Kollmorgen AKD-x00306, AKD-x00606, AKD-x01206, AKD-x02406, AKD-x00307 Installation Manual
...
AKD™
Installation Manual
Edition March 2010
Valid for Hardware Revision A
Original Document
Patents Pending
Keep all manuals as a product component
during the life span of the product. Pass all manuals to
future users/owners of the product.
Record of Document Revisions:
Revision Remarks
11/2009 Beta launch version
12/2009 Digital I/O corrections, several updates
03/2010
CAN terminationconnector "optional", data dynamic brake updated, resolver signals renamed,
CE certificate, X9 description updated, technical data completed
Hardware Revision (HR)
Hardware Revision Firmware WorkBench Remarks
A M_01-02-00-000 1.2.0
EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
EtherCAT is a registered trademark of EtherCAT Technology Group
HIPERFACE is a registeredtrademark of Max Stegmann GmbH
WINDOWS is a registeredtrademark of Microsoft Corporation
AKD is a registered trademark of Kollmorgen Corporation
Current patents:
US Patent 5,646,496 (used in control card R/D and1 Vp-p feedback interface)
US Patent 5,162,798 (used in control card R/D)
US Patent 6,118,241 (used in control card simple dynamic braking)
Technical changes which improve the performance of the device may be made without prior notice!
Printedin the United States of America
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) orstored, processed, copied or distributed by electronic means without the written permission of Kollmorgen™.
2 Kollmorgen | March 2010
Table of Contents
1 General 11
1.1 About this Manual 12
1.2 Target Group 12
1.3 Using the PDF Format 12
1.4 Abbreviations 13
1.5 Warning Symbols 14
1.6 Standards Used 15
2 Safety 16
2.1 Safety Instructions 17
2.2 Use as Directed 18
AKD Installation|
2.3 ProhibitedUse 18
3 Approvals 19
3.1 Conformance with UL/cUL 20
3.1.1 UL Markings 20
3.2 CE Conformance 22
3.2.1 EuropeanDirectives and Standards for the machinebuilder 23
3.2.2 EC Declaration of Conformity 24
3.3 Safe TorqueOff (STO) 25
4 Handling 26
4.1 Transport 27
4.2 Packaging 27
4.3 Storage 27
4.4 Maintenance andCleaning 28
4.5 Uninstalling 28
4.6 Repair and Disposal 28
5 Package 29
5.1 Package Supplied 30
5.2 Nameplate 30
5.3 Part numberscheme 31
6 Technical description and data 32
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6.1 The AKD Family of Digital Drives 33
6.2 Ambient Conditions, Ventilation, and Mounting Position 35
6.3 Mechanical Data 35
6.4 Inputs/Outputs 36
6.5 Electrical Data AKD-xzzz06 37
6.6 Electrical Data AKD-xzzz07 38
6.7 Performance Data 39
6.8 Recommended tightening torques 39
6.9 Fusing 40
6.9.1 External Power Supply fusing 40
6.9.2 External 24 V supply fusing 40
6.9.3 External Brake Resistor fusing 40
6.10 Connectors 41
6.10.1 AKD-xzzz06 Types (120V to 240V Mains Voltage Supply) 41
6.10.2 AKD-xzzz07 Types (240V to 480V Mains Voltage Supply) 41
6.11 Cable and Wire Requirements 42
6.11.1 General 42
6.11.2 Cable Cross Sections and Requirements 42
6.12 LED display 43
6.13 Grounding System 43
6.14 Dynamic Braking 44
6.14.1 Functional description 44
6.14.2 Technical Data for AKD-xzzz06 45
6.14.3 Technical Data for AKD-xzzz07 46
6.15 Switch-on and Switch-off Behavior 47
6.15.1 Behavior in Standard Operation 48
6.15.2 Behavior in the event of a fault (with standard setting) 49
6.16 Stop-/Emergency Stop- Function 50
6.16.1 Stop: Standards 50
6.16.2 Emergency Stop: Standards 51
6.16.3 Implementation of the Stop Category 0 52
6.16.4 Implementation of Stop Category 1 53
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6.16.5 Implementation of Stop Category 2 54
6.17 Safe Torque Off (STO) 55
6.17.1 Safety instructions 56
6.17.2 Use as directed 56
6.17.3 Prohibited Use 57
6.17.4 Technical data and pinning 57
6.17.5 Enclosure 57
6.17.6 Wiring 57
6.17.7 Functional description(in process) 58
6.17.7.1 Signal diagram (sequence) 59
6.17.7.2 Control circuit (example) 60
6.17.7.3 Functional test 61
6.17.7.4 Mains supply circuit (example) 61
6.18 Shock-hazard Protection 62
6.18.1 LeakageCurrent 62
6.18.2 Residual Current Protective Device (RCD) 62
6.18.3 Isolating Transformers 63
7 Mechanical Installation 64
7.1 Safety Instructions 65
7.2 Guide to Mechanical Installation 65
7.3 Control Cabinet Layout AKD-xzzz06 66
7.4 Control Cabinet Layout AKD-xzzz07 67
7.5 Dimensions, AKD-x00306 to x00606 68
7.6 Dimensions, AKD-x01206 69
7.7 Dimensions, AKD-x02406 70
7.8 Dimensions, AKDx00307 to 01207 71
7.9 Dimensions, AKDx02407 72
8 Electrical Installation 73
8.1 Safety Instructions 74
8.2 Guide to electrical installation 75
8.3 Wiring 76
8.4 Components of a servosystem 77
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8.5 Connector Assignments, AKD-x00306 to x00606 78
8.6 Connector Assignments, AKD-x01206 78
8.7 Connector Assignments, AKD-x02406 andAKD-xzzz07 79
8.8 Connection Diagram, AKD-x00306 to x00606 80
8.9 Connection Diagram, AKD-x01206 81
8.10 Connection Diagram, AKD-x02406and AKD-xzzz07 82
8.11 EMI Noise Reduction 83
8.11.1 Recommendations for EMI Noise Reduction 83
8.11.2 Shielding with External Shielding Busbar 84
8.11.2.1 Shielding Concept 84
8.11.2.2 Shielding Busbar 85
8.11.3 Shielding Connection to the Drive 86
8.11.3.1 Grounding Plates 86
8.11.3.2 Shieldconnection clamps 86
8.11.3.3 MotorConnector X2 with shieldingconnection 87
8.12 Electrical Supply Connection 88
8.12.1 Connection to Various Mains Supply Networks AKD-xzzz06 (120V to 240V) 88
8.12.2 Connection to Various Mains Supply Networks AKD-xzzz07 (240V to 480V) 89
8.12.3 24 V Auxiliary Supply (X1) 90
8.12.4 Mains Supply Connection (X3, X4) 91
8.12.4.1 Three Phase connection (all AKD types) 91
8.12.4.2 Singlephase connection (AKD-xzzz06 only) 92
8.12.5 External Brake Resistor (X3) 93
8.12.6 DC Bus Link (X3) 94
8.13 Motor Connection 96
8.13.1 Motor Power (X2) 97
8.13.1.1 Cable Length ≤ 25 m 97
8.13.1.2 Cable length >25 m 97
8.13.2 Motor Holding Brake (X2) 98
8.14 Feedback Connection 99
8.14.1 Feedback Connector (X10) 100
8.14.2 Resolver 101
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8.14.3 SFD 102
8.14.4 Encoder with BiSS 103
8.14.5 Sine Encoder with EnDat 2.1 104
8.14.6 Encoder with EnDat 2.2 105
8.14.7 Sine Encoder with Hiperface 106
8.14.8 Sine Encoder with Hall Encoder 107
8.14.9 Incremental Encoder with Hall Switches 108
8.15 Encoder Emulation Connector (X9) 109
8.15.1 Input Modes 109
8.15.1.1 Pinout Input X9 109
8.15.1.2 Pulse/Direction input (5 V) 110
8.15.1.3 Up/Down input (5 V) 111
8.15.1.4 Incremental Encoder (A quadB and Index) input (5 V) 111
8.15.2 Output Modes 112
8.15.2.1 Pinout Output X9 112
8.15.2.2 Emulated Encoder Output (EEO) - A quad B 113
8.15.3 Master-Slave Control 114
8.16 I/O Connection 115
8.16.1 I/O Connectors (X7 and X8) 115
8.16.2 Analog Input (X8) 116
8.16.3 Analog Output (X8) 117
8.16.4 Digital Inputs (X7/X8) 118
8.16.4.1 Digital Inputs 1 and 2 120
8.16.4.2 Digital Inputs 3 to 7 120
8.16.4.3 Digital Input 8 (ENABLE) 120
8.16.5 Digital Outputs (X7/X8) 121
8.16.5.1 Digital Outputs 1 and2 121
8.16.5.2 FAULT relay contacts 122
8.17 Service Interface (X11) 123
8.17.1 Possible Network Configurations 123
8.17.2 Setting the IP Address with Rotary Switches 124
8.18 CANbus Interface (X12/X13) 125
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8.19 Motion Bus Interface (X5/X6) 129
8.18.1 Transmission Rate for CANbus 125
8.18.2 Node Address for CANbus 126
8.18.3 CANbus Termination 126
8.18.4 CAN Bus Wiring 127
8.18.5 CANbus Cable 128
8.19.1 Pinout X5/X6 129
8.19.2 Optional Motion Bus Protocols 129
8.19.3 EtherCAT 130
8.19.4 SynqNet (in process) 130
8.19.5 Motion Busses in Process 130
8.19.5.1 PROFINET CBA/RT/IRT (in process) 130
8.19.5.2 SERCOS III (in process) 130
8.19.5.3 Ethernet IP (A-B, in process) 130
8.19.5.4 Powerlink (in process) 130
8.19.5.5 Modbus TCP/IP (in process) 130
9 Setup 131
9.1 Safety Instructions 132
9.2 Setup software (WorkBench) 133
9.2.1 Use as directed 133
9.2.2 Software description 134
9.2.3 Hardware requirements 134
9.2.4 Operating systems 134
9.2.5 Installation under WINDOWS 2000/XP/VISTA/7 135
9.3 Basic Drive Test 136
9.3.1 Unpacking, Mounting, andWiring the Drive 136
9.3.2 Minimum Wiring for Drive Test without Load 136
9.3.3 Testing Procedure 137
9.3.3.1 Confirm Connections 137
9.3.3.2 Install and Start WorkBench 137
9.3.3.3 Set Drive IP Address in WorkBench 138
9.3.3.4 Enable the Drive Using the Setup Wizard. 138
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9.4 Fault and Warning Messages 139
9.5 Troubleshooting the AKD 146
10 Option Cards 147
11 Order Codes 148
11.1 Cables, brake resistors, filters, chokes 148
11.2 Drives 148
11.3 Mating connectors 148
11.3.1 AKD-xzzz06 148
11.3.2 AKD-xzzz07 148
12 Index 149
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AKD Installation| 1 General
1 General
1.1 About this Manual 12
1.2 Target Group 12
1.3 Using the PDF Format 12
1.4 Abbreviations 13
1.5 Warning Symbols 14
1.6 Standards Used 15
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AKD Installation| 1 General
1.1 About this Manual
This manual, AKD Installation Manual, describes the AKD series of digital drives and includes information
needed to safely install an AKD. A digital version of this manual (pdf format) is available on the CD-ROM
included with your drive. Manual updates can be downloaded from the Kollmorgen website (www.kol-
lmorgen.com).
This document fulfills all requirements for an "Instructions Manual" underthe EC Machinery Directive
(2006/42/EC).
Additional documents on the accompanying CD-ROM include the following:
l AKD Quick Start (also provided in hardcopy). This guide provides instructions for basic drive setup
andconnection to a network.
l AKD Users Manual. This manual describes how to use your drive in common applications. It also pro-
vides tips for maximizing your system performance with the AKD.
l AKD Parameter and Command Reference Guide. This guide provides documentationfor the param-
eters andcommands used to program the AKD.
l AKD Accessories Manual. This manual includes technical data anddimensional drawings of acces-
sories such as cables, brake resistors, andmains supplies.
1.2 Target Group
This manual addresses personnel with the following qualifications:
l Transport: only by personnel with knowledge of handling electrostatically sensitive components.
l Unpacking: only by electrically qualified personnel.
l Installation: only by electrically qualified personnel.
l Basic tests: only by qualified personnel with extensive knowledge of electrical engineering and drive
technology
The qualified personnel must know and observe the following standards:
l ISO 12100, IEC 60364 andIEC 60664
l National accident preventionregulations
During operation, hazards exist that can cause death, severe injury, or material
damage. To safely operate the AKD, you must follow all safety instructions in
this manual. The operator of systems using the AKD must require that all personnel who work with the drive read and understand the manual before using the
drive.
1.3 Using the PDF Format
This document includes several features for ease of navigation
Cross References Table of contents and index include active cross references.
Table of contents and index Lines are active cross references. Click on the line andthe appropriate page
Page/chapter numbers in
the text
12 Kollmorgen | March 2010
is accessed.
Page/chapternumbers with cross references are active links.
1.4 Abbreviations
Abbreviation Meaning
AGND Analog ground
CE Communité Européenne
COM Serial interface for a personal computer
DCOMx Communication line for digital inputs (with x=7 or 8)
Disk Magnetic storage (diskette, hard disk)
EEPROM Electrically erasable programmable memory
EMC Electromagnetic compatibility
F-SMA Fiber optic cable connector according to IEC 60874-2
LED Light-emitting diode
LSB Low significant byte (orbit)
MSB Main significant byte (or bit)
NI Zero pulse
PC Personal computer
PE Protective earth
PLC Programmable logic control
PWM Pulse-width modulation
RAM Random access memory (volatile memory)
R
Brake/RB
RBext External brake resistor
RBint Internal brake resistor
RCD Residual current device
RES Resolver
ROD Incremental encoder (A quad B)
S1 Continuous operation
STO Safe torque off
Vac Volts, alternating current
Vdc Volts, direct current
Brake resistor (also called a regen resistor)
AKD Installation| 1 General
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1.5 Warning Symbols
Symbol Indication
Drawing symbols
Symbol Description Symbol Description
Signal ground Diode
Indicates a hazardous situation which, if not avoided, will result in
death or serious injury.
Indicates a hazardous situation which, if not avoided, could result in
death or serious injury.
Indicates a hazardous situation which, if not avoided, could result in
minor or moderate injury.
Indicates situations which, if not avoided, couldresult in property
damage.
This is not a safety symbol.
This symbol indicates important notes.
Chassis ground Relays
Protective earth Relays switch off
delayed
Resistor Normal open contact
Fuse Normal closed contact
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1.6 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 anddesignation 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 Insulationcoordinationfor 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-
munications between controls anddrives.
IEC 61508 Functional safety of electrical/electronic/programmableelectronic safety-related sys-
tems
IEC 61800 Adjustable speed electrical power drive systems
IEC 62061 Functional safety of electrical/electronic/programmableelectronic safety-related sys-
tems
IEC 62079 Preparationof instructions - Structuring, content and presentation
ANSI Z535 Product safety (symbols, colors, information)
UL 840 UL Standard for Safety for InsulationCoordination Including Clearances and Creep-
ageDistances for Electrical Equipment
UL 508C UL Standard for Safety Power Conversion Equipment
ANSI - AmericanNational StandardInstitute, Inc.
IEC - International Electrotechnical Commission
ISO - International Organizationfor Standardization
UL - Underwriters Laboratories
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AKD Installation| 2 Safety
2 Safety
2.1 Safety Instructions 17
2.2 Use as Directed 18
2.3 Prohibited Use 18
16 Kollmorgen | March 2010
2.1 Safety Instructions
Duringoperation, hazards exist that can cause death, severe injury, or material
damage. Do not open or touch the equipment during operation. Keep all covers
andcabinet doors closed during operation. Only properly qualified persons may
handle the equipment during installation and commissioning .
l Duringoperation, drives may have uncovered live components, depend-
ing on their level of enclosureprotection.
l Control and power connections may be live, even though the motoris not
rotating.
l Drives may have hot surfaces during operation. The heat sink can reach
temperatures above 80°C.
The danger of electrical arcing is present. Electrical arcing can damage contacts and injure personnel. Never undo any electrical connections to the drive
while it is live.
Wait at least 7 minutes after disconnecting the drive from the main supply
powerbefore 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 measurethe voltagein the DC bus link
andwait until the voltage is below 40 V before handling components.
Incorrect handling of the drive can lead to personnel injury or material damage.
Read this documentation before installing and commissioning the drive. It is
vital that you keep to the technical data and information on connection requirements (nameplate and documentation).
Only properly qualified personnel may perform activities such as transport,
installation, commissioning, andmaintenance. Properly qualified persons are
those who are familiar with the transport, assembly, installation, commissioning
andoperation of the product, and who have the appropriate qualifications for
their job. The qualified personnel must know and observe the following standards:
AKD Installation| 2 Safety
l IEC 60364 and IEC 60664
l national accident preventionregulations
The manufacturer of the machine must produce a hazard analysis for the
machine and take appropriate measures to ensure that unforeseen movements
do not result in personnel injury or material damage.
It is not allowed to modify this device without permission by the manufacturer.
Check the Hardware Revision Number of the product (see product label). This
revision number must match the Hardware Revision Number on the cover page
of the manual.
The drives contain electrostatically sensitive components which may be damaged by incorrect handling. Electrostatically discharge your body before touching the drive. Avoid contact with highly insulating materials (artificial fabrics,
plastic film etc.). Place the drive on a conductive surface.
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AKD Installation| 2 Safety
2.2 Use as Directed
Drives arecomponents that are built into electrical plants or machines and can only be operated as integral
components of these plants or machines. The manufacturer of the machine used with a drive must generate a
hazard analysis for the machine and take appropriate measures to ensure that unforeseen movements cannot
cause personnel injury or property damage.
Cabinet and wiring
Drives must only be operated in a closed control cabinet suitablefor the ambient conditions see page 32. Ventilation or coolingmay be necessary to keepthe temperaturewithin the cabinet below 40 °C.
Use only copper conductors for wiring. The conductor cross-sections can be derived from the standard IEC
60204 (alternatively for AWG cross-sections: NEC Table 310-16, 75 °C column).
Power supply
Drives in the AKD series can be supplied as follows:
l AKD-xzzz06: 1 or 3 phase industrial supply networks
(not more than 42 kA symmetrical rated current at 120 V and 240 V).
l AKD-xzzz07: 3 phase industrial supply networks
(not more than 42 kA symmetrical rated current at 240 V, 400 V and 480 V).
Connection to other voltage types of supply networks is possible with an additional isolating transformer (see
page 88).
Periodic overvoltages between phases (L1, L2, L3) and the housing of the drive must not exceed 1000V peak.
In accordance with IEC 61800, voltage spikes (< 50 µs) between phases must not exceed 1000 V. Voltage
spikes (< 50 µs) between a phase and the housing must not exceed 2000 V.
EMC filter measures must be implemented by the user.
Motor voltage rating
The AKD family of drives is exclusively intended for driving suitable synchronous servomotors with closedloopcontrol of torque, speed, and/or position. The rated voltage of the motors must be at least as high as the
DC bus link voltage divided by √2 producedby the drive (U
nMotor
>=UDC/√2).
Safe torque off and restart lock
Review the section "Use as Directed" in the safe torqueoff (STO) chapter (see page56) before using the personnel safe restart lock (accordingto ISO 13849 category 3).
2.3 Prohibited Use
Otheruse than that described in chapter “Use as directed” is not intended andcan lead to personnel injuries
andequipment damage. The drive may not be used with a machine that does not comply with appropriate
national directives or standards. The use of the drive in the following environments is also prohibited:
l potentially explosive areas
l environments with corrosive and/orelectrically conductive acids, alkaline solutions, oils, vapors, dusts
l ships or offshore applications
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AKD Installation| 3 Approvals
3 Approvals
3.1 Conformance with UL/cUL 20
3.2 CE Conformance 22
3.3 Safe Torque Off (STO) 25
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AKD Installation| 3 Approvals
3.1 Conformance with UL/cUL
This drive is listed under UL (Underwriters Laboratories Inc.) file number E141084 Vol.3 Sec.5.
USL, CNL – Power conversion equipment (NMMS, NMMS7) – Models AKD followed by B,P,S,M or F, followed by 003, 006, 012, and024, followedby 06 or 07, followed by additional suffixes.
USL
Indicates Investigated to United States Standard for Power Conversion Equipment, UL 508C, Third Edition,
Revised February 15, 2008.
CNL
Indicates investigation to Canadian Standard for Industrial Control Equipment, CAN/CSA - C22.2 No. 142005, Second Edition, Revised April 2008.
Note:
CNL = Canadian National Standards - Listed.
USL = United States Standards - Listed.
3.1.1 UL Markings
l These drives are open type adjustable frequency motor drives that providevariable speed control to
motors andprovides overload protection andcurrent limit control.
l These devices are intended to be used in a pollution degree2 environment.
l Identification of the terminals on the controller are codedso they may be identified in the instructions.
The instructions shall identify powerconnections for power supply, load, control, and ground.
l Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit pro-
tection must be provided in accordance with the National Electrical Code and any additional local
codes, or the equivalent.
l This product is suitable for use on a circuit capable of delivering not more than 200,000rms sym-
metrical amperes, 240 V (AKD-xzzz06) / 480 V (AKD-xzzz07) volts maximum, when protected by ”
Fuses", or equivalant.
l The following fuse types arerecommended:
Model Fuse class Rating Max. Fuse Rating
AKD-x00306 J 600 Vac, 200 kA 10 A
AKD-x00606 J 600 Vac, 200 kA 15 A
AKD-x01206 J 600 Vac, 200 kA 15 A
AKD-x02406 J 600 Vac, 200 kA 30 A
AKD-x00307 J 600 Vac, 200 kA 6 A
AKD-x00607 J 600 Vac, 200 kA 10 A
AKD-x01207 J 600 Vac, 200 kA 15 A
AKD-x02407 J 600 Vac, 200 kA 30 A
l These drives provide solid state motor overload protection at 125% of the rated FLA Current.
l Use minimum 75°C copper wire.
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l The following tableillustrates the torque requirements for the field wiring connectors:
Model Mains Connector Motor Phase Connector 24 Vdc Input Connector
AKD-x00306 5-7in-lbs 5-7 in-lbs 4 in-lbs
AKD-x00606 5-7in-lbs 5-7 in-lbs 4 in-lbs
AKD-x01206 5-7in-lbs 7 in-lbs 4 in-lbs
AKD-x02406 7 in-lbs 7 in-lbs 4 in-lbs
AKD-x00307 7 in-lbs 7 in-lbs 4 in-lbs
AKD-x00607 7 in-lbs 7 in-lbs 4 in-lbs
AKD-x01207 7 in-lbs 7 in-lbs 4 in-lbs
AKD-x02407 7 in-lbs 7 in-lbs 4 in-lbs
l Maximum surrounding air temperature of 40°C” or equivalent.
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3.2 CE Conformance
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 described in this documentation. Any divergence from the configuration and installation
described in this documentationmeans that the user will be responsiblefor carrying out new measurements to
ensure conformance with regulatory requirements.
AKD-xzzz06
With external EMC filters for noise emission the drives meet the noise immunity requirements of the second
environmental category (industrial environment) to a product of the category C2 (motor cable < 10 m).
Withamotorcablelengthof10morlongerandexternalEMC filters,thedrivemeetstherequirementofcategoryC3.
AKD-xzzz06 drives do not have integrated EMC filters. These drives can cause
high-frequency interferences and may require measures for interference suppression (such as additional external EMC filters).
AKD-xzzz07
AKD-xzzz07 drives have integrated EMC filters.
The drive meets the noise immunity requirements to the 2nd environmental category (industrial environment).
For noise emission the drive meets the requirement to a product of the Category C2 (motor cable < 10 m).
With a motor cable length of 10 m or longer, the servo drive meets the requirement to the Category C3.
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3.2.1 European Directives and Standards for the machine builder
Drives arecomponents that are intendedto be incorporated into electrical plant and machines for industrial
use. Whenthe drives are built into machines or plant, the drive must not be used until it has been established
that the machine or equipment fulfills the requirements of the
l EC Machinery Directive (2006/42/EC)
l EC EMC Directive (2004/108/EC)
l EC Low Voltage Directive (2006/95/EC)
Standards to be applied for conformance with the EC Machinery Directive (2006/42/EC)
l IEC 60204-1 (Safety and Electrical Equipment in Machines)
l ISO 12100(Safety of Machines)
The manufacturer of the machine must generate a hazard analysis for the
machine, and must implement appropriate measures to ensure that unforeseen
movements cannot cause injury or damage to any person or property.
Standards to be applied for conformance with the EC Low VoltageDirective(2006/95/EC)
l IEC 60204-1 (Safety and Electrical Equipment in Machines)
l IEC 60439-1 (Low-voltage switchgear and controlgear assemblies)
Standards to be applied for conformance with the EC EMC Directive (2004/108/EC)
l IEC 61000-6-1/2 (Interference Immunity in Residential & Industrial Areas)
l IEC 61000-6-3/4 (Interference Generation in Residential & Industrial Areas)
The manufacturer of the machine/plant is responsible for ensuring that it meets the limits required by the EMC
regulations. Advice on the correct installation for EMC (such as shielding, grounding, treatment of connectors
andcable layout) is shown in this manual.
The machine/plant manufacturer must check whether other standards or EC Directives must be applied to the machine/plant.
Kollmorgen only guarantees the conformance of the servosystem with the standards cited in this chapter if the
components (motor, cables, chokes etc.) are those supplied by Kollmorgen.
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3.2.2 EC Declaration of Conformity
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3.3 Safe Torque Off (STO)
STO Input X1/3
TheAKD drive’s STO functionality is not certified, yet. The circuit concept is going to be examinedby theTÜV.
We cannot ensure the functionality of the STO function until the certification
process is complete.
We expect theSTO functionality certified in July 2010.To ensureproduct is certified, pleasecontact Kollmorgenfor updatedinformation. Connect the STO input X1/3 with +24Vdc. This deactivates theSTO function.
STO Eingang X1/3
Die STO Funktionalität des AKD Servoverstärkers ist nicht zertifiziert. Das Schaltungskonzept wird zur Zeit
vom TÜV geprüft.
Bis zum Abschluss der Prüfung können wir die Funktionalität der STO Funktion
nicht gewährleisten.
Wir erwarten dieZertifizierung der STO Funktionalität im Juli 2010. Setzen Sie sich mit Kollmorgenfür
aktuelle Informationen zur Zertifizierung in Verbindung. Verbinden Sie den STO Eingang X1/3 fest mit +24
VDC. Dies deaktiviert die STO Funktion.
Ingresso STO X1/3
La funzionalità STO del servoazionamento AKD non è ancora certificata. Il principio di collegamento verrà
esaminato dal TÜV.
Fino a quando non sarà concluso il procedimento di certificazione non possiamo garantire la funzionalità della funzione STO.
La certificazione della funzionalità STO è prevista per il mese di luglio 2010. Per accertarsi che il prodotto sia
certificato, metta in contatto con Kollmorgen per riceverele informazioni aggiornate. Collegare l'ingresso STO
X1/3 a +24 Vdc. In questo modo la funzione STO viene disattivata.
Entrée STO X1/3
La fonctionnalité STO du variateur AKD n’est pas encore certifiée. Le concept du circuit va être examinépar le
TÜV.
Nous ne pouvons garantir la fonctionnalité pour la fonction STO, tant que le
processus de certification n’est pas achevé.
Nous prévoyons que la fonctionnalité STO sera certifiée en juillet 2010. Pours'assurer quele produit est certifié, entrez en contact avec Kollmorgen pour l'information mise à jour. Connectez l’entrée STO X1/3 avec +24
Vcc. Ceci désactive la fonction STO.
Kollmorgen | March 2010 25
AKD Installation| 4 Handling
4 Handling
4.1 Transport 27
4.2 Packaging 27
4.3 Storage 27
4.4 Maintenance and Cleaning 28
4.5 Uninstalling 28
4.6 Repair and Disposal 28
26 Kollmorgen | March 2010
AKD Installation| 4 Handling
4.1 Transport
Transport the AKD 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 Transport only within specified temperature ranges: -25 to +70 °C, max. rate of change20 K/hour,
class 2K3.
l Transport only within specifiedhumidity: max. 95% relative humidity, no condensation, 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 packagingis damaged, check the unit for visible damage. Inform the shipperand the manufacturer of
any damage to the package or product.
4.2 Packaging
The AKD packaging consists of recyclable cardboard with inserts and a label on the outside of the box.
Model
Package Dimensions (mm)
HxWxL
Total Weight (kg)
AKD-x00306 and AKD-x00606 77 x 280 x 222 1.7
AKD-x01206 153x 394x 229 3.4
AKD-x02406 153x 394x 229 5
AKD-x00307 and AKD-x00607 153x 394x 229 4.3
AKD-x01207 153x 394x 229 4.3
AKD-x02407 153x 394x 229 6.7
4.3 Storage
Store the AKD in accordance with IEC 61800-2 as follows:
l Store only in the manufacturer’s original recyclable packaging.
l Store at or below maximum stacking height:
l AKD-x0306to 0606 models: 8 cartons
l All other models: 6 cartons
l Store only within specified temperature ranges: -25to +55 °C, max.rate of change 20 K/hour, class
1K4.
l Storage only within specified humidity: 5 to 95% relative humidity, no condensation, class 1K3.
l Store in accordance with the following duration requirements:
l Less than 1 year: without restriction.
l More than 1 year: capacitors must be re-formed before setting up and operating the drive. To re-
form the capacitors, remove all electrical connections andapply single-phase 120 Vac for about 30
minutes to the L1/L2 terminals.
Kollmorgen | March 2010 27
AKD Installation| 4 Handling
4.4 Maintenance and Cleaning
The drive does not require maintenance. Opening the drive voids the warranty.
The inside of the unit can only be cleaned by the manufacturer. To clean the drive exterior:
l Casing: Cleanwith isopropanol or similar cleaningsolution.
l Protective grill on fan: Clean with a dry brush.
4.5 Uninstalling
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 andthe fuses that supply the system.
Do not immerse or spray the drive.
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 and
wait until the voltage is below 40 V before touching or handling the drive.
2. Remove the connectors. Disconnect the potential earth connection last.
3. Check temperature.
During operation, the heat sink of the drive may reach temperatures above 80°C
(176°F). Before touching the device, check the temperature and wait until it has
cooled below 40°C (104°F).
4. Uninstall. Remove the drive andpower supply from the conductive, grounded mounting plate in the cabinet.
4.6 Repair and Disposal
Onlythe manufacturercan repairthe drive.Opening thedevice voidsthe warranty. Uninstall the drive as
describedin "Uninstalling" (page28)andsend it in theoriginal packagingto themanufacturer (seetable below).
In accordance with the WEEE-2002/96/EC-Guidelines andsimilar, the manufactureraccepts returns of old
devices and accessories for professional disposal. Transport costs are the responsibility of the sender. Send
the devices to the manufacturer addresses shown in the table below.
USA Europe
Kollmorgen
201West Rock Road
Radford, VA 24141
DanaherMotion GmbH
Wacholderstr. 40-42
D-40489Düsseldorf
28 Kollmorgen | March 2010
AKD Installation| 5 Package
5 Package
5.1 Package Supplied 30
5.2 Nameplate 30
5.3 Part number scheme 31
Kollmorgen | March 2010 29
AKD Installation| 5 Package
5.1 Package Supplied
WhenadrivefromtheAKD seriesis ordered(seepage148), thefollowingitemsareincludedinthedrivepackage:
l AKD drive
l Printedcopy of AKD Installation Manual (EU only)
l Printedcopy of AKD Quick Start
l Printedcopy of fault and warning card
l CD-ROM containing the setup software, WorkBench, and all product documentation in digital format.
l Mating connectors X1, X2, X3, X4 (if required), X7, andX8
l Grounding plate, L-shape or Flat depending on AKD voltage tye
Accessories Sold Separately
Accessories must be orderedseparately if required; refer to your regional accessories manual:
l EMC filters for 24 V andmains supply voltage, categories C2 or C3
l External brake resistor
l Motor cable. Assembled motor cables are available for all regions. EU customers may also order motor
cable at custom lengths and assemble the cable with power connectors ordered separately.
l Feedback cable. Assembled feedback cables areavailable for all regions. EU customers may also
orderfeedback cable at custom lengths and assemble the cablewith power connectors ordered separately.
l Motor choke, for motor cables longer than 25m
l CAN terminationconnector (with CAN drives only)
l Service cable to the network
l Power cable, control cables, and fieldbus cables (as cutoff lengths)
The mating SubD and RJ45 connectors are not included in the package.
5.2 Nameplate
The nameplate depicted below is attached to the side of the drive, sample data entries are for a 12A type.
30 Kollmorgen | March 2010
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