Kollmorgen AKD-N00607, AKD-N00307 Installation Manual
AKD
®
Near Servo Drive
Installation Manual
Edition: C, December 2014
Valid for AKD-N, Hardware Revision B
Part Number 903-200018-00
Original Document
Keep all manuals as a product component duringthelife span of the product.
Pass all manuals to future users and owners of the product.
Record of document revisions
Revision Remarks
A, 11/2013 First edition
B, 05/2014 STO section updated
C, 12/2014 Patents updated, typos corrected, HR changed acc. to export control
Hardware Revision (HR)
AKD-N AKD-C
Firmware/
WorkBench
Export
Classification
Remarks
A A from 1.11 3A225 AKD-C and AKD-N start revisions
B A from 1.13 -
AKD-N Hardware Revision for export classification
tracebility purposes
Trademarks
l AKD is a registered trademark of Kollmorgen Corporation
l EnDat is a registeredtrademark of Dr. Johannes Heidenhain GmbH
l EtherCAT is a registered trademark and patented technology, licensed by Beckhoff AutomationGmbH
l HIPERFACE is a registered trademark of Max Stegmann GmbH
l Windows is a registeredtrademark of Microsoft Corporation
Current patents
l US Patent 5.162.798 (used in control card R/D)
l US Patent 5.646.496 (used in control card R/D and1 Vp-p feedback interface)
l US Patent 6.118.241 (used in control card simple dynamic braking)
l US Patent 8.154.228 (Dynamic Braking For Electric Motors)
l US Patent 8.214.063 (Auto-tune of a Control System Based on Frequency Response)
l 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!
Printedin 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.
2 Kollmorgen | December 2014
AKD-N Installation | Table of Contents
1 Table of Contents
1 Table of Contents 3
2 General 7
2.1 About this Manual 8
2.2 Using the PDF Format 8
2.3 Notes for the Printed Edition (paper version) 8
2.4 Symbols Used 9
2.5 Abbreviations Used 9
3 Safety 10
3.1 You should pay attention to this 11
3.2 Use as Directed 13
3.3 Prohibited Use 13
3.4 Handling 14
3.4.1 Packaging 14
3.4.2 Transport 14
3.4.3 Storage 14
3.4.4 Maintenance and cleaning 14
3.4.5 Uninstalling 15
3.4.6 Repair and disposal 15
4 Approvals 16
4.1 Conformance with UL/cUL 17
4.2 Conformance with EC Low Voltage and EMC Directives 17
4.3 Conformance with EC Machinery Directive, Functional Safety 17
5 Package 18
5.1 Package Supplied 19
5.2 Nameplate 19
5.3 Part Number Scheme 20
6 Technical description and data 21
6.1 The AKD-N Family of Digital Drives 22
6.2 Mechanical Data 23
6.3 Electrical Data 23
6.4 Performance Data 23
6.5 Ambient Conditions, Ventilation, and Mounting Position 24
6.6 Inputs/Outputs 24
6.7 Connectors 25
6.8 Cable Requirements 25
6.9 Cable length definition 26
6.10 Dynamic Braking 27
6.11 Regen circuit 27
6.11.1 Functional description 27
6.11.2 Technical data 27
6.12 LED Codes 28
6.13 Switch-On and Switch-Off Behavior 29
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AKD-N Installation | Table of Contents
6.13.1 Switch-onbehaviorin standard operation 29
6.13.2 Switch-off behavior 30
6.13.2.1 Switch-off behaviorusing a digital input (controlled stop) 30
6.13.2.2 Switch-off behaviorusing the DRV.DIS command 31
6.13.2.3 Switch-off behaviorusing HW Enable input on AKD-C (uncontrolled stop) 32
6.13.2.4 Switch-off behaviorin the event of a fault 33
6.14 Safe Torque Off (STO) 36
6.14.1 Global STO, control via AKD-C 36
6.14.2 Local STO, control via digital input on AKD-N-DS 36
6.14.3 Safety characteristic data 36
6.14.4 Response Time 37
6.14.5 Use as directed 37
6.14.6 Prohibited use 37
6.14.7 Enclosure, wiring 37
6.14.8 Local STO safety instructions 38
6.14.9 Technical data and pinout local STO 39
6.14.10 Functional description local STO 40
6.14.10.1 Signal diagram (sequence) 40
6.14.11 Functional test 41
6.14.11.1 Global STO 41
6.14.11.2 Local STO 41
6.14.11.3 Local STO application example 42
7 Mechanical Installation 43
7.1 Important Notes 44
7.2 Temperature Management 44
7.3 Mechanical Drawings 45
7.3.1 Dimensions AKD-N, preferred mounting 45
7.3.2 Dimensions AKD-N with optional heat sink, preferred mounting 46
8 Electrical Installation 47
8.1 Important Notes 48
8.2 Guide to Electrical Installation 48
8.3 System Topology of a Decentralized Servo System 49
8.3.1 System limits 49
8.3.2 Example 49
8.4 Wiring 50
8.5 Connection Overview 51
8.5.1 Connector assignment AKD-Nzzz07-DB 51
8.5.2 Connector assignment AKD-Nzzz07-DF/DS 51
8.5.3 Connection diagram AKD-Nzzz07-DB 52
8.5.4 Connection diagram AKD-Nzzz07-DF/DS 53
8.6 Hybrid Connection (X1, X2) 54
8.7 I/O Connection (X3) 54
8.7.1 Digital Inputs 55
8.7.2 Digital Output 56
8.8 Motor Power Connection (X4) 57
8.8.1 Connector X4 AKD-Nzzz07-DB/DS/DF, hybrid, single line 57
4 Kollmorgen | December 2014
AKD-N Installation | Table of Contents
8.8.2 Connector X4 AKD-Nzzz07-DF/DS, dual line 57
8.9 Motor Brake Connection (X4) 58
8.10 Motor Feedback Connection (X4, X5) 59
8.10.1 Connector X4 AKD-Nzzz07-DB/DS/DF, hybrid, single line 59
8.10.2 Connector X5 AKD-Nzzz07-DF/DS, dual line 60
8.11 Optional Connector (X6) 61
8.11.1 Pinout AKD-Nzzz07-DF 61
8.11.2 Pinout AKD-Nzzz07-DS 61
9 Setup 62
9.1 Important Notes 63
9.2 Setup software WorkBench 64
9.3 Initial System Test 65
9.3.1 Unpacking, mounting, and wiring 65
9.3.2 Set IP address 65
9.3.3 Confirm connections 65
9.3.4 Install and start WorkBench 66
9.3.5 Enable the drive using the setup wizard 66
9.4 Fault and Warning Messages 66
10 Index 67
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AKD-N Installation | Table of Contents
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6 Kollmorgen | December 2014
AKD-N 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 9
Kollmorgen | December 2014 7
AKD-N Installation | 2 General
2.1 About this Manual
This manual, AKD-N Installation Manual ("Instructions Manual" according to EC Machinery
Directive 2006/42/EC), describes the AKD-N series of digital drives and includes information
needed to safely install an AKD-N. A digital version of this manual (pdf format) is availableon
the DVD included with your drive. Manual updates can be downloadedfrom the Kollmorgen
website (www.kollmorgen.com).
Additional documents include the following:
l Decentralized System Projecting Guide: describes how to build a decentralized drive sys-
tem with AKD-C and AKD-N. It provides tips for system topology, cooling, and maximizing the system performance. This document is expected to be published in April
2015.
l AKD-C Installation Manual: describes the AKD-C series of intelligent power supply for
Kollmorgen decentralized drive system and includes information needed for safe assembling, installation andsystem setup.
l Decentralized System User Guide: describes how to use yourdrive in common applic-
ations. It also provides tips for maximizing your system performance. The User Guide
includes the Parameter and Command Reference Guide which provides documentation
for the parameters and commands used to program the AKD-N.
l EtherCAT Communication: describes how to use your system in EtherCAT applications.
l Accessories Manual.It provides documentation for accessories like cables andregen res-
istors used with AKD-C and AKD-N. Regional variants of this manual exist.
2.2 Using the PDF Format
This document includes several features for ease of navigation
Cross References Table of contents and index includeactive cross ref-
erences.
Table of contents and index Lines are active cross references. Click on the line
andthe appropriate pageis accessed.
Page/chapter numbers in the text Page/chapter numbers with cross references are act-
ive links.
2.3 Notes for the Printed Edition (paper version)
A printed version of the manual is enclosed with each product. For
environmental reasons, the document was reduced in size and 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.
8 Kollmorgen | December 2014
2.4 Symbols Used
Symbol Indication
AKD-N Installation | 2 General
Indicates a hazardous situation which, if not avoided, will
result in death or serious injury.
DANGER
Indicates a hazardous situation which, if not avoided, could
result in death or serious injury.
WARNING
Indicates a hazardous situation which, if not avoided, could
result in minor or moderate injury.
CAUTION
Indicates situations which, if not avoided, could result in
property damage.
This symbol indicates important notes.
2.5 Abbreviations Used
Abbreviation Meaning
CE Communité Européenne
EMC Electromagnetic compatibility
LED Light-emitting diode
OSSD Output signals Switching Device
PC Personal computer
PE Protective earth
PELV Protective extra low voltage
PLC Programmable logic control
PWM Pulse-width modulation
RAM Random access memory (volatile memory)
ROD Incremental encoder (A quad B)
Rth Specific thermal resistance
SELV Safety Extra Low Voltage
STO Safe torque off
VAC Volts, alternatingcurrent
VDC Volts, direct current
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 suspendedloads.
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AKD-N Installation | 3 Safety
3 Safety
3.1 You should pay attention to this 11
3.2 Use as Directed 13
3.3 Prohibited Use 13
3.4 Handling 14
10 Kollmorgen | December 2014
3.1 You should pay attention to this
This section helps you to recognize and avoid dangers to peopleand objects.
Read the documentation!
Read the availabledocumentation before installation and commissioning. Improper handling
of the drive can cause harm to people or damage to property. The operator of systems using
the AKD-N must requirethat all personnel who work with the drive read and understand the
manual beforeusing the drive.
Check Hardware Revision!
Check the Hardware Revision Number of the product (see product label). This number is the
link between your product and the manual. The product Hardware Revision Number must
match the Hardware Revision Number on the coverpage of the manual.
Pay attention to the technical data!
Adhere to the technical data and the specifications on connection conditions (rating plate and
documentation). If permissible voltagevalues or current values are exceeded, the drives can
be damaged.
Perform a risk assessment!
The manufacturerof the machine must generate a risk assessment for the machine, and
take appropriate measures to ensure that unforeseen movements cannot cause injury or damageto any person orproperty. Additional requirements on specialist staff may also result
from the risk assessment.
Automatic Restart!
The drive might restart automatically after power on, voltage dip orinterruption of the supply
voltage, depending on theparameter setting.
Risk of death or serious injury for humans working in the machine.
If the parameter DRV.ENDEFAULT is set to 1, then place a warning sign to the machine
(Warning: Automatic Restart at Power On) and ensure, that power onis 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 .
Specialist staff required!
Only properly qualified personnel are permitted to perform such tasks as transport,
assembly, setup and maintenance. Qualified specialist staff arepersons who are familiar
with the transport, installation, assembly, commissioning andoperation of drives and who
bring theirrelevant minimum qualifications to bear on their duties:
l Transport: only by personnel with knowledge of handling electrostatically sensitive com-
ponents.
l Unpacking: only by electrically qualified personnel.
l Installation: only by electrically qualified personnel.
l Basic tests / Setup: only by qualified personnel with knowledge of electrical engineering
anddrive technology
AKD-N Installation | 3 Safety
The qualifiedpersonnel must know and observe ISO 12100/ IEC 60364 / IEC 60664 and
national accident prevention regulations.
Observe electrostatically sensitive components!
The drives contain electrostatically sensitive components which may be damagedby incorrect handling. Electrostatically discharge yourbody before touching the drive. Avoid contact
with highly insulating materials (artificial fabrics, plastic film etc.). Place the drive on a conductive surface.
Kollmorgen | December 2014 11
AKD-N Installation | 3 Safety
Hot surface!
Drives may have hot surfaces during operation. The housing can reach temperatures above
80°C. Risk of minor burns! Measure the temperature, andwait until the housinghas cooled
down below 40 °C before touching it.
Earthing!
It is vital that you ensurethat the drive is safely earthed to the PE (protective earth) system
in the maschine. Risk of electric shock. Without low-resistance earthing no personal protection can be guaranteed.
Leakage Current!
Since the leakage current to PE is morethan 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 accordingto regional standards might be possible.
High voltages!
The equipment produces highelectric voltages up to 900 V. Do not open or touch the equipment during operation. Keep all covers closed. The built-in LED does not safely indicate the
real voltage level.
Duringoperation, drives may have uncovered live sections, accordingto their level of enclosureprotection. Wait at least seven minutes after disconnecting the drive from the main supply power before touching potentially live sections of the equipment (such as contacts) or
removing any connections.
Capacitors can have dangerous voltages present up to seven minutes after switching off the
supply power. Always measure the voltagein the DC bus link at connector X14 at AKD-C
andwait until the voltage is below 60 V before handling components.
Never undo any electrical connections to the drive while it is live. There is a danger of electrical arcing with damage to contacts and personal injury.
Reinforced Insulation
Thermal sensors, motor holdingbrakes and feedback systems built into the connected motor
must have reinforcedinsulation (according to IEC61800-5-1) against system components
with power voltage, accordingto the required application test voltage. All Kollmorgen components meet these requirements.
Never modify the drive!
It is not allowed to modify the drive without permission by the manufacturer. Openingthe
housing causes loss of warranty.
12 Kollmorgen | December 2014
3.2 Use as Directed
The AKD-N family of drives is exclusively intended for driving suitable synchronous servomotors with closed-loop control of torque, speed, and/or position.
Drives are components that are built into electrical plants or machines and can only be operated as integral components of these plants or machines. The manufacturer of the machine
must generate a risk assessment for the machine.
When the drives are built into machines or plant, the drive must not be used until it has been
established that the machine or plant fulfills the requirements of the regional directives.
Kollmorgen Decentralized Drive System
AKD-N series drives must only be operatedin a motion system with components from Kollmorgen. Required additional Kollmorgen components are the intelligent power supply AKDC, CCx series of hybrid cables, motor power and feedback cables, servomotors.
Assembling
AKD-N drives must only be operated in environments suitable for the ambient conditions
defined on➜ p. 24. Optional finned heat sink may be necessary to keep the drive flange temperature below 85 °C.
Wiring
Use only Kollmorgen CCx series of hybrid cables for connecting AKD-N and AKD-C
devices.
Power supply
AKD-N series drives must be powered by AKD-C intelligent powersupplies with DC voltage
from 55 VDC up to 800 VDC.
Motor voltage rating
The rated voltage of the motors must be at least as high as the DC bus link voltage divided
by √2 produced by the drive (U
Safe torque off
Review the section "Use as Directed" in the STO chapter(➜ p. 36) before using this safety
function (SIL2, PLd, category 3 according to ISO 13849).
The 24 VDC supply unit for local STO supply must accord to PELV/SELV (EN 60204-1)
requirements.
nMotor
AKD-N Installation | 3 Safety
>=UDC/√2).
3.3 Prohibited Use
Otheruse thanthat described in chapter “Use as directed” is not intended and can lead to personnel injuries and equipment damage.
The device may not be used
l with a machine that does not comply with appropriate national directives or standards,
l for driving elevators,
l in applications with continuous, operational short circuits to the motor power contacts.
The use of the device in the following environments is also prohibited:
l potentially explosive areas
l environments with corrosive and/or electrically conductive acids, alkaline solutions, oils,
vapors, dusts
l 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.
Kollmorgen | December 2014 13
AKD-N Installation | 3 Safety
3.4 Handling
3.4.1 Packaging
The AKD-N packaging consists of recyclable cardboardwith inserts and a label on the outside of the box.
3.4.2 Transport
Model Package Dimensions
(mm) HxWxL
Total Weight
(kg)
AKD-N00307 120x 295 x 370 3.2
AKD-N00607 120x 295 x 370 3.2
Transport the AKD-N in accordance with IEC 61800-2 as follows:
l Transport only by qualified personnel in the manufacturer’s original recyclable packaging.
l Avoid shocks while transporting.
l Store at or below maximum stacking height of 8 cartons
l Transport only within specified temperature ranges: -25 to +70 °C, max. rate of change 20
K/hour, class 2K3.
l Transport only within specified humidity: maximum 95% relative humidity, no con-
densation, class 2K3.
The drives contain electrostatically sensitive components that can be damaged by incorrect
handling. Electrostatically discharge yourself before touching the drive. Avoid contact with
highly insulating materials, such as artificial fabrics and plastic films. Place the drive on a
conductive surface.
If the packaging is damaged, check the unit for visible damage. Inform the shipper and the
manufacturer of any damageto the package or product.
3.4.3 Storage
Store the AKD-N in accordance with IEC 61800-2as follows:
l Store only in the manufacturer’s original recyclable packaging.
l Store at or below maximum stacking height of 8 cartons
l Store only within specified temperatureranges: -25 to +55 °C, max.rate of change20
K/hour, class 1K4.
l Storage only within specified humidity: 5 to 95% relative humidity, no condensation, class
1K3.
3.4.4 Maintenance and cleaning
The drive does not requiremaintenance. Opening the drive voids the warranty.
The inside of the unit can only be cleanedby the manufacturer. To clean the drive exterior:
l Casing: Clean with isopropanol or similar cleaning solution.
l Coolingfins: Clean with a dry brush.
14 Kollmorgen | December 2014
3.4.5 Uninstalling
AKD-N Installation | 3 Safety
If a drive must be uninstalled (such as for replacement), remove the drive as follows:
1. Switch off the main switch of the switchgear cabinet and the fuses that supply the system.
WARNING
Contacts can still have dangerous voltage present up to seven minutes
after switching off mains voltage. Risk of electrical shock! Wait at least
seven minutes after disconnecting the drive from the main supply power
before touching potentially live sections of the equipment (e.g. contacts)
or undoing any connections. Always measure the voltage in the DC bus
link at connector X14 at AKD-C and wait until the voltage is below 60 V
before handling components.
2. Remove the connectors. Disconnect the potential earth connection last.
3. Check temperature.
CAUTION
During operation, the heat sink of the drive may reach temperatures
above 80°C (176°F). Risk of minor burns. Before touching the device,
check the temperature and wait until it has cooled below 40°C (104°F).
4. Uninstall. Remove the AKD-N.
3.4.6 Repair and disposal
Only the manufacturer can repair the drive. Opening the device voids the warranty. Uninstall
the drive as described in "Uninstalling" (➜ p. 15), then send thedrive in the original packaging to the manufacturer (seetable below). Transport costs are the responsibility of the
senders.
In accordance with the WEEE-2002/96/EC-Guidelines and similar, the manufacturer
accepts returns of old devices and accessories for professional disposal. Transport costs
arethe responsibility of the sender. Sendthe devices to the manufacturer addresses shown
in the table below.
USA Europe
Kollmorgen
201West Rock Road
Radford, VA 24141
KOLLMORGEN Europe GmbH
Pempelfurtstr. 1
D-40880Ratingen
Kollmorgen | December 2014 15
AKD-N Installation | 4 Approvals
4 Approvals
4.1 Conformance with UL/cUL 17
4.2 Conformance with EC Low Voltage and EMC Directives 17
4.3 Conformance with EC Machinery Directive, Functional Safety 17
16 Kollmorgen | December 2014
4.1 Conformance with UL/cUL
Planned.
4.2 Conformance with EC Low Voltage and EMC Directives
CE Declarations of Conformity can be found on the Kollmorgenwebsite.
Conformance with the EC EMC Directive 2004/108/EC and the Low Voltage Directive
2006/95/EC is mandatory for the supply of drives within the European Community.
The drives have been tested by an authorized testing laboratory in a defined configuration,
using the system components that are describedin this documentation. Any divergence from
the configuration and installation described in this documentation means that the user will be
responsiblefor carrying out new measurements to ensure conformance with regulatory
requirements.
Kollmorgen declares the conformity of the product series AKD-Nzzz07 with the following directives:
l EC Directive 2006/95/EC, low voltage
Used harmonized standard EN61800-5-1 (2007)
l EC Directive 2004/108/EC, electromagnetic compatibility
Used harmonized standard EN 61800-3 (2004)
AKD-N Installation | 4 Approvals
The AKD-Nzzz07 meet the noise immunity requirements to the 2nd environmental category
(industrial environment). For noise emission theAKD-Nzzz07 meet the requirement to a
product of the Category C2 (motor cable up to 5 m).
These devices can cause high-frequency interferences in non industrial environments and
may require measures for interference suppression (such as additional external EMC filters).
4.3 Conformance with EC Machinery Directive, Functional Safety
Conformance with the EC Machinery Directive 2006/42/EC is mandatory for the supply of
safety components within the European Community.
Safe Torque Off (STO) string type
Certification in process.
Safe Torque Off (STO) single drive type
Certification in process.
Kollmorgen | December 2014 17
AKD-N Installation | 5 Package
5 Package
5.1 Package Supplied 19
5.2 Nameplate 19
5.3 Part Number Scheme 20
18 Kollmorgen | December 2014
5.1 Package Supplied
When a drive from the AKD-N series is ordered, the following items are included in the drive
package:
l AKD-N
l Printedcopy of AKD-N Installation Manual
l DVD containing the setup software, WorkBench, and all product documentation in digital
format.
l Two connector covers M12 (forunused X3 and X6)
The mating connectors arenot included in the package.
The M23 connector cover for protecting X2 of the last AKD-N in a string is part of delivery of
the AKD-C package.
Accessories Sold Separately
Accessories must be ordered separately if required; refer to your regional accessories
manual:
l Heatsink 40 mm or 50 mm
l Heat conducting film
l Motor cable, feedback cable
l Hybrid cable for connection to next AKD-N
l Cable for digital I/O connection
l Cable for local STO connection (AKD-N-DS only)
l Cable for tertiary fieldbus (AKD-N-DF only)
AKD-N Installation | 5 Package
5.2 Nameplate
The nameplate depicted below is attached to the side of the drive, sample data entries are for
a 6A type.
Kollmorgen | December 2014 19
AKD-N Installation | 5 Package
5.3 Part Number Scheme
Use for part numberscheme for product identification only, not for the order process,
because not all combinations of features arepossible, always.
Customization code includes language version of printedmaterial and customer specials.
20 Kollmorgen | December 2014
AKD-N Installation | 6 Technical description and data
6 Technical description and data
6.1 The AKD-N Family of Digital Drives 22
6.2 Mechanical Data 23
6.3 Electrical Data 23
6.4 Performance Data 23
6.5 Ambient Conditions, Ventilation, and Mounting Position 24
6.6 Inputs/Outputs 24
6.7 Connectors 25
6.8 Cable Requirements 25
6.9 Cable length definition 26
6.10 Dynamic Braking 27
6.11 Regen circuit 27
6.12 LED Codes 28
6.13 Switch-On and Switch-Off Behavior 29
6.14 Safe Torque Off (STO) 36
Kollmorgen | December 2014 21
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