen cables or connectors is not allowed.

3.4 Warning notes placed on the product

Wait 7 minutes

after removing power

before servicing.

If these signs are damaged, they must be replaced immediately.

The minimum size of the protective earth

conductor shall comply with the local safety

regulations for high protective earthing

conductor current.

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AKD-C Installation | 4 Handling

4 Handling

4.1 Packaging 18

4.2 Transport 18

4.3 Storage 18

4.4 Decommissioning 18

4.5 Maintenance and cleaning 19

4.6 Disassemble 19

4.7 System Repair 19

4.8 Disposal 20

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AKD-C Installation | 4 Handling

4.1 Packaging

The AKD-C packaging consists of recyclable cardboard with inserts and a label onthe outside of the box.

4.2 Transport

Model Package Dimensions

(mm) HxWxL

AKD-C01007 125x 410 x 295 5

Transport the AKD-C in accordance with IEC 61800-2 as follows:

Transport only by qualified personnel in the manufacturer’s original recyclable packaging. Avoid shocks while transporting. Store at or below maximum stacking height of 8 cartons Transport only within specified temperature ranges: -25 to +70 °C, max. rate of change 20 K/hour, class 2K3. Transport only within specified humidity: maximum 95% relative humidity, no condensation, class 2K3.

The devices containelectrostatically sensitive components that can be damaged by incorrect handling. Electrostatically discharge yourself before touching the device. Avoid contact with highly insulating materials, such as artificial fabrics and plastic films. Place the device on a conductive surface.

If the packaging is damaged, check the unit for visible damage. Inform the shipper and the manufacturer of any damage to the package or product.

Total Weight

(kg)

4.3 Storage

Store the AKD-C in accordance with IEC 61800-2 as follows:

Store only in the manufacturer’s original recyclable packaging. Store at or below maximum stacking height of 8 cartons Store only within specified temperature ranges: -25to +55 °C, max.rate of change 20 K/hour, class 1K4. Storage only within specified humidity: 5 to 95% relative humidity, no condensation, class 1K3. Store in accordance with the following duration requirements:

Less than 1 year: without restriction. More than 1 year: capacitors must be re-formed before setting up andoperating the drive. Re-forming procedures are described in the Kollmorgen DeveloperNetwork (Forming).

4.4 Decommissioning

Only professional staff who are qualified in electrical engineering are allowed to decommission parts of the system.

DANGER: Lethal Voltages!

There is a danger of serious personal injury or death by electrical shock or electrical arcing.

Switch off the main switch of the switchgear cabinet. Secure the system against restarting. Block the main switch. Wait at least 7 minutes after disconnecting.

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4.5 Maintenance and cleaning

The device does not require maintenance. Opening the device voids the warranty. The inside of the unit can only be cleaned by the manufacturer.

Do not immerse orspray the device. Avoid that liquid enters the device.

To clean the device exterior:

1. Decommission the device (see chapter 4.4 "Decommissioning").

2. Casing: Clean with isopropanol or similar cleaning solution.

Caution : Highly Flammable! Risk of injury by explosion and fire.

Observe the safety notes given on the cleaning liquid package. Wait at least 30 minutes after cleaningbefore putting the device back into operation.

3. Protective grill on fan: Clean with a dry brush.

4.6 Disassemble

Only professional staff who are qualified in electrical engineering are allowed to disassemble parts of the system.

AKD-C Installation | 4 Handling

1. Decommission the device (see chapter 4.4 "Decommissioning").

2. Remove the connectors. Disconnect the potential earth connection last.

3. Demount: loosen the fastening screws. Remove the device.

4.7 System Repair

Only professional staff who are qualified in electrical engineering are allowed to exchange parts of the drive system.

CAUTION: Automatic Start! During replacement work a combination of hazards and mul-

tiple episodes may occur.

Exchange of AKD-C

Only the manufacturer can repair the device. Opening the device voids the warranty.

1. Decommission the device (see chapter 4.4 "Decommissioning").

2. Demount the device (see chapter 4.6 "Disassemble").

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.

Work on the electrical installationmay only be performed by trained and qualified personnel, in compliance with the regulations for safety at work, and only with use of prescribed personal safety equipment.

Exchange of other drive system parts

If parts of the drive system (for example cables) must be replaced, proceed as follows:

1. Decommission the device (see chapter 4.4 "Decommissioning").

2. Exchangethe parts.

3. Check all connections for correct fastening.

4. Setup the system as described in this manual.

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AKD-C Installation | 4 Handling

4.8 Disposal

To dispose the unit properly, contact a certified electronic scrap disposal merchant.

In accordance with the WEEE-2002/96/EC-Guidelines and similar, the manufacturer accepts returns of old devices andaccessories for professional disposal. Transport costs are the responsibility of the sender.

Send the devices 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 40880 Ratingen, Germany

KOLLMORGEN Avenida Tamboré - 1077 Tamboré Barueri - SP Brasil CEP:06460-000, Brazil

KOLLMORGEN Floor 4, Building 9, No. 518, North Fuquan Road, Changning District, Shanghai 200335, China

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AKD-C Installation | 5 Approvals

5 Approvals

5.1 Conformance with UL/cUL 22

5.2 Conformance with EC Low Voltage and EMC Directives 23

5.3 Conformance with EC Machinery Directive, Functional Safety 23

5.4 Conformance with EAC 24

5.5 Conformance with RoHS 24

5.6 Conformance with REACH 24

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AKD-C Installation | 5 Approvals

5.1 Conformance with UL/cUL

This device is listed under UL (Underwriters Laboratories Inc.) file number E217428. UL Markings are combined for both AKD-C and AKD-N in one section.

5.1.1 UL Markings / Marquages UL

English Français

This product is suitable for use on a circuit capable of delivering not more than 42,000 rms symmetrical amperes, 480 V maximum.

Maximum surrounding airtemperature 40°C. La température maximale de l'air ambiant de 40°C. AKD-C are intended to beused in a pollution

degree 2 environment. AKD-C : Use 60/75°C copperwire only. AKD-C: Utilisez seulement un fil cuivre 60/75°C. AKD-C :CAUTION Risk of Electrical Shock!

Capacitors can have dangerous voltages present up to 7 minutes after switching off the supply power. For increased safety, measurethe voltage in the DC bus link and wait until the voltage is below 50 V.

For use in Canada: Transient surge suppression shall be installed on the line side of this equipment and shall be rated 277V (phase to ground), 480 V (phase to phase), suitable for overvoltage category III, and shall provide protection for a rated impulse withstand voltage peak of 2 kV.

Ce produit est conçu pour une utilisation sur un circuit capable de fournir 42.000 ampères symétriques (rms) maximum pour 480 V maximum.

AKD-C sont prévus pour une utilisation dans un environnement de pollution de niveau 2.

AKD-C :ATTENTION: Risque de choc électrique! Des tensions dangereuses peuvent persister dans les condensateurs jusqu'à 7 minutes après la mise hors tension. Pour plus de sécurité, mesurez la tension dans la liaison de bus CC et attendez qu'elle soit inférieure à 50 V.

Pour utilisation au Canada: Suppression de surtension transitoire doit être installé sur le côté de la ligne de ce matériel et doit être évalué 277 V (phase à terre) , 480 V (entre phases) , adapté à la catégorie de surtension III , et doit fournir une protection pour un choc nominale supporter la tension de crête de 2 kV.

The following fuse types are recommended for branch circuit protection for AKD-C01007-CBXX:

Les types de fusibles suivants sont recommandés pour protection de secteur pour AKD-C01007-CBXX:

Model/

Modèle

Nonrenewable Cartridge fuse CC, J 600 VAC 20 A, 200 kA

The following table illustrates the torque requirements for the field wiring connectors :

Le tableau suivant indique les spécifications de couple pour les connecteurs de câblage sur site:

Model/Modèle Torque/Couple serrage, LBIN (Nm) Wire size/Section de fil, AWG (mm²)

AKD-C X12 6.2 - 7.1 (0.7 - 0.8) 12 - 8 (4- 10) AKD-C X20A 6.2 - 7.1 (0.7 - 0.8) 12 - 8 (4 - 10) AKD-C X21A 6.2 - 7.1 (0.7 - 0.8) 12 - 8 (4 - 10) AKD-C X14 6.2 - 7.1 (0.7 - 0.8) 12 - 8 (4- 10) AKD-C X13 1.8 - 2.2 (0.2 - 0.25) 14 - 12(2.5 - 4) AKD-C X15 1.8 - 2.2 (0.2 - 0.25) 20 - 18(0.5 - 0.8) AKD-C X16 1.8 - 2.2 (0.2 - 0.25) 20 - 18(0.5 - 0.8)

Split gage of AKD-N screwed connectors: max. 2.8 mm.

Le gage de split des connecteurs vissé d'AKD-N: 2,8 mm max.

Cold plate for AKD-N: at 40°C surrounding air temperature and 680 VDC supply voltage:

Plaque froide pour AKD-N: à température ambiante 40°C et tension d'alimentation 680 VDC:

- AKD-N00307: 240 mm x 240 mm x 10 mm or equivalent (LxWxT, Aluminum cold plate, uncoated)

- AKD-N00607: 500 mm x 500 mm x 10 mm or equivalent (LxWxT, Aluminum cold plate, uncoated)

- AKD-N01207: 480 mm x 400 mm x 84 mm or equivalent (LxWxT, 31 vertical fins, Aluminum heat sink, uncoated)

Class/

Classe

Voltage Rating/

Niveau de tension

Max. Fuse&SCC Rating/

Niveau maximum & SCC

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5.2 Conformance with EC Low Voltage and EMC Directives

EU Declarations of Conformity can be found on the Kollmorgen website. Conformance with the EC EMC Directive 2014/30/EC and the Low Voltage Directive

2014/35/EC is mandatory for the supply of drives within the European Community. The devices have been tested by an authorized testing laboratory in a defined configuration,

using the system components that are described in this documentation. Any divergence from the configuration andinstallation described in this documentation means that the user will be responsible for carrying out new measurements to ensure conformance with regulatory requirements.

Kollmorgen declares the conformity of the product series AKD-C01007 with the following directives:

EC Directive 2006/42/EC, Machinery Directive Used harmonized standard EN13849-1 (2008) EC Directive 2014/35/EC, Low Voltage Directive Used harmonized standard EN61800-5-1 (2007) EC Directive 2014/30/EC, EMC Directive Used harmonized standard EN 61800-3 (2004)

The AKD-C01007 meet the noise immunity requirements to the 2nd environmental category (industrial environment). For noise emission the AKD-C01007 meet the requirement to a product of the Category C2.

AKD-C Installation | 5 Approvals

These devices can cause high-frequency interferences in non industrial environments and may requiremeasures for interference suppression (such as additional external EMC filters).

5.3 Conformance with EC Machinery Directive, Functional Safety

Conformance with the EC Machinery Directive 2006/42/EC is mandatory for the supply of safety components within the European Community. The STO safety implementationon the AKD-N is certified by TÜV. The safety circuit implementation used for thesafety function "Safe Torque Off" in the drives is suited for SIL 2 according to IEC 62061 and PLd / CAT3 according to ISO 13849-1.

Safe Torque Off (STO) string type (global)

Structure STO ISO

13849-1

AKD-C + 1 x AKD-N global PL d, CAT 3 ≥ 100 SIL 2 2.9E-08 97.08 20 AKD-C + 8 x AKD-N global PL d, CAT 3 ≥ 100 SIL 2 2.9E-08 99.44 20

Safe Torque Off (STO) single drive type (local)

Structure STO ISO

13849-1

1 x AKD-N-DS/DT local PL d, CAT 3 ≥ 100 SIL 2 2.9E-08 97.12 20

See AKD-N Installation Manual for detailed information.

MTTF

IEC

62061

IEC

62061

PFH [1/h]

SFF

[%]

SFF

[%]

[Years]

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AKD-C Installation | 5 Approvals

5.4 Conformance with EAC

EAC is the abbreviation for Eurasian Conformity. The mark is used in the states of the Eurasian Customs Union (Russia, Belarus, Kazakhstan) similar to the European CE mark.

Kollmorgen declares, that the AKD has passed all requiredconformity procedures in a memberstate of the Eurasian Customs Union, and that the AKD meets all technical requirements requested in the member states of the Eurasian Customs Union:

Low voltage (TP TC 020/2011) Electromagnetic Compatibility (TP TC 004/2011)

Contact: Intelisys LLC. , Bakuninskaya Str. d 14, Building 10, RU-105005 Moskau

5.5 Conformance with RoHS

Directive 2011/65/EC of the European Union on the restriction of the use of certain hazardous substances in electrical and electronic equipment (RoHS) becameoperative as from the 3rd of January, 2013. Following substances namely are involved

Lead (Pb), Cadmium (Cd), Hexavalent chromium (CrVI), Polybrominated biphenyls (PBB), Polybrominated diphenyl ethers (PBDE), Mercury (Hg)

The AKD is manufactured in conformance with RoHS.

5.6 Conformance with REACH

EU Regulation no. 1907/2006 deals with the registration, evaluation, authorization and restriction of chemical substances 1 (abbreviated to "REACH").

AKD does not contain any substances (CMR substances, PBTsubstances, vPvB substances and similar hazardous substances stipulatedin individual cases based on scientific criteria) above 0.1 mass percent per product that are included onthe candidate list.

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AKD-C Installation | 6 Package

6 Package

6.1 Package Supplied 26

6.2 Nameplate 26

6.3 Part Number Scheme 27

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AKD-C Installation | 6 Package

6.1 Package Supplied

When a device from the AKD-C series is ordered,, the following items are included in the package:

AKD-C Printed copy of AKD-C Installation Manual DVD containing the setup software, WorkBench, and all product documentation in digital format. Mating connectors X12, X13, X14, X15, X16 Two connector covers M23

The M23 connector covers are required for protecting X2 of the last AKD-N in the strings.

Accessories Sold Separately

Accessories must be ordered separately if required; refer to your regional accessories manual:

Hybrid cables for connection to first AKD-N External regen resistor EtherCAT cable to the network Power cable, control wires Cabinet grommets Slip rings

6.2 Nameplate

Spare parts

Spare parts are described in the regional accessories manual:

Connector Kit (X12...16) Shield clamp SK14

The nameplate depicted below is attachedto the side of the device. Picture similar to the nameplate on the device.

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6.3 Part Number Scheme

Use the part number scheme for product identification only, not for the order process, because not all combinations of features are possible, always.

AKD-C Installation | 6 Package

Customization code includes language version of printed material and not safety relevant customer specials.

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AKD-C Installation | 7 Technical description and data

7 Technical description and data

7.1 The AKD-C Central Power Supply 29

7.2 Mechanical Data 30

7.3 Electrical Data 30

7.4 Fusing 31

7.5 Ambient Conditions, Ventilation, and Mounting Position 31

7.6 Grounding System 32

7.7 Signal Inputs/Outputs 32

7.8 Connectors 33

7.9 Recommended Tightening Torques 33

7.10 Cable Requirements 33

7.11 Cable Length Definition 34

7.12 Dynamic Braking 35

7.13 Regen circuit 35

7.14 Switch-On and Switch-Off Behavior 36

7.15 Global Safe Torque Off (STO) 38

7.16 Shock-hazard Protection 46

7.17 LED Display 46

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7.1 The AKD-C Central Power Supply

Available AKD versions

Variant Description Power Connectivity

AKD-C01007-CBEC Central Power supply without

extension.

Standard features

Supply voltagerange400 V to 480 V ±10%. Mains EMC filter and 24 V EMC filter integrated. EtherCAT bus onboard. TCP/IP service channel 100 Mbit/s onboard. Safe TorqueOff (STO) accordingto IEC 62061 SIL 2 onboard. Supports up to 16 AKD-N drives.

Power section

Three phase supply, maximum voltage range360 to 528 V, 47 to 65 Hz. B6 bridge rectifier, integral soft-start circuit. Fusing to be provided by the user. Shielding star point close to the device. DC powersplit to two connectors (strings) for up to 16 drives. DC powervoltage range 565 to 680 VDC, DC bus output current max 17 A. Standby DC power voltage55 VDC ±10% (generated from 24 VDC voltage supply) Regencircuit for all connected AKD-N. Built-in regen resistor, external regen resistor or capacitor module if required.

AKD-C Installation | 7 Technical description and data

10 kW EtherCAT

Integrated safety

Appropriate insulation/creepagedistances and electrical isolation for safe electrical separation, perIEC 61800-5-1, between the power input/DC bus connections and the signal electronics. Soft-start, overvoltage detection, short-circuit protection, phase-failure monitoring. Temperature monitoring. SIL 2 safe torque off in accordance with IEC 62061 , (➜ # 38).

Supply voltage 24V DC (electronic supply and standby voltage)

From an external, safety approved 24 V ±10% power supply, minimum 480 W.

Operation and parameter setting

Using the setup software WorkBench for setupvia TCP/IP.

Inputs/Outputs

1 programmable digital output (➜ # 75) 1 fault relay output (➜ # 76) 1 Enable input (➜ # 74) 2 STO inputs (one per string)(➜ # 38) 2 STO status outputs (one per string) (➜ # 38) Service Interface (➜ # 78) EtherCAT Interface (➜ # 77)

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AKD-C Installation | 7 Technical description and data

7.2 Mechanical Data

Mechanical data Units AKD-C01007-x

Weight kg 3.8 Height front mm 290 Height back mm 329 Width mm 80 Depth, without connectors mm 198 Depth, with connectors mm 231

7.3 Electrical Data

Electrical data Units Value

Rated supply voltage (L1, L2, L3) V~ 3 x 400 V to 3 x 480 V, ±10% Rated supply input frequency Hz 40 Hz to 70 Hz Rated input power

at 3x400 V kVA 9.2

at 3x480 V kVA 11 Rated input current at 3x400/480 V A 14 Permitted switch on/off frequency, mains 1/h 30 Max. inrush current A 5 Rated DC bus link voltage

(Bus Turn on Delay 3ph1 sec) Standby DC power voltage V= 55 ±10% Continuous total output current A= 17 Peak total output current (for 1 s, ± 3%) A= 34 Continuous output power

at 3x400 V kVA 9.2

at 3x480 V kVA 11 Peak output power (for 1 s)

at 3x400 V kVA 18.4

at 3x480 V kVA 22 Technical data for regen circuit — (➜ # 35) Thermal dissipation at 24V standby

No AKD-N (min) W 8.6

16 AKD-N (max) W 40 Thermal dissipation at rated current (without

regen power) Noise emission (low speed / high speed fan) dB(A) 40 / 60 Aux. voltage supply (PELV) V= 24 V (±10%, check voltage

Aux. voltage supply current

maximum required A= 14

perAKD-N without brake A= 0.33 Aux. voltage inrush current A= 16 Protection class - IP20

V= 565to 680

W 125

drop)

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7.4 Fusing

Non renewable cartridge fuses must be used with finger safe fuse holders according to IEC60529.

7.4.1 External power supply fusing

US cartridge fuses: Class CC or J, 600 VAC 200 kA, time-delay. The fuse must be UL and

CSA listed, UL recognizedis not sufficient.

EU cartridge fuses: types gS(gRL) or gG, 400V/500 V, time-delay

Cartridge Fuses Ampere rating UL Region CE Region

External AC power supply fusing

External 24 VDC supply fusing

Cartridge fuse holders: Example Bussmann: CH Series Modular Fuse Holders, class J, 3 poles: CH30J3 Example Ferraz: Ultrasafe Fuse holders, class J, 3 poles: US3J3I

AKD-C Installation | 7 Technical description and data

20A (Time-Delay) example Bussmann:

LPJ20SP/DFJ20

15A (Time-Delay) example Bussmann:

LPJ15SP/DFJ15

example Siba: type gS/gG, D02, 20A

example Siba: type gS/gG, 15A

7.4.2 External regen resistor fusing

Cartridge Fuses Ampere rating UL Region CE Region

AKD-C01007 25A example Bussmann:

FWP-25A14F

Cartridge fuse holders: example Bussmann, CH Series , class J, 3 poles: CH14J3

7.5 Ambient Conditions, Ventilation, and Mounting Position

Storage (➜ # 18) Transport (➜ # 18)

Surrounding air temperature in operation

Humidity in operation Relative humidity 5 to 85%, no condensation, class 3K3 Site altitude Up to 1000meters above mean sea level without restriction

Pollution level Pollution level 2 as per IEC 60664-1 Vibrations Class 3M1 according to IEC 60721-3-3 Environmental area Cabinet IP 54 according to IEC 60529 Mounting position Vertical Ventilation Built-in fan

0 to +40 °C under rated conditions +40 to +55 °C with continuous current derating 4 % per Kelvin

1,000 to max. 2,000 meters above mean sea level with power derating 1.5%/100 m

The device shuts down in case of excessively high temperature in the control cabinet. Make suresufficient forced ventilation is supplied within the control cabinet.

example Siba: type aR, 25A

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AKD-C Installation | 7 Technical description and data

7.6 Grounding System

There are several ground networks in the device:

DCOM common line fordigital inputs on I/O connector X15 GND 24 V supply STO-GND STO input 0 V internal digital ground, service channel

7.7 Signal Inputs/Outputs

Interface Electrical Data

Enable input as per IEC61131-2 type 1

ON: 15 VDC to 30 VDC, 2 mA to 15 mA OFF: -3 VDC to 5 VDC, < 1 mA update rate 250 µs galvanic isolation for 250 VDC

Digital output as perIEC61131-2 type 1

max. 30 VDC, 100 mA short circuit proof galvanic isolation for 250 VDC

Relay output max. 30 VDC, 1A

max. 42 VAC, 1 A time open/close 10ms isolation 400 VDC contact/coil

STO-Enable inputs ON: 18 VDC to 30 VDC, 210mA +10 mA per AKD-N

OFF: 0 VDC to 12 VDC, < 50 mA galvanic isolation for 250 VDC

STO-Status outputs as per IEC61131-2 type 1

max. 30 VDC, 100 mA galvanic isolation for 250 VDC

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7.8 Connectors

1 2 3

AKD-C Installation | 7 Technical description and data

Connector Type Max. Cross

Section

Motion Bus X10, X11 RJ45 0,5 mm², 21 awg 1A <100 V Power X12 Terminal Connector, 4 poles 10 mm², 8 awg 30 A 1000 V Aux. voltage X13 Terminal Connector, 2 poles 2.5 mm², 12 awg 16 A 250V DC bus, Regen X14 Terminal Connector, 4 poles 10 mm², 8 awg 30 A 1000 V Control signals X15 Terminal Connector, 6 poles 1 mm², 18 awg 12 A 250 V STO signals X16 Terminal Connector, 6 poles 1 mm², 18 awg 12 A 250 V Service Port X18 RJ45 0,5 mm², 21 awg 1 A <100 V DC Power X20A,

X21A Local Fieldbus In/Out

X20B, X21B

single-line connection single-line connection with recommended conductor cross section (➜ # 33) rated voltage with pollution level 2 (lowest values allowedby UL840and IEC60664)

Terminal Connector, 3 poles 10 mm², 8 awg 30 A 1000 V

Mini I/O connector, 8 poles 0.34 mm², 22 awg 0.5 A 30 V

Current2Voltage

7.9 Recommended Tightening Torques

Connector Tightening Torque/Nm

X13, X15, X16 0.2 to 0.25

X12, X14, X20A, X21A 0.7 to 0.8

PE bolt 1.7

See (➜ # 22) for in-lbs values.

7.10 Cable Requirements

The table below describes the recommended interface cross sections and cable requirements in accordance with IEC 60204. For information on the chemical, mechanical, and electrical characteristics of the cables please refer to the accessories manual orcontact customer support.

Use Kollmorgen hybrid, motor, and feedback cables only. You will lose system warranty, if you use hybrid, motor orfeedback cables from a manufacturer other than Kollmorgen.

Hybrid cable from Cable type* Hybrid cable to Cross section

AKD-C X20A/X20B String 1

AKD-C X21A/X21B String 2

CCNCN1-025 AKD-N X1, hybrid 3 x 2.5 mm²

4 x 0.25 mm²

* Followed by length coding. Contact your Kollmorgen sales representative.

Interface Cross Section Cable Requirements

X12, AC connection 4.0 mm² (12 awg) 600 V,minimum 75°C X13, +24 V/GND 2.5 mm² (14 awg) single line X14, DC bus link, regen resistor 4.0 mm² (12 awg) 1000 V, minimum 75°C, shielded for

lengths >0.20 m X15, Digital I/Os 0.5 mm² (21awg) single line X16, STO Signals 0.5 mm² (21 awg) single line

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AKD-C Installation | 7 Technical description and data

7.11 Cable Length Definition

AKD-C offers two separate strings to connect up to 8 AKD-N to each of them. Maximum total cable length for each string is 100 m. For system topology information refer to (➜ # 56)

Cable Type

CCNCN1 X20/X21, AKD-C to AKD-N, hybrid 3, 6, 12, 24, 36 40 Ethernet

Cable Ethernet

Cable single line X13 +24 V/GND, X15 Digital I/Os, X16 STO Signals 30

Cable usage Available

Length (m)

X10/X11, AKD-C to AKD-C on request 100

X10/X11, AKD-C to Personal Computer or Switch

on request 100

Max.

Length

(m)

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7.12 Dynamic Braking

Dynamic braking is a method to slow down a servo system by dissipating the mechanical energy driven by the motor back EMF. The AKD-N drives have a built in advanced dynamic braking mode which operates fully in hardware. When activated, the drive shorts the motor terminals in phase with the back EMF (q axis) but continues to operate the non-force producingcurrent loop (d-axis) with 0 current. This forces all of the dynamic braking current to be stopping current and insures the fastest stopping/amp of motor terminal current.

When current is not being limited, the mechanical energy is being dissipated in the motor resistance. When current is being limited, energy is returnedto the AKD-C bus capacitors. The drive also limits the maximum dynamic braking motor terminal current via the DRV.DBILIMIT parameterto insure that the drive, motor, and customer load do not see excessive currents/forces.

Whether and how the AKD uses dynamic braking depends on (DRV.DISMODE).

7.13 Regen circuit

When the amount of returned energy from the AKD-N builds the bus capacitor voltage up enough, the AKD-C activates the regen circuit to start dumping the returned energy in the regen resistor (also called regenerative or brake resistor). The AKD-C has an internal regen resistor, an additional external one can be connected to X14.

External regen resistors are described in the regional Accessories Manual.

AKD-C Installation | 7 Technical description and data

7.13.1 Functional description

When the amount of returned energy builds the bus capacitor voltage up enough, the AKD-C activates the brake chopper to start dumpingthe returned energy in the regen resistor at the AKD-C (internally or connected to terminal X14). 90% of the combined power of all the coupled drives is always available for peak and continuous power.

The drive that has the lowest switch-off threshold (resulting from tolerances) reports an overvoltage fault if the DC bus threshold is exceeded. The drive power stage is disabled and the load coasts to a stop with the fault message “F501 Bus Over voltage" (➜ # 87). The AKD-C fault relay contact (terminals X15/5-6) is openeddue to this fault.

7.13.2 Technical data

Observe the regeneration time (some minutes) after full load with peak regenpower.

Rated data Units 400 V 480 V

Switch-on threshold of regen circuit (nominal) V 760 760 Overvoltage limit V 840 840 Maximum regen duty cycle % 15* 15* Internal regen resistor Ohm 33 33 Continuous power, internal resistor W 100 100 Peak regen power, internal resistor (0.5s) kW 17.5 17.5 External regen resistor Ohm 33 33 Maximum continuous regen power, external resistor kW 1.5 1.5 Peak regen power, external (1s) kW 17.5 17.5 Absorption energy in capacitors (+/- 20%) Ws 21 7 DC Bus Capacitance (nominal) µF 585 585

* depends on connected regen resistor power

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AKD-C Installation | 7 Technical description and data

7.14 Switch-On and Switch-Off Behavior

7.14.1 Switch-on behavior in standard operation

The diagram below illustrates the correct functional sequence for switching theSystem on.

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7.14.2 Switch-off process, standard operation

Hardware Enable input disables all AKD-N power stages immediately. Refer to the AKD-N Installation Manual for drive switch-off behaviour depending on different operational situ-

ations and parameter settings.

The control functions Stop, Emergency Stop and Emergency Off aredefined by IEC 60204. Notes for safety aspects of these functions can be found in ISO 13849 and IEC 62061.

AKD-C Installation | 7 Technical description and data

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AKD-C Installation | 7 Technical description and data

7.15 Global Safe Torque Off (STO)

7.15.1 STO Safety instructions

WARNING

No Brake Power

Serious injury could result when a suspended load is not properly blocked. The drive cannot hold a vertical load when STO is active.

Add a safe mechanical blocking (for instance, a motor-holding brake). The drives have not to be used for driving elevators.

WARNING

Automatic Restart

Risk of death or serious injury for humans working in the machine. The drive might restart automatically after power on, voltage dip or interruption of the supply voltage, depending on the parameter setting. If parameter DRV.ENDEFAULT for one AKD-N is set to 1,

then place a warning sign ("WARNING: Possible Automatic Restart" or similar) to the machine. Ensure, that power on is not possible, while humans are in a dangerous zone of the machine. In case of using an undervoltage protection device, you must observe EN 60204-1:2006 chapter 7.5 .

CAUTION

High electrical voltage

Risk of electrical shock! The STO function does not provide an electrical separation from the power output. If access to the motor power terminals is necessary,

disconnected the drive from mains supply, consider the discharging time of the DC-Bus link.

If the safety function STO is automatically activated by a control system, then make sure that the output of the control is monitored for possible malfunction. The monitoring can be used to prevent a faulty output from unintentionally activating the STO function.

It is not possible to perform a controlled brake if the drive controlled STO-Enable is off. If controlledbraking before the use of the STO function is necessary, the drive must be braked and the input STO must be separated time-delayed from +24 V .

In case of a specific doublefault within a very short time (see (➜ # 39)a single movement of a maximum angle of 120° (electrical) can happen. This effect can only happen if the drive is in the function STO. Even if the STO function will be issued for a whole year, this event will only happen every 100 Billion years.

The STO Status signals are informal and not relevant for functional safety.

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7.15.2 Use as directed

The STO function is exclusively intended to provide a functional safe torque off of the motion system. To achieve this functional safety, the wiring of the safety circuits must meet the safety requirements of IEC 60204, ISO 12100 and ISO 13849.

If the global STO function is in use, then the inputs STO-Enable1/2 must be connected to the exit of a safety control or a safety relay, which at least meets the requirements of PLd, CAT 3 according to ISO 13849.

The 24 VDC supply unit for local STO supply must accord to PELV (EN 60204-1) requirements.

7.15.3 Prohibited use

The STO function must not be used if the drive is to be made inactive for the following reasons:

Cleaning, maintenance and repair operations, long inoperative periods. In such cases, the entire system should be disconnected from the supply and secured (main switch). Emergency-Off situations. In an Emergency-Off situation, the main contactor is switched off (by the Emergency-Off button). Wiring the system with hybrid cables from other manufacturers than Kollmorgen is not allowed. Changing cables or connectors is not allowed. Do not use STO Status signals for functional safety.

AKD-C Installation | 7 Technical description and data

7.15.4 Safety characteristic data

The systems are described with the following characteristic data:

Structure STO ISO

AKD-C + 1 x AKD-N global PL d, CAT 3 ≥ 100 SIL 2 2.9E-08 97.08 20 AKD-C + 8 x AKD-N global PL d, CAT 3 ≥ 100 SIL 2 2.9E-08 99.44 20

1 x AKD-N-DS/DT local PL d, CAT 3 ≥ 100 SIL 2 2.9E-08 97.12 20

A very unlikely but possible event can happen, if within a very short time 2 not adjacent IGBTs will have a short circuit. In such case a movement of a maximum angle of 120° (electrical) can happen. This effect can only happen if the drive is in the function STO. If the total failurerate of the IGBT is 120 FIT normally for such short circuit 60 FIT will be valid (50:50 model). By such event 2 specific IGBTs have to fail at same time. The calculation shows a probability of 1.5 * 10 will be issued fora whole year, this event will only happen every 100 Billion years.

7.15.5 Response Time

The delay from falling edge at global STO Enable input until energy supply to the motor is interrupted, depends on the number of connected AKD-N to the string. Maximum reaction time is 10 ms. The more AKD-N are connected to the string, the shorter is the reaction time.

MTTF

13849-1

-15

perhour (without common cause failure). Even if the STO function

IEC

62061

PFH [1/h]

SFF

[%]

[Years]

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AKD-C Installation | 7 Technical description and data

7.15.6 General information

Connector X16 offers access to all STO (Safe Torque Off) relevant signals of the decentral drive system powered by this AKD-C .

The global STO function uses the following devices: AKD-C, AKD-N without option "DS" or "DT", Kollmorgen hybrid connection cable.

There is one STO-Enable input and one STO-Status output for each DC Power string. STOEnable 1 does affect string 1 only. STO-Enable 2 does affect string 2 only.

The string STO input releases the power output stage of all AKD-N (without option DS/DT) connected to the string as long as a 24 V signal is applied to this input. If the STO input goes open-circuit, then power will no longer be supplied to the connected motors, and the drives will lose all torque and coast to a stop.

In case of using an AKD-N with option "DS" or "DT" (local STO input), the global STO signal will have not influence to this specific drive. The local STO input on the AKD-N has no influence to the global STO as well. The local STO functionality is described in the AKD-N installation manual.

Application examples can be foundin the Decentralized System Projecting Guide.

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7.15.7 Enclosure, wiring

Wiring examples (➜ # 45). Observe the required ambient conditions as described in chapter (➜ # 31).

The AKD-C (IP 20) must be mounted in an IP54 cabinet to ensure pollution level 2 according to IEC 60664-1. Connector X16 (STO signals) ensures requirements of pollution level 3 according to IEC 60664-1.

The AKD-N can be used in an environment that meet IP67.

Wiring inside the cabinet

Wiring remaining must meet the requirements of the standard IEC 60204-1. In compliance with the safety standardISO 13849-2 Table D.4; short-circuits between conductors or of any conductor to an exposed conductive part can be excluded when:

permanently connected (fixed)and protected against external damage, e. g. by cable ducting, armouring, or within separate multicore cables, or within the IP54 electrical enclosure, or individually shielded with earth connection.

AKD-C Installation | 7 Technical description and data

This is valid also for the STO wiring of AKD-C.

Wiring outside the cabinet

If you are wiring leads that are outside the specified enclosure(IP54), the cables must be laid durably (firmly), protected from outside damage (for example, by laying the cable in a duct), placedin different sheathed cables, or protected individually by grounding connection.

Maximum cable length

Maximum cable length for safety relevant I/Os and for the 24 V supply is 30 m.

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AKD-C Installation | 7 Technical description and data

7.15.8 Technical data and connection

The global STO inputs arenot compatible with IEC 61131-2. Connector X16 (STO signals) ensures requirements of pollution level 3 accordingto IEC 60664-1.

STO-Enable inputs inputs do not match IEC61131-2

galvanic isolation for 250 VDC OFF: 0 VDC to 12 VDC, < 50 mA ON: 18 VDC to 30 VDC, 210mA +10 mA per AKD-N tolerated OSSD pulse duration 300µs

STO-Status outputs as per IEC61131-2 type 1

max. 30 VDC, 100 mA galvanic isolation for 250 VDC

STO 24 VDC supply PELV acc. to EN 60204-1

Output 24 VDC +/-10% Current 5 A (full system STO supply)

Pinout connector X16 STO Signals

Pin Signal Description

1 STO-Status 1 STO-Status message string 1 2 STO-Status 2 STO-Status message string 2 3 +24 STO +24 VDC supply

4, 5 GND STO GND

6 STO-Enable 1 STO Enable string 1 7 GND STO GND 8 STO-Enable 2 STO Enable string 2

Wiring diagram STO Signals

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7.15.9 Functional description

There is one STO-Enable input and one STO-Status output for each string. The string STOEnable input releases the power output stage of all AKD-N (without option "DS" or "DT") connected to the string as long as a 24 VDC signal is applied to this input. When STO function is engaged during operation by separating STO-Enable from 24 V, the drives (without option DS/DT) connected to the string slow down without control.

When the global STO function (Safe Torque Off) is not needed, then the inputs STOEnable1/2 must be connected directly to +24 VDC. The function is then bypassed and cannot be used in the machinery safety concept.

In case of using an AKD-N with option "DS" or "DT" (local STO input) in the string, then the string STO-Enable signal will have no influence to this specific drive. The local STO-Status of this drive nevertheless is monitored in the string STO-Status.

The string STO-Status output at the AKD-C is a logical OR of all STO-Status of the drives connected to that respective string. STO-Status is high:

- during system boot (power up), or

- if the string STO-Enable input is 0V, or

- if the communication with one of the connected drives is lost, or

- if no drive is connected to the string, or

- if the local fieldbus doesn't work.

AKD-C Installation | 7 Technical description and data

Possible states of the drives connected to the string referring to the global STO function:

String

STO-Enable

0 V no high yes no

0 V yes high yes no +24 V no low no no +24 V yes low no yes

Use the following functional sequence when the STO function is used:

1. Brake the drives in a controlled manner (speedsetpoint = 0 V).

2. When drives speed = 0 rpm, disable the string (enable = 0 V).

3. If a suspended load is present, block the drive mechanically.

4. Activate the STO function. It is not possible to perform a controlled brake if the STO-Enable is off. If controlled braking

prior to the use of the STO function is necessary, the drive must be braked first and the input STO must be separated from +24 V time-delayed.

When wiring the input STO within one enclosure, the cables and the enclosure must meet the requirements of IEC 60204-1. If you are wiring leads outside the specified enclosure,then the cables must be laid durably and protected from outside damage.

String

HW Enable

String

STO-Status

Safety acc. to

SIL2

AKD-N on String can

produce Torque

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AKD-C Installation | 7 Technical description and data

7.15.9.1 Signal diagram (sequence)

The diagram below shows how to use global STO function for a safe drive stop and fault free operation of the drives connected to one of the strings.

1. Brake the drives in a controlled manner(speed setpoint = 0 V).

2. When speed = 0 rpm, disable thedrives (Enable= 0 V).

3. Activate the STO function (STO_Enable = 0 V)

4. For restart you must reset the safety device.

7.15.9.2 Functional test

You must test the safe torque off function after initial start of the drive, after each interference into the wiring of the drive, or after exchange of one or several components of the drive.

First Method:

1. Stop drives in the string with setpoint 0 V. Keep drives enabled.

DANGER: Do not enter hazardous area!

2. Activate the global STO function for example by opening protective screen of the string, where the drives are connected (voltage at AKD-C X16/6 orX16/8 0V).

3. The AKD-C fault contact opens, the corresponding string STO-Status message (X16/1 or X16/2)changes the voltage level, the drives lose torque and slow down to zerospeed without control.

Second Method:

1. Stop all drives in the string with setpoint 0 V, disablethe string.

2. Activate the global STO function, for example, by opening protective screen (voltage at AKD-C X16/6 or X16/8 0V)

3. The corresponding stringSTO-Status message (X16/1 or X16/2) changes the voltage level, the string cannot be enabled.

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7.15.9.3 Global STO application example with KSM

The sample application below shows door guarding and emergency stop, controlled by a safety control to switch the global STO-Enable inputs of an AKD-C device to SIL2, PLd. Both drive strings are switched independently.

Kollmorgen KSM modules cannot be used.

For detailledapplication examples refer to the Decentralized System Projecting Guide.

AKD-C Installation | 7 Technical description and data

7.15.9.4 OSSD test pulses

Safety controllers usually check their outputs periodically duringthe normal operation. These test procedures create pulses to the STO-Enable inputs.

Test pulses with T1 < 300 µs and T2 > 200 ms will not have any influence to the safety relevant STO function. Test pulses, which are outside of this specification, will switch the STO function, but will not create a dangerous situation.

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AKD-C Installation | 7 Technical description and data

7.16 Shock-hazard Protection

7.16.1 Leakage current

Leakage current via the PE conductor results from the combination of equipment and cable leakage currents. The leakage current frequency pattern includes a number of frequencies, whereby the residual-current circuit breakers definitively evaluate the 50 Hz current. For this reason, the leakage current cannot be measured using a conventional multimeter.

7.16.2 Residual current protective device (RCD)

AKD-C with connected AKD-N can cause a d.c. current in the protective earthing conductor. Wherea residual current-operated protective (RCD) or monitoring (RCM) device is used for protection in case of direct or indirect contact, only an RCD or RCM of Type B is allowed on the supply side of AKD-C.

In conformity with IEC 60364-4-41 – Regulations for installation and IEC 60204 – Electrical equipment of machinery, residual current protective devices (RCDs) can be used provided the requisite regulations are complied with.

The AKD-C is a 3-phase system with a B6 bridge. Therefore, RCDs which are sensitive to all currents must be used in order to detect any DC fault current.

Rated residual currents in the RCDs:

10 to 30 mA Protection against "indirect contact" (personal fire protection) for stationary

50 to 300 mA Protection against "indirect contact" (personal fire protection) forstationary

If you use a selective RCD, the moreintelligent evaluation process will prevent spurious tripping of the RCD.

7.16.3 Isolating transformers

When protection against indirect contact is absolutely essential despite a higher leakage current, or when an alternative form of shock-hazard protection is sought, the AKD can also be operated via an isolating transformer (schematic connection (➜ # 61). A ground-leakage monitor can be used to monitor for short circuits.

Keep the length of wiring between the transformer and thedrive as short as possible.

7.17 LED Display

The local fieldbus status LEDs are described in (➜ # 72).

andmobile equipment, as well as for "direct contact".

equipment

The LED seven-segment display indicates the status of the drive after the 24 V supply is switched on. If the service connection to the PC or to the PAC doesn't work, thenthe LED display is the only way to get information.AKD fault codes or warning codes are displayedconstantly if present. Fault messages are coded with "F" or "E", warnings are coded with "n". The IP address can be flashed across the LED display if the B1 button is pressed.

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AKD-C Installation | 8 Mechanical Installation

8 Mechanical Installation

8.1 Important Notes 48

8.2 Dimension Drawing 49

8.3 Mounting Example 50

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AKD-C Installation | 8 Mechanical Installation

8.1 Important Notes

CAUTION

High EMC Voltage Level!

Risk of electrical shock, if the servo amplifier (or the motor) is not properly EMC-grounded.

Do not use painted (i.e. non-conductive) mounting plates. In unfavourable circumstances, use copper mesh tape between the earthing bolts and earth potential to deflect currents.

Protect the device 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 device will switch itself off in case of overheating. Ensure that the mounting space matches the requirements (➜ # 31).

Do not mount devices that produce magnetic fields directly beside the device. Strong magnetic fields can directly affect internal components. Install devices which produce magnetic field with distance to the AKD-C and/or shield the magnetic fields.

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8.2 Dimension Drawing

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8.3 Mounting Example

Mounting material: Four M5 hexagon socket screws to ISO 4762, 4 mm T-handle Allen key.

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AKD-C Installation | 9 Electrical Installation

9 Electrical Installation

9.1 Important Notes 52

9.2 Guide to Electrical Installation 53

9.3 EMI Noise Reduction 54

9.4 System Topology of a Decentralized Servo System 56

9.5 Wiring 58

9.6 Connection Overview 59

9.7 Electrical Supply Connection 61

9.8 DC Bus link (X14) 64

9.9 Drive String Connection 70

9.10 I/O Connection 73

9.11 Motion Bus Interface (X10/X11) 77

9.12 Service Interface (X18) 78

9.13 Push-button (B1) 79

9.14 Rotary Switches (S1), Setting IP address 79

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AKD-C Installation | 9 Electrical Installation

9.1 Important Notes

Only professional staff who are qualified in electrical engineering are allowed to install the drive. Wires with color green with one or more yellow stripes must not be used other than for protective earth (PE) wiring.

DANGER

High Voltage up to 900 V!

There is a danger of serious personal injury or death by electrical shock or electrical arcing. Capacitors can still have dangerous voltages present up to 7 minutes after switching off 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 sure that the cabinet is safely disconnected (for instance, with a lock-out and warning signs). Never remove electrical connections to the drive while it is live. Wait at least 7 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 and wait until it has fallen below 50 V.

WrongDC Bus link voltage, unsuitable motor orwrong wiring will damage the system components. Check the combination of drive and motor. Compare the rated voltage and current of the units. Implement the wiring accordingto the connection diagrams: (➜ # 59).

It is permissible to use the setup software to alter the settings of the device. Any other alterations will invalidate the warranty.

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9.2 Guide to Electrical Installation

Install the electrical system as follows:

1. Select cables in accordance with IEC 60204(➜ # 33).) and the system topology (➜ #

56).

2. Install shielding and ground the AKD-C. Ground the mounting plate and CNC-GND of the control system.

3. Wire the device.

Wire the FAULT contact in series into the emergency off circuit of the system. If required, connect the external regen resistor (with fusing). Connect the requiredAKD-N drives to string 1 or string 2. Connect the Enable input and thedigital output, if required. Connect the STO inputs and STO status outputs for the used strings (➜ # 38). Connect the auxiliary supply (maximum permissible voltage values see electrical data (➜ # 30). Connect the main electrical supply. Check maximum permitted voltage value(➜ # 30). Check proper use of residual-current circuit breakers (RCD, (➜ # 46) Connect the PC (➜ # 78) for setting up the drive system.

AKD-C Installation | 9 Electrical Installation

4. Check the wiring against the wiring diagrams and observe the system topology limits (➜ # 56).

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AKD-C Installation | 9 Electrical Installation

9.3 EMI Noise Reduction

CAUTION

Electromagnetic Fields

Electromagnetic radiation may, by acting on electrically conductive materials, lead to potential hazardous danger (warming, loss of implants).

Work on the electrical installation may only be performed by trained and qualified personnel, in compliance with the regulations for safety at work, and only with switched off mains supply, and secured against restart. Grounding, equipotential bonding and radiation-reducing shields may not be removed.

9.3.1 Recommendations for EMI noise reduction

The following guidelines will help you to reduce problems with electrical noise in your application.

Ensure good connections between the cabinet components.

Connect the back panel and cabinet door to the cabinet body using several conductive braids. Never rely on hinges or mounting bolts for ground connections. Provide an electrical connection across the entire back surface of the AKD-C panel. Electrically-conductive panels such as aluminum or galvanized steel are preferred. For painted and other coated metal panels, remove all coatingbehindthe drive.

Ensure good ground connection.

Connect from cabinet to properearth ground. Ground leads should bethe same gauge as the leads to main power or one gauge smaller.

Use Kollmorgen cables.

Experience has shown that customers who use Kollmorgen’s cables have far fewer problems than customers who build cables. Route power andcontrol cables separately, Kollmorgenrecommends a distance of at least 200 mm to improve interference immunity.

Ground the shielding at both ends.

Ground all shielding with large areas (low impedance), with metalized connector housings or shieldconnection clamps wherever possible. For cables entering a cabinet, connect shields on all 360° of the cable. Never connect a simple "pigtail".

Splice cables properly.

If you need to divide cables, use connectors with metal backshells. Ensure that both shells connect along the full 360° of the shields. No portion of the cabling should be unshielded. Never divide a cable across a terminal stripe

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9.3.2 Shielding connection to the device

9.3.2.1 Shield connection clamps for X12, X13, X14, X15, X16

Shield connection clamps (see accessories manual) are used for connecting cable shields for X12, X13, X14, X15, X16.

Usually wiring to these connectors must not be shielded.

We recommend using Phoenix Contact SK14 shieldclamps with clamp range of 6 to 13mm. The clamps hook into the grounding plate and ensure optimum contact between the shield andthe grounding plate.

AKD-C Installation | 9 Electrical Installation

9.3.2.2 Ethernet connectors X10, X11, X18

The shield of Ethernet cables is connected via the connectors to the housing.

9.3.2.3 DC power connector X20A, X21A (cable CCNCN1)

Connection for the DC power by mating connector with strain relief.

Strip the external cable sheath to a length of approx. 100mm, taking care not to damage the braided shield. Push the braided shield (1) back over the cable andsecure with a rubber sleeve (2) or shrink sleeve.

Shorten all the wires apart from the protective earth (PE) wire (green/yellow) by about 20 mm so that the PE wire is now the longest wire. Strip all wires and fit wire endferrules.

Secure the braided shield of the cable to the shroud with a cable tie (3) and use a second tie (4) to fasten the cable.

Wire the connector as shown in the connection diagram. Plug in the connector to the socket on the front of the AKD-C.

Screw the connector in place. This ensures that there is conductive contact over a largesurface area between the braided shield and the front panel.

9.3.2.4 Local fieldbus connectors X20B, X21B (cable CCNCN1)

The shield of local fieldbus cables is connected via the connector to the housing.

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9.4 System Topology of a Decentralized Servo System

9.4.1 System limits

String length: maximum 100 m total cable length perstring Number of AKD-N: maximum 8 per string, total maximum 16

observe total power/current restrictions described in the Decentralized System Projecting Guide

Number of AKD-C: limited by fieldbus protocol

Sum of output current of string 1 and string 2:

Standby total power: Total standby power is limited to 260 W at 24 V. Service Interface X18 Ethernet TCP/IP, 100 Mbit/s

9.4.2 Example for one AKD-C

17 A, use coincidence factor of the axes for optimization

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9.4.3 Example for several AKD-C

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9.5 Wiring

DANGER

High Voltage up to 900 V

There is a danger of serious personal injury or death by electrical shock or electrical arcing.

Only install and wire the equipment when it is not live, that is, when neither the electrical supply nor the 24 V auxiliary voltage nor the supply voltages of any other connected equipment is switched on. Make sure that the cabinet is safely disconnected (for instance, with a lock-out and warning signs). The individual voltages are switched on for the first time during setup.

Only professional staff who are qualified in electrical engineering are allowed to install the decentral drive system. Wires with color green with one ormore yellow stripes must not be used other than for protective earth (PE) wiring. When installing or replacingcables, use only standardized components, which complies to the specifications in chapter 7.10 "Cable Requirements".

The ground symbol, which you will find in the wiring diagrams, indicates that you must take care to provide an electrically conductive connection with the largest feasible surface area between the unit indicated and the mounting plate in the control cabinet. This connection is for the effective grounding of HF interference, andmust not be confused with the PE-symbol (PE = protective earth, safety measure as per IEC 60204).

Use the following connection diagrams: Overview AKD-C (➜ # 60) Mains supply (➜ # 62) 24 VDC supply (➜ # 63) DC bus link (➜ # 64) Drive string connection (➜ # 70) Digital I/O (➜ # 73) Motion Bus (➜ # 77) Service interface (➜ # 78)

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9.6 Connection Overview

9.6.1 Connector assignment

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9.6.2 Connection diagram

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9.7 Electrical Supply Connection

9.7.1 Connection to various mains supply networks

This page illustrates all the possible connection variations for different electrical supply networks.

An isolating transformer is requiredfor 120V/240V networks to get a minimum voltage of 400V -10%.

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9.7.2 Mains supply connection (X12)

9.7.2.1 Three phase connection

Directly to 3-phase supply network, supply networks (➜ # 61) Fusing (such as fusible cut-outs) to be provided by the user (➜ # 31).

Pin Signal Description

1 L1 Line 1 2 L2 Line 2 3 L3 Line 3 4 PE Protective Earth

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9.7.3 24 VDC supply voltage (X13)

The following diagram describes external 24 VDC power supply, electrically isolated, for example, via an isolating transformer. The required current rating depends on the use of motor brake and number of connected AKD-N drives.

The 24 VDC voltage is internally split into a control supply to power the AKD-C electronics anda supply voltage to power the connected AKD-N drives in case of switched off AC mains power.

Standby power is limited to 260 W at 24 V for both strings. This powermust supply all AKDN (8 W each) and the remaining power can be used for motor holding brakes.

AKD-C Installation | 9 Electrical Installation

Pin Signal Description

1 +24 +24 VDC Auxiliary voltage 2 GND 24V Supply GND

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9.8 DC Bus link (X14)

The DC bus link can be connected in parallel so that the regen power is divided between all the AKD-C that are connected to the same DC bus link circuit. Every AKD-C must have it's own power connection to mains voltage, even if the DC bus link is used.

The devices can be destroyed if DC bus link voltages are different. Only devices with mains supply from the same mains (identical mains phases and voltage) may be connected by the DC bus link. Use unshielded single cores with a maximum length of 200 mm. Use shielded cables for longerlengths.

The DC-Bus link circuit +DC/-DC is not short circuit proof. Observe the recommended wire cross section (➜ # 33).

Possible DC Bus Link connections

Devices AKD-xzzz07 KCM AKD-xzzz06 S3xx / S7xx

AKD-C01007 yes yes no no

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Pin Signal Description

3 -DC DC-Link Bus negative 4 +DC (+RB) DC-Link Bus positive

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9.8.1 Regen resistor (X14)

9.8.1.1 Internal regen resistor

AKD-C has a built-in regen resistor. This internal brake circuit is active with the plugged bridge in mating connector X14 between 1 (+RBi) and 2 (-RB).

9.8.1.2 External regen resistor

For technical data on the brake circuit (➜ # 35). Fusing (such as fusible cut-outs) to be provided by the user (➜ # 31).

AKD-C Installation | 9 Electrical Installation

The brake circuit +RB/-RB is short circuit proof. Observe the prohibition of continuous, operational short circuits to the external regen resistor contacts (➜ # 16).

Pin Signal Description

2 -RB External Regen Resistor negative 4 +RB External Regen Resistor positive

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9.8.2 Capacitor Modules (X14)

KCM modules (KOLLMORGEN Capacitor Modules) absorb kinetic

energy generated by the motor when it is operating in generator mode. Normally, this energy is dissipated as waste via regenresistors. KCM modules, however, feedthe energy they have stored back into the DC Bus link as and when it is required.

Assembly information: see regional accessories manual or KCM instruction manual. Dimensions (HxWxD) : 300x100x201 mm

KCM-S Saves energy: The energy stored in the capacitor module during generative braking is

available the next time acceleration happens. The module’s inception voltage is calculated automatically during the first load cycles.

KCM-P Power in spite of power failure: If the power supply fails, the module provides the

servo amplifier with the stored energy that is required to bring the drive to a standstill in a controlled manner (this only applies to the power supply voltage; battery-back the 24 V supply separately).

KCM-E Expansion module for both applications. Expansion modules are available in two

capacitance classes.

The KCM modules may only be connected to AKD with 400/480 V rated voltage. Mounting, installation, and setup instructions can be found in the Instructions Manual of the KCM Modules.

High DC Voltage up to 900 V

There is a danger of serious personal injury or death by electrical shock or electrical arcing. It can take over an hour for the modules to self-discharge.

9.8.2.1 Technical Data

Type [Ws] [V DC] [V DC] [kW] [V DC] [kg]

KCM-S200 KCM-P200 KCM-E200 KCM-E400

DANGER

Storage-

Capacity

1600 2000 470 6.9 2000 - 4.1 4000 - 6.2

Rated

Supply

Voltage

max. 850

Peak

Supply

Voltage

max. 950

(30s in 6

min)

Power Protection

Class

18 IP20

Inception

Voltage

evaluated 6.9

Weight

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9.8.2.2 Example installation with KCM-S and KCM-E

Maximum cable length between AKD-C and KCM: 500mm. The DC+ and DC- lines should always be twisted, maximum cross section is 6mm². Ensure that the polarity is correct, swapping round DC+/DC- will damage the KCM modules.

Create a motion profile that causes the brake chopper to respond.

AKD-C Installation | 9 Electrical Installation

Setup KCM-S and KCM-E

Prerequisite for the following instructions:

Properly disconnected, grounded system. KCM-S: assembled and wired in the switching cabinet. The load that leads to the activation of the brake chopper during braking must be connected. KCM-E: assembled and connected to the KCM-S with connection cable (X1) and PE line. Discharge aids (plug-in bridge)are removed.

Proceed as instructed below:

1. Switch on the line voltage after the AKD-C has finished the 24V boot process.

2. Enable the AKD and operate the motion profile that causes the brake chopperto respond.

3. The KCM-S determines the chopper threshold andbegins to charge; LED (top view) flashes. The energy stored in the capacitor module during generative braking is available the next time acceleration happens.

RS422 interface X4 allows data exchange controlledby a terminal softwareof your choice. Interface setting: 115200 Baud, 8 Data Bits, 1 Stop Bit, No Parity&Flow Control. The X4 mating connector is in the package. More information is given in the KCM Instructions Manual.

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9.8.2.3 Example installation with KCM-P and KCM-E

The KCM-P starts the charging process at approx. 470 V DC. If the power supply fails, the module provides the DC bus link with the stored energy (this only applies to the power supply voltage; battery-back the 24 V supply separately).

Setup KCM-P and KCM-E

Prerequisite for the following instructions:

Properly disconnected, grounded system. KCM-P: assembled and wired in the switching cabinet. Set AKDundervoltage limit VBUS.UVTHRESH to a valuesignificantly below 470V DC, otherwise AKD will switchoff before KCM-P provides energy to the DC bus link. KCM-E: assembled and connected to the KCM-P with connection cable (X1) and PE line. Discharge aids (plug-in bridge)are removed.

Proceed as instructed below:

1. Switch on the line voltage after the AKD-C has finished the 24V boot process.

2. The KCM-P begins the charging process at approx. 470 V DC; the LED flashes.

The ready signal reports the ready to operate (high level) status. More information is given in the KCM Instructions Manual.

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9.8.2.4 Discharging KCM modules

The aids suppliedwith each KCM module (plug-in bridge/connecting cables) allows discharging themodules safely.

When the charging LED on top of the modules flashes, the capacitors arecharged. Please note, however, that the LED does not allow you to draw a definite conclusion about the state of discharge, as it is not monitored for failures.

DANGER

High DC Voltage up to 900 V

There is a danger of serious personal injury or death by electrical shock or electrical arcing.

Switch off (disconnect) the line voltage. You must only work on the connections when the system is disconnected. Check the state of charge with a measuring device that is suitable for a DC voltage of up to 1,000 V. Wait until the voltage measured between the DC+/DC- terminals or to ground has dropped below 50 V. It can take over an hour for the modules to self-discharge. If you cannot wait for the duration of the self-discharge time, you must force the modules to discharge. Follow the procedure described below when forcing the modules to discharge.

AKD-C Installation | 9 Electrical Installation

For your own safety, proceedas follows when forcing the modules to discharge:

1. Switch off (disconnect) the line voltage and the 24V voltage.

2. Discharge the modules: KCM-S/-P: Insert the plug-in bridge in the screw terminals (black-1 to gray-2) on the base of the modules, wait at least 70 s, leave the plug-in bridge in place (as a means of securing for transport). Remove the plug-inbridge again before recommissioning. KCM-E: Bridge the X2/X3 connector with a connecting cable on the top of the module, wait at least 70 s, leave the connecting cable in place (as a means of securing for transport). Detach the connecting cable and reconnect the KCM-E properly before recommissioning.

3. Perform the scheduled task (e.g., cleaning, maintenance, or uninstallation).

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9.9 Drive String Connection

AKD-C support two strings to connect up to 16 AKD-N drives.

Use IP67 grommets for leading the hybrid cable out of the cabinet.

For connecting the first AKD-N to one of the DC strings the Kollmorgen cable type CCNCN1 must be used. This cable is a Y type adapter with one hybrid connector on the AKD-N end and two connectors on the AKD-C end with separate DC power andlocal fieldbus lines.

To ensure protection class IP67, Kollmorgen recommends cable entry system KDL/S combined with cable entry grommet KDT/S manufactured by :

Murrplastik Systemtechnik GmbH Fabrikstraße 10 71570 Oppenweiler, Germany Phone: +49 (0)7191 482-0 Website: www.murrplastik.de E-Mail: info@murrplastik.de

Solution for rotary tables

If AKD-N must be mounted on a rotary table, it is necessary to use slip ring assemblies for energy anddata transfer between AKD-C in the cabinet andAKD-N on the rotary table.

Kollmorgen cooperates with company STEMMANN-TECHNIK for user specific slip ring assembly solutions.

Please contact: STEMMANN-TECHNIK GmbH

Niedersachsenstraße 2 48465 Schüttorf, Germany Phone: +49 (0)592381-0 Website: www.stemmann.com E-Mail: sales@stemmann.de

The Safety Function STO has been tested with STEMMANN slip rings 6263576 and 6263577.

These slip rings can be used as stand-alone modules or in a slip ringcassette.

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9.9.1 String assignment

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9.9.2 DC power (X20A, X21A)

The DC power lines supply DC power for up to 8 AKD-N drives in one string. Connection for the DC power must be done by a mating connector with strainrelief due to EMC reasons. This connector is configured with the Kollmorgen CCNCN1 cable (➜ # 33).

9.9.3 Local Fieldbus (X20B, X21B)

Local fieldbus connectors separate for each string enable theAKD-C to communicate with all connected AKD-N via a four line bus medium. This connector is configured with the KollmorgenCCNCN1 cable (➜ # 33).

Pin Signal Description

1 +DC_ST DC power positive 2 -DC_ST DC power negative 3 PE Protective Earth

These ports may not be directly connected to standard EtherCAT nodes. These connectors are type 1 mini I/O, use Kollmorgen cables CCNCN1 only.

Pin Signal Description

1 Receive + Receive + 2 Receive - Receive 3 Transmit + Transmit + 6 Transmit - Transmit -

4,5,7,8 n.c. not connected

Status LEDs for the local fieldbus connections

The communication status is indicated by the built-in status LEDs, onepair for each string.

LED Name Function

green IN port Link ON = active, OFF= not active

yellow RUN ON = running, OFF = not running

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9.10 I/O Connection

9.10.1 I/O connectors X15 and X16

Digital I/O signals are connected to X15, STO signals are connected to X16.

X15 (I/O) X16 (STO)

Conn. Pin Signal Abbreviation Function Wiring

X15 1 Digital Output + DIGITAL-OUT+ Programmable (➜ # 75) X15 2 Digital Output - DIGITAL-OUTX15 3 Hardware Enable Enable Output stage

X15 4 Digital Common DCOM Common line for

X15 5 Fault Relay Output Fault Fault Relay Output (➜ # 76) X15 6 Fault Relay Output Fault Fault Relay Output

AKD-C Installation | 9 Electrical Installation

Diagram

(➜ # 74)

enable

X15 pin 1, 2, 3

X16 1 STO-Status for

DC Power String 1

X16 2 STO-Status for

DC Power String 2

X16 3 STO +24 VDC STO +24 V 24 VDC for STO

X16 4 STO GND STO GND GND for STO 24 V X16 5 STO GND STO GND GND for STO 24 V X16 6 STO-Enable for

DC Power String 1

X16 7 STO GND STO GND GND for STO 24 V X16 8 STO-Enable for

DC Power String 2

The DCOM line should be connected to the 0V of the I/O supply when using sensors of type "Source" with digital inputs. The DCOM line should be connected to the 24V of the I/O supply when using sensors of type "Sink" with digital inputs.

STO-Status 1 Status of STO for

string 1

STO-Status 2 Status of STO for

string 2

signals

STO-Enable 1 Switches off

torque for drives in string 1

STO-Enable 2 Switches off

torque for drives in string 2

(➜ # 76)

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9.10.2 Digital Input (ENABLE, X15)

Digital Input (terminal X15/3) is set to the Hardware Enablefunction. Technical characteristics:

Floating, reference common line is DCOM Sink or Source type wiring is possible As per IEC61131-2 type 1 ON: 15 VDC to 30 VDC, 2 mA to 15 mA, OFF: -3 VDC to 5 VDC, < 1 mA Galvanic isolationfor 250 VDC Update rate: direct connection to hardware (FPGA)

The Hardware Enable input and the Software Enable signal (via fieldbus or WorkBench) are serial, that means wiringof Hardware Enable is mandatory.

The output stage of the AKD-N drives, which are connected to the AKD-C are enabled by applying the ENABLE signal (Terminal X15/3). Enable is possible only if the input STOEnable 1 or 2 (valid for DC power strings 1 or 2) has a 24 V signal (➜ # 38). In the disabled state the connected motor has no torque.

A software enable by means of the setup software is also required (AND link), although this can also be permanently enabled with WorkBench.

The input can be used with switched +24 V (source type) or switched GND (sink type). See diagrams below for typical examples of digital input wiring.

Digital Input Wiring Diagram (Source type connection):

Digital Input Wiring Diagram (Sink type connection):

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9.10.3 Digital Output (X15)

The drive supplies one digital output (X15/1 to X15/2, (➜ # 73). Choose the required function in the setup software. Messages from pre-programmed functions stored in the AKD-C can be output here. A list of these pre-programmed functions can be found in the setup software. If the output is to be assigned to a pre-programmedfunction, then the parameter set must be saved in the AKD-C.

Technical characteristics:

As per IEC61131-2 type 1 Floating, max. 30 VDC, 100mA Short circuit proof Galvanic isolationfor 250 VDC Can be wiredas active low or active high (see examples below) Update rate: 250 µs

Wiring diagram:

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9.10.4 FAULT relay contacts

Operational readiness (terminals X15/5 and X15/6 ) is signaled by a floating relay contact. The fault relay can be programmed to two modes of operation:

- Contact closed when there is no fault

- Contact closed when there is no fault and the drive is enabled. The signal is not influenced by the enable signal, the I²t-limit, or the regen threshold. Technical characteristics:

FAULT: Relay output, max. 30 VDC or 42 VAC, 1 A Time to close: max. 10 ms Time to open: max. 10 ms

All faults cause the FAULT contact to open and the AKD-N output stages to be switched off (if a fault occurs, the internal hardware ready signal is inhibited -> no power output to motors). List of the fault messages: (➜ # 87).

Wiring diagram:

9.10.5 STO signals (X16)

Connector X16 offers access to all STO (Safe Torque Off) signals of the decentral drive system powered by this AKD-C . There is one STO-Enable input and one STO-Status output for each DC Power string. All STO signals aregalvanically isolated and need external 24 VDC supply (PELV/SELF).

For detailleddescription of STO interface and functionality refer to (➜ # 38).

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9.11 Motion Bus Interface (X10/X11)

Do not connect the Ethernet line for the PC or PAC with the set up software to the motion bus interface X10/X11. The set up Ethernet cable must be connected to X18.

9.11.1 Pinout

Pin Signal X10 Signal X11

1 Transmit + Receive+ 2 Transmit - Receive3 Receive+ Transmit +

4, 5 n.c. n.c.

6 Receive- Transmit -

7, 8 n.c. n.c.

AKD-C Installation | 9 Electrical Installation

The motion bus interface has RJ-45 connectors and can be used for communication with the EtherCAT master and other AKD-C.

9.11.2 Bus Protocols

Protocol Type Connectivity Option

EtherCAT Motion bus EC

9.11.3 Network configuration

9.11.4 EtherCAT

AKD-C01007-CBEC can be connected as slaves to the EtherCAT network (CoE) via RJ-45 connectors X10 (in port) and X11 (out port).The communication status is indicated by the built-inconnector LEDs.

Connector LED# Name Function

X10 LED1 IN port Link ON = active, OFF= not active

X11 LED3 OUT port Link ON = active, OFF = not active

LED2 RUN ON = running, OFF = not running

LED4 - -

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9.12 Service Interface (X18)

Operating, position control, and motion-block parameters can be set up by using the setup softwareWorkBench on an ordinary commercial PC (➜ # 83).

Connect the service interface X18 to an Ethernet interface on the PC directly or via a network switch. The cable can be connected/disconnected to X18 with power on. Confirm that the link LED on the AKD-C (the green LED on the RJ45 connector) and on your PC (or network switch) areboth illuminated. If both lights are illuminated, then you have a good electrical connection.

The X18service port of an AKD-C does not allow access to AKD-N drives connected to other AKD-C devices.

9.12.1 Pinout

Pin Signal Pin Signal

1 Transmit + 5 2 Transmit - 6 3 Receive+ 7 4 n.c. 8

9.12.2 Service Bus Protocols

Protocol Type

Ethernet TCP/IP Service Bus, 100 Mbit/s

9.12.3 Possible Network Configurations

Network hubs and transfer rate of 10 Mbit/s are not supported.

n.c. Receiven.c. n.c.

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9.13 Push-button (B1)

The push-button can be used to start predefined functions.

Press short to display the IP address in the LED display

9.14 Rotary Switches (S1), Setting IP address

The configured IP address will be displayed on the 7 segment at Ethernet cable connection time and at power-on, if an Ethernet cable is connected. If no Ethernet cable is connected, no IP address will be indicated in the display.

More information is available in the AKD-C User Guide or in the Settings Screen-> Fieldbus-> TCP/IP screen in WorkBench.

AKD-C Installation | 9 Electrical Installation

Set S1 to 0 (zero) for DHCP/AutoIP address.

S1 Setting AKD-C IP Address

0 DHCP/AutoIP address. The IP address of the AKD-C is obtained from the

DHCP serveron your network. If no DHCP server is found the IP addresses is an AutoIP address (it is internally generated following the AutoIP protocol andwill be of the form 169.254.x.x).

1 to 9 Prepared for Static IP Address. Currently out of function.

The PC subnet mask must be set to 255.255.255.0 or 255.255.255.128

Dynamic IP addressing (DHCP and Auto-IP)

With S1 set to 0, the device is in DHCP mode. The AKD-C will acquire its IP address from an external DHCP server if present in the network. If a DHCP server is not present, the AKD-C will assume an Automatic Private IP Address of the form 169.254.x.x.

If your PC or PAC is directly connected to the AKD-C , and set to obtain an IP address automatically in the TCP/IP settings, a connection will be established with both devices using compatible automatic generated addresses. It can take up to 60 seconds for a PC to configure an Automatic Private IP Address (169.254.x.x).

Changing the IP address

If the switch is altered while 24 V Logic power is supplied to the AKD-C , you must switch off andthen switch on again the 24 V supply voltage. This action will reset the address.

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AKD-C Installation | 10Setup

10 Setup

10.1 Important Notes 81

10.2 Setup software WorkBench 82

10.3 Initial System Test 85

10.4 Fault and Warning Messages 87

10.5 Troubleshooting the AKD-C 88

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10.1 Important Notes

Beforetesting and setup, the manufacturerof the machine must generate a risk assessment for the machine and take appropriate measures so that unforeseenmovements cannot cause injury or damageto any person or property.

Only professional personnel with extensive knowledge in the fields of electrical engineering anddrive technology are allowed to test and set up the drive.

DANGER

Lethal Voltage!

There is a danger of serious personal injury or death by electrical shock. Lethal danger exists at live parts of the device.

Built-in protection measures such as insulation or shielding may not be removed. Work on the electrical installation may only be performed by trained and qualified personnel, in compliance with the regulations for safety at work, and only with switched off mains supply, and secured against restart.

AKD-C Installation | 10Setup

WARNING

Automatic Start

Risk of death or serious injury for humans working in the machine. The drive might restart automatically after power on, depending on the parameter setting. If parameter DRV.ENDEFAULT for one AKD-N 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.

If the device has been stored for more than 1 year, you must re-form the capacitors in the DC bus link circuit. Re-forming procedures are described in the Kollmorgen Developer Network (Forming).

Additional information on setting up the equipment:

Programming parameters and control loop behavior are described in the online help of the setup software. Kollmorgencan provide training courses for the drive upon request.

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AKD-C Installation | 10Setup

10.2 Setup software WorkBench

This chapter describes the installation of the setup software WorkBench for AKD-C and AKD-N drives. Kollmorgen offers training and familiarization courses on request.

10.2.1 Use as directed

The setup software is intended to be used for altering and saving the operating parameters for the AKD series of products. The attached devices can be set up with the help of this software, and during this procedure the drive system can be controlled directly by the service functions.

Only professional personnel who have the relevant expertise (➜ # 13) are permitted to carry out online parameter setting for a drive that is running. Sets of data that have been stored on data media are not safe against unintended alterationby otherpersons. Unexpected move could bethe result if you use unchecked data. After loading a set of data you must therefore always check all parameters before enabling the drive.

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10.2.2 Software description

Each device must be adapted to the requirements of your machine. For most applications, you can use a PC and WorkBench (the setup software) to set up the operating conditions and parameters. The PC is connected to the AKD-C by an Ethernet cable (➜ # 78). The setup softwareprovides the communication between the PC and every AKD-N drive connected to this AKD-C. You can find the setup software on the accompanying DVD and in the download area of the Kollmorgen website.

With very little effort you can alter parameters and instantly observe the effect on the drive, since there is a continuous (online) connection to the AKD-C. You can also read important actual values from drives, which are displayed on the monitor of the PC (oscilloscope functions).

You can save sets of data ondata media (archiving) and load them them into other AKD-C or use them for backup. You can also print out the data sets.

Most standardfeedbacks (SFD, EnDAT 2.2, 2.1, and BiSS) are plug and play compatible. Motor nameplate data is storedin the feedback device and read by the drive automatically at startup. Non-plug and play Kollmorgen motors arestored in WorkBench and can be loaded with one-click using the Motor screen in the WorkBench software.

An extensive online help with integrateddescription of all variables and functions supports you in each situation.

AKD-C Installation | 10Setup

10.2.3 Hardware requirements

The Service interface (X18, RJ45) is connected to the Ethernet interface of the PC by an Ethernet cable (➜ # 78).

Minimum requirements for the PC:

Processor: at least Pentium®II or comparable Operating system : Windows Graphics adapter: Windows compatible, color Data Drives : hard disk with at least 20 MB free space, DVD drive Interface : one free Ethernet Interface, or a Switch port, 100 Mbit/s

10.2.4 Operating systems

Windows 2000 / XP / VISTA / 7 / 8

WorkBench works with Windows 2000, Windows XP, Windows VISTA, Windows 7 and Windows 8

Unix, Linux

The functioning of the software has not been tested for Windows running with Unix or Linux.

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AKD-C Installation | 10Setup

10.2.5 Installation under Windows

The DVD includes an installation program for the setup software.

Installation

Autostart function activated: Insert the DVD into a free data drive. A window with the start screen opens. There you find a link to the setup software WorkBench. Click it and follow the instructions. Autostart function deactivated: Insert the DVD into a free data drive. Click Start (task bar), then Run. Enter the program call: x:\index.htm (x = correct DVD drive letter). Click OK and proceed as described above.

Connection to the Ethernet interface of the PC

Connect the interface cable to an Ethernet interface on your PC or to a Switch and to the service interface X18 of the AKD-C (➜ # 78).

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10.3 Initial System Test

10.3.1 Unpacking, mounting, and wiring

Unpack the AKD-C andaccessories. Observe the safety instructions in the documentation. Mount the AKD-C (➜ # 47)ff. Connect the AKD-N via the hybridcables to the AKD-C (➜ # 51)ff. Connect motors to the connected AKD-N. See AKD-N Installation Manual for more information. Make sure you have on hand the following information about the drive components:

rated mains supply voltage motor type (motor data, if the motortype is not listed in the motor database) feedback unit built into the motor (type, poles/lines/protocol)

moment of inertia of the load Connect a PC with the installed WorkBench setup software to connector X18. See AKD- C Installation Manual for moreinformation.

10.3.2 Set IP address

The AKD-C node address can be set with the rotary switch (➜ # 79), with the WorkBench setup software or via the fieldbus.

AKD-C Installation | 10Setup

10.3.3 Confirm connections

Switch on 24 VDC logic power for the system through the AKD-C X13 connector (mains supply voltage is not needed for communications).

Confirm that the greenlink LEDs on the AKD-C and on the PC are both illuminated.

While the PC is connecting, your statusbar will show the following acquiring icon:

Wait for this icon to change to the limited functionality icon (this process can take up to one minute).

Although Windows displays this limited functionality icon for the drive connection, the PC can communicate fully with the drive. Using WorkBench, you can now configure the drive throughthis connection.

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AKD-C Installation | 10Setup

10.3.4 Install and start WorkBench

WorkBench installs automatically from the DVD included with the drive. WorkBench is also available on the Kollmorgen Web site: www.kollmorgen.com.

Once installation is complete, click the WorkBench icon to start the program. WorkBench will show a list of all the drives that it can find connected to the AKD-C.

Select the AKD-C you wish to configure andthen click Next. If multiple devices are detected, a device can be uniquely identified using one of the following

methods:

1. The MAC address of the device. This address is printed on the sticker on the side of the drive.

2. The name of the devices. The device name is set using WorkBench. A new device defaults to “No_Name.”

3. Blinking the display. Select a device and click Blink to force the display on the front of the drive to blink on and off for 20 seconds.

10.3.5 Enable the drive using the setup wizard

Once a connection to the AKD-C has been established, all AKD-N connected to this device arelisted. Select one of these drives andthe AKD Overview screenappears. Your drive appears in the navigation area on the left of the screen. Right click on your drive name and select Setup Wizard from the drop-down menu. The SetupWizard guides you through the initial drive configuration, which includes a simple test motion.

After completing theSetup Wizard, your drive should be enabled. If the drive is not enabled, check the following:

1. The hardware enable (HW) for the drive strings must be in the enabled state (pin 3 on AKD-C X15 connector).

2. The software enable (SW) must be in the enabled state. Activate using the Enable/Dis- able button on the upper toolbar on WorkBench orin the Overview screen.

3. No faults may be present (click the Clear Fault button on the upper tool bar to clear any faults).

The status of HW enable, SW enable, andFaults is displayed in the lower toolbar of the WorkBench software. The drive is connected if the lower right corner shows Online.

You can now use the Settings View in WorkBench to complete advanced configuration of your drive.

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10.4 Fault and Warning Messages

When a fault occurs, the AKD-C fault relay is opened, the output stage of the connected AKD-N are switched off (motors lose all torque), or the load is dynamically braked. The specific behavior depends on the type of fault. The LED display shows the number of the fault that occurred. If a warning is issued priorto the fault, the warning is shown on the LED and has the same number as the associated fault. Warnings do not trip the power stages of the connected AKD-N or fault relay output.

Eliminate errors and faults in compliance with work safety rules. Troubleshooting only by qualified and trained staff.

More information about fault messages, causes, remedy and clearing faults can be found in the WorkBench online help.

AKD-C Installation | 10Setup

AKD fault codes or warning codes are displayed constantly if present. Fault messages are coded with "F", warnings arecoded with "n".

The LED displays the fault or warning number as follows: F-1-0-1-[break] or n-1-0-1-[break]. The highest priority fault is displayed. Multiple faults may be present when a fault condition is occurring. Check the AKD WorkBench Fault Screen or read the status of DRV.FAULTS through the controller or HMI for the entire list of faults.

Fault Message/Warning

F0 Reserved. F101 Firmware type mismatch. n101 The FPGA is a laboratory FPGA. F102 Resident firmware failed. n102 Operational FPGA is not a default FPGA. F103 Resident FPGA failed. F104 Operational FPGA failed. F105 Non-volatile memory stamp invalid. F106 Non-volatile memory data.

F125, n125 Fieldbus synchronization frames lost.

F136 Firmware and FPGA versions are not compatible . F201 Internal RAM failed. F202 External RAM failed. F203 Code integrity failed.

F204 to F232 EEPROM failure detected. F234 to F237

n234 to n237 F240 to F243

n240 to n243

F501, n501 Bus over voltage. F503, n503 Bus capacitor overload.

F519 Regen short circuit.

F521, n521 Regen overpower.

F523 Bus over voltageFPGA. F531 Power stage fault. F536 Standby power supply fault.

Temperature sensor high.

Temperature sensor low.

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Fault Message/Warning

F537 Precharge fault. F541 AC Input Phase L1 missing. F542 AC Input Phase L2 missing. F543 AC Input Phase L3 missing. F545 String current over peak limit. F546 String current over continuous limit. F561 More than eight AKD-N connected to string 2. F562 More than eight AKD-N connected to string 1. F564 Number of connected AKD-N at string 1 decreased. F565 Number of connected AKD-N at string 2 decreased. F621 Control Board CRC fault. F623 Power Board CRC fault. F624 Power Board Watchdog fault. F625 Power Board Communication fault. F626 Power Board FPGA not configured. F627 Control Board Watchdog fault. F628 Data package on string 1 not received by AKD-C or AKD-N. F629 Data package on string 2 not received by AKD-C.

F702, n702 Fieldbus communication lost.

10.5 Troubleshooting the AKD-C

Drive problems occur for a variety of reasons, depending on the conditions in your application. The causes of faults in multi-axis systems can be very complex. If you cannot resolve a fault, Kollmorgen customersupport can give you further assistance.

Eliminate errors and faults in compliance with work safety rules. Troubleshooting only by qualified and trained staff.

Details on the removal of faults can be found in the WorkBench online help.

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AKD-C Installation | 11Index

11 Index

Abbreviations 10 AKD Family 29 Ambient Conditions 31 Ambient temperature 31 Aux. supply 24V, interface 63

Cable and Wire Requirements 33 Capacitor Modules 66 Conformance

CE 23 EAC 24 REACH 24 RoHS 24 Safety 23 UL, cUL 22

Connection Diagram 60 Connection Overview 59 Connector Assignments 59 Connectors 33

Humidity

in operation 31 Storage 18 Transport 18

I/O-Connection 73 Initial Drive Test 85 Inputs

Basic Data 32 Digital 74 Enable 74 STO 38

Installation

Electrical 51 Mechanical 48 Software WorkBench 84

KCM 66

Leakage current 46

DC bus link, interface 64 DC Power String, interface 72 Decommission 18 Digital inputs 74 Disassemble 19 Disposal 20 Document Revisions 91 Dynamic Braking 35

EAC 24 ENABLE 74 Enclosure protection 31 EtherCAT 77

Fault messages 87 FAULT relay 76 Fieldbus String, interface 72 Fusing 31

Global STO 38 grommets 70 Grounding 53

Mains supply, interface 62 Maintenance 19 Marquages UL 22 Mounting position 31

Nameplate 26 Noise Emission 31

Outputs

Basic Data 32 Digital 75 Fault Relay 76

Package supplied 26 Packaging 18 Part number scheme 27 PC connection 78 Pollution level 31 Prohibited Use

General 16 STO 39

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AKD-C Installation | 11Index

Pushbutton B1 79

Re-forming 18, 81 REACH 24 Regen circuit 35 Regen resistor, interface 65 Repair 19 Response Time STO 39 RoHS 24

Safe Torque Off (STO) 38 Safety Instructions

General 12 STO 38

Service Interface 78 Setup 81 Setup Software 82 Shielding 53 Shock-hazard protection 46 Site altitude 31 slip ring 70 Stacking Height

Storage 18 Transport 18

Standards used 11 STO 38 STO Response Time 39 STO signals 76 Storage 18 Supply networks 61 Switch-on/switch-off behavior 36 Symbols used 9

Ventilation 31 Vibrations 31

Warnings 87 Wiring 58 WorkBench 82

Hardware requirements 83 Installation 84 Operating systems 83

Temperature

in operation 31 Storage 18 Transport 18

Tightening torques, connectors 33 Transport 18 Trouble Shooting 88

UL Markings 22 Use as directed

General 15 STO 39 WorkBench SetupSoftware 82

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AKD-C Installation | 12Record of Document Revisions

12 Record of Document Revisions

Revision Remarks

A, 11/2013 First edition B, 05/2014 KCM X4 and Ready contacts added, KCM switch-onsequence, STO section updated C, 12/2014 Patents updated, typos corrected

STO certified, UL listed, EAC certified, connector voltage rating corrected, fusing suggestions

D, 06/2015

E, 12/2015

F, 09/2016

G, 10/2017 Safety characteristic value MTTFd added, reference to safe slip rings (Stemmann) H, 02/2018 Part number scheme (Mx types removed), Trademark list updated

completed, power connector voltage rating corrected, RoHS/REACH statements added, capacitor forming information added

KCM wiring corrected, notes for slip rings and IP67 grommets, static IP addressing removed, , "Package supplied" extended, Use as Directed (DC supply / grouping notes), KSM notes removed, output power in kVA, LVD 2014/35/EG, EMCD 2014/30/EG

Warning notes updated, projecting guide notes, warning labels described, UL Markings updated, circuit breaker removed from UL approval, mains frequency 40-70Hz, SCCR 42kA

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