Kollmorgen AKM2, AKM5, AKM1, AKM6, AKM7 Instruction Manual
...
AKM
English Instructions Manual
Deutsch Betriebsanleitung
Italiano Manuale di Istruzioni
Español Manual de Instrucciones
Français Manuel d'Installation
Русский Руководство по эксплуатации
Edition June 2018
European Version (CE region)
English Deutsch Italiano Español Français Русский
Original Languageis English. All other content is translated from the original language.
Keep allmanuals asa product component during the life
span of the product. Passall manualsto future users and
owners of the product.
Conserve el manual durante toda la vida útildel producto.
Entregue el manual a posteriores usuarioso propietarios del
producto.
Сохраняйте все руководства как составную часть
продукта в течение всего срока его эксплуатации.
Передавайте руководство следующему пользователю
или владельцупродукта.
Bewahren Siealle Anleitungen während der gesamten Nutzungsdauer
des Produkts alsProduktkomponente auf. Händigen Sie alle Anleitungen künftigen Anwendern/Besitzern des Produkts aus.
Conservare il manuale per l’intera durata del prodotto. In caso dicambio di proprietà il manuale deveessere fornito al nuovo utilizzatore
quale parte integrante del prodotto.
Le manuel faisant partie intégrante du produit, conservez-le pendant
toute la durée de vie du produit. Remettez lemanuel au futur utilisateur
ou propriétaire du produit.
Record of Document Revisions
Revision Remarks
... Table with lifecycle information of this document (➜ # 209)
11/2017 Connector options G, H updated, Low Voltage windings added, corrected value B
brake, note about B
andnumber of springs, AKM82T resistance updated, Web pages updated
10d
01/2018 Number of springs updated
06/2018 Thermal sensor KTY 83-110 replaced by PT1000, Pin-outs updated
Table of Contents
Instructions Manual
Betriebsanleitung
Manuale di Istruzioni
Manual de Instrucciones
Manuel d'Installation
Руководство по эксплуатации
English
Deutsch
Italiano
Español
Français
Русский
(➜ # 3)
(➜ # 29)
(➜ # 55)
(➜ # 83)
(➜ # 111)
(➜ # 139)
Technical Data (➜ # 167)
DimensionDrawings (➜ # 186)
Connector Pinout (➜ # 200)
Approvals (➜ # 207)
Trademarks
l EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
l HIPERFACE is a registered trademark of Max Stegmann GmbH
l HIPERFACE DSL® is registered trademark of SICK STEGMANN GmbH.
l DRIVE-CLiQ and SIMATIC are registered trademarks of SIEMENS Aktiengesellschaft
for AKM4
10d
Technische Änderungen, die der Verbesserung der Geräte dienen, vorbehalten!
Gedruckt in der BRD. Alle Rechte vorbehalten. Kein Teil des Werkes darf in irgendeiner Form (Fotokopie, Mikrofilm
oder in einem anderen Verfahren) ohne schriftliche Genehmigung der Firma Kollmorgen Europe GmbH reproduziert
oder unter Verwendung elektronischer Systeme verarbeitet, vervielfältigt oder verbreitet werden.
Technical changes to improve the performance of the equipment may be made without prior notice!
Printed in the Federal Republic of Germany. 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 Europe GmbH.
Il produttore si riserva la facoltà di apportare modifiche tecniche volte al miglioramento degli apparecchi
Stampato nella Repubblica federale tedesca. Tutti i diritti riservati. Nessuna parte di questo documento può essere
rielaborata, riprodotta in qualsiasi forma (fotocopia, microfilm o altro processo) o diffusa mediante l'uso di sistemi
elettronici senza l'approvazione scritta della ditta Kollmorgen Europe GmbH o rielaborata, riprodotta o diffusa mediante l’uso di sistemi elettronici.
Reservado el derecho de introducir modificaciones técnicas para la mejora de los equipos
Impreso en la RFA. Reservados todos los derechos. Prohibida la reproducción total o parcial de la presente obra por
cualquier medio (fotocopia, microfilm u otros), así como su procesamiento, reproducción y divulgación por medio de
sistemas electrónicos, sin expresa autorización escrita de la empresa Kollmorgen Europe GmbH.
Toutes modifications techniques concourant pour l'amélioration des appareils réservées !
Imprimé en Allemagne. Tous droits réservés. Aucune partie de l'ouvrage ne peut être reproduite sous quelque forme
que ce soit (imprimée, photocopiée, microfilmée ou par un autre procédé) ou encore traitée, reproduite ou diffusée
au moyen de systèmes électroniques sans autorisation écrite préalable de Kollmorgen Europe GmbH.
Сохраняется право вносить технические изменения, служащие для совершенствования устройств!
Напечатано в ФРГ. Все права защищены. Без письменного согласия фирмы Kollmorgen Europe GmbH
запрещается воспроизводить какие бы то ни было части данного руководства в любой форме (в печатной, в
виде фотокопии, микрофильма или другим способом), а также обрабатывать, размножать или распространять
их с использованием электронных систем.
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AKM Installation | 1 English
1 English
1.1 General 4
1.1.1 About this manual 4
1.1.2 Abbreviations used 4
1.1.3 Symbols Used 4
1.2 Safety 5
1.2.1 You should pay attention to this 5
1.2.2 Use as directed 7
1.2.3 Prohibited use 7
1.2.4 Handling 8
1.3 Package 10
1.3.1 Delivery package 10
1.3.2 Nameplate 10
1.3.3 Model number description 11
1.4 Technical Description 15
1.4.1 General technical data 15
1.4.2 Style 15
1.4.3 Flange 15
1.4.4 Protection class 15
1.4.5 Insulation material class 16
1.4.6 Surface 16
1.4.7 Shaft end, A-side 16
1.4.8 Shaft seal 16
1.4.9 Protective device 16
1.4.10 Vibration class 17
1.4.11 Wiring technology 17
1.4.12 Holding brake 18
1.4.13 Fanfor AKM7 18
1.4.14 Washdown and Washdown Food 19
1.5 Mechanical Installation 22
1.5.1 Important Notes 22
1.6 Electrical Installation 23
1.6.1 Important notes 23
1.6.2 Guide for electrical installation 24
1.6.3 Connection of the motors with preassembledcables 24
1.7 Setup 25
1.7.1 Important notes 25
1.7.2 Guide for setup 26
1.7.3 Trouble Shooting 27
1.8 Definition of Terms for Technical Data 28
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1.1 General
1.1.1 About this manual
This manual describes the adjust in target series of synchronous servomotors (standard version). The motors are operated in drive systems together with Kollmorgenservo amplifiers.
Please observe the entire system documentation, consisting of:
l Instructions manual for the servo amplifier
l Manual Bus Communication(e.g. CANopen or EtherCAT)
l Online help of the amplifier's setup software
l Regional accessories manual
l Technical description of the AKM series of motors
More backgroundinformation can be found on the Kollmorgen Developer Network, available
at kdn.kollmorgen.com.
1.1.2 Abbreviations used
Abbreviations used for technical data see chapter "Definition of terms" (➜ # 28).
In this document, the symbolism (➜ # 53) means: see page 53.
1.1.3 Symbols Used
Symbol Indication
DANGER
WARNING
CAUTION
Indicates a hazardous situationwhich, if not avoided, will
result in death or serious injury.
Indicates a hazardous situationwhich, if not avoided, could
result in death or serious injury.
Indicates a hazardous situationwhich, 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.
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Warning of danger from hot surface.
Warning of suspended loads.
1.2 Safety
This section helps you to recognize andavoid dangers to people and objects.
1.2.1 You should pay attention to this
Specialist staff required!
Only properly qualified personnel are permitted to perform such tasks as transport,
assembly, setup andmaintenance. Qualified specialist staff are persons who are familiar
with the transport, installation, assembly, commissioningand operationof motors and who
bring their relevant minimum qualifications to bearon their duties:
l Transport: only by personnel with knowledge of handling electrostatically sensitive com-
ponents.
l Mechanical Installation: only by mechanically qualified personnel.
l Electrical Installation: only by electrically qualified personnel.
l Setup: only by qualified personnel with extensive knowledge of electrical engineering and
drive technology
The qualified personnel must know and observe IEC 60364 / IEC 60664 and national acci-
dent prevention regulations.
AKM Installation | 1 English
Read the documentation!
Read the available documentation before installation and commissioning. Improperhandling
of the motorcan cause harm to people or damage to property. The operator must therefore
ensure that all persons entrusted to work on the motor have read and understood the manual
andthat the safety notices in this manual are observed.
Pay attention to the technical data!
Adhere to the technical data and the specifications on connection conditions (rating plate and
documentation). If permissible voltage values or current values are exceeded, the motors
can be damaged, for example by overheating.
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.
Transport safely!
Lift andmove motors with more than20 kg weight (AKM7 and AKM8) only with lifting tools.
Lifting unassisted could result in back injury. Always observe the hints on (➜ # 8)
Secure the key!
Remove any fitted key (if present) from the shaft before letting the motor run without coupled
load, to avoid the dangerous results of the key being thrown out by centrifugal forces. When
delivered, the key is protected with a plastic cap.
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Hot surface!
The surfaces of the motors can be very hot in operation, according to their protection category. Risk of minor burns! The surface temperature can exceed 100°C. Measure the temperature, and wait until the motor has cooled down below 40°C before touching it.
Earthing! High voltages!
It is vital that you ensurethat the motor housing 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 and there is a risk of death from electric shock.
Not havingoptical displays does not guaranteean absence of voltage. Power connections
may carry voltageeven if the motor shaft is not rotating.
Do not unplug any connectors during operation. There is a risk of death or severe injury from
touching exposed contacts. Power connections may be live even when the motor shaft is not
rotating. This can cause flashovers with resulting injuries to persons and damage to the contacts.
After disconnecting the servo amplifier from the supply voltage, wait several minutes before
touching any components which are normally live (e.g. contacts, screw connections) or opening any connections.
The capacitors in the servo amplifier can still carry a dangerous voltage several minutes after
switching off the supply voltages. To be quite safe, measurethe DC-link voltage andwait
until the voltage has fallen below 60 V.
Secure hanging loads!
Built-in holding brakes do not ensure functional safety!
Hanging loads (vertical axes) require anadditional, external mechanical brake to ensure personnel safety.
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1.2.2 Use as directed
l The AKM series of synchronous servomotors is designedespecially for drives for industrial
robots, machinetools, textile and packing machinery and similar with high requirements for
dynamics.
l The user is only permitted to operate the motors under the ambient conditions which are
defined in this documentation.
l The use of Washdown motors is allowed in environments with caustic acids and bases with
respect to the defined conditions on page (➜ # 19).
l The use of Washdown Food motors is allowed in applications with indirect contact to food
andbeverage.
l The AKM series of motors is exclusively intended to be driven by servo amplifiers under
speed and / or torque control.
l The motors are installed as components in electrical apparatus or machines and can only be
commissionedand put into operation as integral components of such apparatus or machines.
l The thermal sensor which is integrated in the motor windings must be observedand eval-
uated.
l The holding brakes are designed as standstill brakes and are not suited for repeated oper-
ational braking.
l The conformity of the servo system to the standards mentioned in the CE Declaration of
Conformity (➜ # 207) is only guaranteed when the components (servo amplifier, motor,
cables etc.) that are used have been supplied by Kollmorgen.
AKM Installation | 1 English
1.2.3 Prohibited use
l The use of the Standard Motors is prohibited
o
o
o
o
l The use of the Washdown Motors is prohibited
o
o
o
o
o
l The use of the Washdown Food Motors is prohibited
o
o
o
l Commissioning the motor is prohibitedif the machinein which it was installed
o
o
o
l Built-in holding brakes without further equipment must not be used to ensure functional
safety.
directly on mains supply networks,
in areas where there is a risk of explosions,
in contact with food and beverage,
in environments with caustic and/or electrically conducting acids, bases, oils, vapors,
dusts.
directly on mains supply networks,
in areas where there is a risk of explosions,
in contact with food and beverage,
in environments with acids or bases with pH value below 2 or above 12,
in environments with acids or bases that have not been tested by Kollmorgen.
directly on mains supply networks,
in areas where there is a risk of explosions,
in direct contact with food and beverage.
does not meet the requirements of the EC Machinery Directive,
does not comply with the EMC Directive,
does not comply with the Low Voltage Directive.
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1.2.4 Handling
1.2.4.1 Transport
l Climate category 2K3 accordingto IEC 60721-3-2, EN61800-2
l Temperature: -25...+70°C, max. 20K/hr change
l Humidity: rel. humidity 5% - 95% , no condensation
l Only by qualifiedpersonnel in the manufacturer’s original recyclable packaging
l Avoid shocks, especially to the shaft end
l If the packaging is damaged, check the motor for visible damage. Inform the car rier and, if
appropriate, the manufacturer.
Transport of motors with a weight of more than 20kg
Lifting eyes must be used to safely transport AKM7 and AKM8 motors (> 20kg). Observe any
transport instructions included in the packaging of the motor.
We recommend the transport tool ZPZM 120/292 for moving the motors.
Suspension Unit ZPMZ 120/292 consists of a beam, suspended to the cranehook and two
double-run chain suspenders.
DANGER
Suspended load. Risk of death if load falls. Never step under the load,
while the motor is raised.
l The fastening screws of the lifting eyes must be fully screwedin.
l The lifting eyes must be positioned on the supporting surface in an even andflat manner.
l Prior to use, check the lifting eyes for secure fitting and any obvious damages (corrosion,
deformation).
l Lifting eyes with deformations must not continue to be used.
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1.2.4.2 Packaging
l Cardboard packing with Instapak® foam cushion.
l You can return the plastic portion to the supplier (see "Disposal").
AKM Installation | 1 English
Motor
Packing Max. stacking
type
AKM1 Cardboard 10 AKM5 Cardboard 5
AKM2 Cardboard 10 AKM6 Cardboard 1
AKM3 Cardboard 6 AKM7 Cardboard 1
AKM4 Cardboard 6 AKM8 Pallet 1
1.2.4.3 Storage
l Climate category 1K4 accordingto IEC 60721-3-1, EN61800-2
l Storagetemperature: - 25...+55°C, max. variation20K/hr.
l Humidity: rel. humidity 5% - 95%, no condensation
l Store only in the manufacturer’s original recyclable packaging
l Max. stacking height: see table in chapter "Packaging"
l Storagetime: unlimited
1.2.4.4 Maintenance / Cleaning
l Maintenance and cleaningonly by qualified personnel
l The ball bearings should be replaced after 20,000 hours of operationunderrated conditions
(by the manufacturer).
l Check the motor for bearing noise every 2500 operating hours, respectively each year. If any
noises are heard, stop the operation of the motor, the bearings must be replaced (by the manufacturer).
l Opening the motor invalidates the warranty.
l If the housing is dirty, clean housing with Isopropanol or similar, do not immerse or spray
height
Motor
type
Packing Max. stacking
height
1.2.4.5 Repair / Disposal
Repairof the motor must be done by the manufacturer. Opening the motor invalidates the warranty. In accordance to the WEEE-2002/96/EG-Guidelines we take old devices and
accessories back for professional disposal, if the transport costs are taken over by the
sender. Send the motor to:
KOLLMORGEN Europe GmbH
Pempelfurtstr. 1
D-40880 Ratingen
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1.3 Package
1.3.1 Delivery package
l Motor from the AKM series
l Product manual (multi language) printed, one perdelivery
1.3.2 Nameplate
With standard motors the nameplate is adhesive on the housing side. With washdown
motors the nameplate is engraved on the housingside, an additional nameplate is addedto
every motor package.
Legend Description
MODEL motor type
CUST P/N customer part no.
Ics I0rms (standstill current)
Tcs M0 (standstill torque)
Vs Un (DC bus link voltage)
Nrtd nn (rated speed @ Un)
Prtd Pn (rated power)
Year of manufacturingis coded in the serial number: the first two digits of the serial number
arethe year of manufacturing, e.g. "17" means 2017.
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1.3.3 Model number description
AKM Installation | 1 English
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1.3.3.1 Connector Options (C)
Pinout for the connector options are listed in chapter "Connector Pinout" from (➜ # 200).
Technical description of used connectors see KDN (Mating Connectors).
Connector Description
Contacts -
Pins
Connector Usage* Power/Signal Power/Signal Power/Signal
M23
SpeedTec
Ready
(Size 1)
M40 (Size
1.5)
M12 DRIVE-CLiQ - / 8 - / 2 - / 0.5 IP65
M23-6 DRIVE-CLiQ 6 / - 30 / - 4 / - IP65
i-tec Hybrid* 4 / 5 14 / 3.6 1.5 / 0.75 IP65
y-tec
Terminal
box
* Hybrid means: Power and Feedback (plus Brake) on the same connector and in one cable
Power & Brake 4 / 4 30 / 10 4 / 1.5 IP65 BSTA-108-NN-00-08-0036
Feedback - / 12 - / 10 - / 0.5 IP65 ASTA-021-NN-00-10-0035
Feedback - / 17 - / 9 - / 0.5 IP65 ASTA-035-NN-00-10-0035
Hybrid* 4 / 4 30 / 10 4 / 1.5 IP65 BSTA-108-NN-00-08-0036
Power & Brake 4 / 2 75 / 30 16 / 4 IP65 CSTA-263-NN-00-26-0001
Power & Brake 4 / 5 14 / 3.6 1.5 / 0.75 IP65 ESTB-202-NN-00-31-0500
Feedback - / 12 - / 5 - / 0.75 IP65 ESTB-002-NN-00-31-0001
Feedback - / 15 - / 5 - / 0.75 IP65 ESTB-205-NN-00-31-0002
Power & Brake 4 / 2 150 / 15 25 / 2.5 IP65 -
max. Current
[A]
max. Cross
Section [mm²]
Protection
Class
Suggested mating
connector
Standard Siemens
Drive-Cliq cable
ESTB-202-NN-00-1110-
0500
Reference Connector-Motor
KTY 84-
PTC*
D** - 9 1 i-tec Hybrid connector AKM1 Motor mounted
D** - 9
130*
B 1 3 2 SpeedTec Ready connectors AKM2
C 7 4 2 SpeedTec Ready connectors AKM1-AKM2 0.5m cable mounted
C 1 4 2 SpeedTec Ready connectors AKM3-AKM7 (≤ 23,5A)
G - V 2 SpeedTec Ready connectors AKM2-AKM7 (≤ 23,5A)
H - W
- R** -
T 2 X
- U** -
Y 1 Z 1 y-tec connector AKM1 Motor mounted
PT1000* Connection Usable with
1 Hybrid connector SpeedTec
Ready
1 power connector M40, 1 Feedback connector SpeedTec Ready
1 power connector M23-6,
1 Feedback connector M12
1 Terminal box, 1 Feedback connector SpeedTec Ready
1 power connector M23-6,
1 Feedback connector M12
AKM2-AKM6
AKM7xQ & AKM82T
AKM4-AKM7 (≤23,5A)
AKM8 Motor mounted
AKM4-AKM7 (≤23,5A)
Position of connection
Angular, rotatable,
motor mounted
Angular, rotatable,
motor mounted
Angular, rotatable,
motor mounted
Straight, motor mounted
Angular, rotatable,
motor mounted
Motor mounted.
M23-6 angular, rotatable.
M12 Straight.
Straight, motor mounted
* Temperature sensor PTC or KTY or PT1000(➜ # 16)
** With connector options D, R, and U the temperature sensor type depends on the feedback, see (➜ # 14)
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1.3.3.2 Feedback Options (CA)
Motor length depends on the built-infeedback device, see dimension diagrams from (➜ #
186).
Retrofitting is not possible. Pinout for the connector options are listed (➜ # 200).
Technical description of the feedback systems see Kollmorgen Developer Network
(MultiFeedback).
Feedback Description
AKM Installation | 1 English
Code Description Type Remarks
1- Comcoder EPC 15T Single turn, optical 1024 1 All
2- Comcoder EPC 15T Single turn, optical 2048 1 All
AA BiSS B Encoder AD34/AD58 Single turn, optical 2048 1 All
AB BiSS B Encoder AD34/AD58 Multi turn, optical 2048 4096 All
C- SFD Size 10/15/21 Single turn, inductive, 4 lines 11bit 1 AKD
CA SFD3 Size 10/15/21 Single turn, inductive, 2 lines 11bit 1 AKD,S700
DA EnDAT 2.1 Encoder ECN1113/1313 Single turn, optical 512/2048* 1 All
DB EnDAT 2.1 Encoder EQN1125/1325 Multi turn, optical 512/2048* 4096 All
LA EnDAT 2.1 Encoder ECI1118/1319 Single turn, inductive 16/32** 1 All
LB EnDAT 2.1 Encoder EQI1130/1331 Multi turn, inductive 16/32** 4096 All
MA DRIVE-CLiQ Encoder ECN1324S Safety Single turn, optical 24bit 1 Siemens****
MB DRIVE-CLiQ Encoder EQN1336S Safety Multi turn, optical 24bit 4096 Siemens****
GA HIPERFACE Encoder SKS36 Single turn, optical 128 1 Sx
GB HIPERFACE Encoder SKM36 Multi turn, optical 128 4096 Sx
GC HIPERFACE Encoder SEK34 Single turn, capacitive 16 1 Sx
GD HIPERFACE Encoder SEL34 Multi turn, capacitive 16 4096 Sx
GE HIPERFACE DSL Encoder EKS36 Single turn, optical, 18bit 1 AKD,S700
GF HIPERFACE DSL Encoder EKM36 Multi turn, optical,
GJ HIPERFACE Encoder SKS36 Single turn, optical 128 1 AKD
GK HIPERFACE Encoder SKM36 Multi turn, optical 128 4096 AKD
GM Safe HIPERFACE Encoder SKS36S
GN Safe HIPERFACE Encoder SKM36S
GP HIPERFACE Encoder SEK34 Single turn, capacitive 16 1 AKD
GR HIPERFACE Encoder SEL34 Multi turn, capacitive 16 4096 AKD
R- Resolver Size 10/15/21 Single turn, inductive 2 poles 1
Safety, like GJ, SIL2, PLd,
Cat.3
Safety, like GK, SIL2, PLd,
Cat.3
Lines per
rev.
18bit +
12bit
128*** 1 AKD
128*** 4096 AKD
# of
revs.
4096 AKD,S700
usable
with drives
All except
AKD-N
* x/y data for AKM2-4/AKM5-8
** x/y data for AKM2-3/AKM4-8
*** Certificates for safety feedbacks: see Kollmorgen Developer Network (Approvals) or Kollmorgen website.
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AKM Installation | 1 English
Reference Feedback-Motor
Connector code (PTC/KTY
84-130/PT1000)
Code Feedback Usable with AKM...
1- Comcoder 2 3-7 1-2 - 2-6 7,82T - 8 - 1
2- Comcoder 2 3-7 1-2 - 2-6 7,82T - 8 - 1
AA BiSS B 2 3-7 2 - 2-6 7,82T - 8 - -
AB BiSS B 2 3-7 2 - 2-6 7,82T - 8 - -
C- SFD* 2 3-7 1-2 1-6 (PTC) 2-6 7,82T - 8 - 1
CA SFD3 - - - 1-6 (PT1000) - - - - - -
DA EnDAT 2.1 2 3-7 2 - 2-6 7,82T - 8 - -
DB EnDAT 2.1 2 3-7 2 - 2-6 7,82T - 8 - -
LA EnDAT 2.1 2 3-7 2 - 2-6 7,82T - 8 - -
LB EnDAT 2.1 2 3-7 2 - 2-6 7,82T - 8 - -
MA DRIVE-CLiQ** - - - - - - 4-7 - 4-7 -
MB DRIVE-CLiQ** - - - - - - 4-7 - 4-7 -
GA Hiperface 2 3-7 2 - 2-6 7,82T - 8 - -
GB Hiperface 2 3-7 2 - 2-6 7,82T - 8 - -
GC Hiperface - - 1 - - - - - - 1
GD Hiperface - - 1 - - - - - - 1
GE Hiperface DSL - - - 2-6 (PT1000) - - - - - -
GF Hiperface DSL - - - 2-6 (PT1000) - - - - - -
GJ Hiperface 2 3-7 2 - 2-6 7,82T - 8 - -
GK Hiperface 2 3-7 2 - 2-6 7,82T - 8 - -
GM Safe Hiperface*** 2 3-7 2 - 2-6 7,82T - 8 - -
GN Safe Hiperface*** 2 3-7 2 - 2-6 7,82T - 8 - -
GP Hiperface - - 1 - - - - - - 1
GR Hiperface - - 1 - - - - - - 1
R- Resolver 2 3-7 1-2 - 2-6 7,82T - 8 - 1
B/1/3 C/1/4 C/7/4 (Kabel) D/-/9 G/-/V H/-/W -/R/- T/2/X -/U/- Y/1/Z
* no brake
** temperature sensor according to current Siemens requirements. For more information contact Kollmorgen.
*** with PTC temperature sensor only
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1.4 Technical Description
1.4.1 General technical data
Ambient temperature
(at rated values)
Permissible humidity
(at rated values)
Power derating
(currents and torques)
Ball-bearing life ≥ 20.000 operatinghours
AKM Installation | 1 English
5...+40°C for site altitude up to 1000m amsl
It is vital to consult our applications department for ambient temperatures above 40°C andencapsulated mounting of the
motors.
95% rel. humidity, no condensation
1%/K in range 40°C...50°C up to 1000m amsl
for site altitude above 1000m amsl and 40°C
6% up to 2000m amsl
17% up to 3000m amsl
30% up to 4000m amsl
55% up to 5000m amsl
No derating for site altitudes above 1000m amsl with temperature reduction of 10K / 1000m
1.4.2 Style
1.4.3 Flange
Technical data for every motor type can be found in chapter "Technical Data" from (➜ #
167).
The basic style for the AKM
motors is style IM B5 according to EN 60034-7.
IEC flange accuracy accordingto DIN 42955. Tolerances of shaft extension run-out and of
mounting flanges for rotating electrical machines.
Code Flange
A IEC with accuracy N, fit AKM1: h7, fit AKM2-8: j6
R IEC with accuracy R, fit AKM1: h7, fit AKM2-8: j6
M IEC with accuracy N, fit j6, reinforced bearing, AKM8 only
W IEC, fit j6,special flange coating for Washdown or Washdown Food motors
B NEMA, dimensions see AKM Selection Guide (Kollmorgen website, US-English)
1.4.4 Protection class
Standard Motor Connector Option Shaft Seal Protection class
AKM1 C, D without IP40
AKM1 C, D, Y with IP65
AKM2-AKM7 B, C, D, G, H, T without IP54
AKM8 H, T without IP52
AKM2-AKM8 B, C, D, G, H, T with IP65
AKM2-AKM6 Washdown B, C, D, G with IP67
AKM2-AKM6 Washdown Food B, C, D, G with IP67
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1.4.5 Insulation material class
The motors come up to insulation material class F according to IEC 60085 (UL1446 class F).
1.4.6 Surface
The motors are coated with polyester powder coating in matte black. This finish is not resistant against solvents (e.g. trichlorethylene, nitro-thinners, or similar).
1.4.7 Shaft end, A-side
Power transmission is made through the cylindrical shaft end A, fit k6 (AKM1: h7)to
EN50347, with a locking thread but without a fitted keyway.
Motors are also available with keyway and inserted key according to DIN 6885. The shaft
with keyway is balanced with short (half) key.
Bearing life is calculatedwith 20.000 operating hours.
Order code Shaft end Available for
N Smooth shaft all types, standard
C Keyway, closed AKM 2...8
K Keyway, open AKM 1...8
1.4.8 Shaft seal
Radial force
If the motors drive via pinions or toothed belts, then high radial forces will occur. The permissible values at the end of the shaft may be read from the diagrams in chapter "Drawings"
from (➜ # 186). The maximum values at rated speed you will find at the technical data from
(➜ # 167). Power take-off from the middle of the free end of the shaft allows a 10% increase
in FR.
Axial force
When assembling pinions or wheels to the axis and use of e.g. angular gearheads axial
forces arise. The maximum values at rated speed arefound in the technical data.
Coupling
Double-coned collets have proved to be ideal zero-backlash coupling devices, combined, if
required, with metal bellows couplings.
If AKM is connected to a machine flangewith unsealed shaft region, then the shaft seal
(option "01") ensures the shaft sealing.
l The Teflon shaft seal ensures the IP67 protection for the shaft area.
l The ratedperformance is achieved after some hours of shaft seal run-in. No special pro-
cedure for run-in is needed.
l Some “shedding” of Teflon material is normal and does not affect the function.
l Shaft seal operation in dry-running mode is prohibited. Contact Kollmorgen for special shaft
seal solution in case the dry-running operation is required.
l Shaft seal is pre-lubricated by FDA grease.
1.4.9 Protective device
The standard versionof each motor is fitted with an electrically isolatedPTC (rated
temperature155°C ± 5%). The PTC does not provide any protection against short, heavy
overloading.
The motorcan be delivered with a PT1000 or KTY 84-130 sensors optionally (see Connector
Options 1, 2, 7 and D on (➜ # 200)(➜ # 12).
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With digital feedback system SFD, SFD3, DSL (C-, CA, GE, GF) the temperature sensor
status is transmitted digitally and evaluated in the drive.
Provided that our configured feedback cables are used, the sensor is integrated into the monitoringsystem of the digital servo amplifiers.
1.4.10 Vibration class
The motors are made to vibration class A according to EN60034-14. For a speed rangeof
600-3600rpm anda shaft center between 56-132mm, this means that the actual value of the
permitted vibration severity is 1.6mm/s.
Velocity [rpm] max. rel. Vibration Displacement [µm] max. Run-out [µm]
<= 1800 90 23
> 1800 65 16
1.4.11 Wiring technology
1.4.11.1 Connectors
Descriptions of the available connectors: (➜ # 12). Connector pinout: from (➜ # 200).
AKM Installation | 1 English
1.4.11.2 Wire cross sections
Power Cable, Combi Cable
Combi cables contain 4 power lines and 2 additional lines for motor holding brake control.
Cross Section Current Carrying
Cable Combi Cable
(4x1) (4x1+(2x0.75)) 0A < I0rms ≤ 10.1A The brackets (...) show the
(4x1.5) (4x1.5+(2x0.75)) 10.1A < I0rms ≤ 13.1A
(4x2.5) (4x2.5+(2x1)) 13.1A < I0rms ≤ 17.4A
(4x4) (4x4+(2x1)) 17.4A < I0rms ≤ 23A
(4x6) (4x6+(2x1)) 23A < I0rms≤ 30A
(4x10) (4x10+(2x1.5)) 30A < I0rms ≤ 40A
(4x16) (4x16+(2x1.5)) 40A < I0rms ≤ 54A
(4x25) (4x25+(2x1.5)) 54A < I0rms ≤ 70A
Feedback Cable
Type Cross Section Remarks
Resolver, SFD (4x2x0.25)
Encoder (7x2x0.25) BiSS, EnDAT, HIPERFACE
Comcoder (8x2x0.25) Incremental Encoder + Hall
Remarks
Capacity
shielding.
Current carrying capacity
acc. to EN60204-1:2006
Table 6, Column B2
Hybrid Cable
Type Cross Section Remarks
SFD (4x1.0+2x(2x0.75)) 4 power lines & 4 signal lines for SFD
respectivelySFD (4x1.5+2x(2x0.75))
SFD3/DSL (4x1.0+(2x0.34)+(2x0.75)) 4 power lines & 2 brake lines &
2 signal lines for SFD3/DSLSFD3/DSL (4x1.5+(2x0.34)+(2x0.75))
SFD3/DSL (4x2.5+(2x0.34)+(2x1.0))
SFD3/DSL (4x4+(2x0.34)+(2x1.0))
Technical description of Hybrid Cable see KDN (Hybrid Cables).
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1.4.12 Holding brake
All motors are optionally available with a holdingbrake. A spring appliedbrake (24V DC) is
integratedinto the motors. When this brake is de-energized it blocks the rotor.
WARNING
If there is a suspended load (vertical axes), the motor's holding brake is
released, and, at the same time, the servo drive does not produce any output, the load may fall down! Risk of injury for the personnel operating the
machine. Functional safety in case of hanging loads (vertical axes) can
be ensured only by using an additional, external, mechanical brake.
The holding brakes are designedas standstill brakes and are not suited for repeated operational braking. In the case of frequent, operational braking, premature wear and failure of the
holding brake is to be expected.
The motorlength increases when a holding brake is mounted.
The holding brake can be controlled directly by the servo amplifier (no personal safety !), the
windingis suppressed in the servo amplifier — additional circuitry is not required(see instruction manual of the servo amplifier). If the holding brake is not controlled directly by the servo
drive, an additional wiring (e.g. varistor) is required. Consult our support department.
Brake data are listed in chapter"Technical Data Brakes" from (➜ # 184) .
1.4.13 Fan for AKM7
For the AKM7 model size, an add-onkit for forced ventilation is available. The integrated fan
enables up to 30% more power output for the AKM7 motors. Assembly instructions for the
fan kit is contained within the scope of delivery of the add-on kit.
Make sure, that free airflow is available for the fan. Keep a space of at least 25 mm behind
the fan guard.
The motors become dirty considerably faster due to forced convection. Dirt deposits lead to
falling cooling capacity and can put the motors at risk. Dust may burn in case of overheating.So clean the air duct, the fan, and the motor at regular intervals.
By adding a fan, the mounting dimensions of AKM7 motors increase.
In case of AKM7 motors with connector option "C", winding "Q" and forced ventilation you
must limit the motor current to 23,5A for connector protection.
You can find technical informationon AKM7 motors with fans (➜ # 181).
You can find the dimensional drawing for AKM7 motors with fans on (➜ # 195).
The fan housing can be mounted eitherwith both the supplied
brackets and spacers or with the brackets only. The choice of
mounting method depends on the application. If strong vibrations are expected, you should use both brackets and
spacers. Motors with integrated brakes require the longs
spacers.
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1.4.14 Washdown and Washdown Food
These motor variants are used in applications that are subject to strict hygiene regulations in
which it is essential that the formation of nucleation and corrosion are avoided and in which
machines must be cleaned cyclically.
The motors are based on the standard types AKM2 - AKM6 with special modifications for use
in the food-processing industry or even in the packaging industry. In addition, it is also possible to coat the flange in each case – but thenit is not possible to assure tolerance class N
for the flange.
In the type code, the coating of the motor housing (type “W” for Washdown, "F" for Washdown Food) is defined separately in the version (last two digits) and the flange coating.
AKM Installation | 1 English
* Do not turn the connector on the motormore than +/- 180 °, greater rotation angle will damagethe internal connections.
1.4.14.1 Washdown
AKM^^^-^^^^^-^W
AKM^^^-W^^^^^-^W
The Washdown motors must not come into contact with any unpacked foodstuffs.
Application Area: Harsh environments, outdoors
Example: Transport in the foodstuff and packing area without contact with
Standards: UL, CE, RoHS
Surface: Silver coating
Immunity: Against tested industrial cleaning agent (➜ # 20), corrosion-proof
Degree of protection: IP67
Shaft: Stainless steel
Rotary shaft seal: PTFE
Lubricant: Industrial bearing grease, non-food-grade
Connector: Stainless steel, smooth surface
Screws: Stainless Steel
Name plate: Engraved, additional nameplate in the package
Size: AKM2 - AKM6
Washdown/Washdown
Food Motor
AKM2 B*, D*, G
AKM3, 4, 6 C*, D*, G A, B, W, R
AKM5 C*, D*, G B, C, W
Connector
Options
Suggested mating connector Flange
Option B, C, D, G (Hummel M23 INOX connectors):
Power & Brake:
7084943102
Feedback 12-pin:
7004912102
Feedback 18-pin:
7003917102
Options
A, B, W, R
Washdown without flange coating
Washdown with flangecoating of IEC A flange
foodstuff, radar stations, wind turbines, offshore installations
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1.4.14.2 Washdown Food
AKM^^^-^^^^^-^F
AKM^^^-W^^^^^-^F
The surface of the Washdown food motor has passed all tests as per FDA GlobalMigration
for indirect contact with foodstuffs. Any direct contact with unpacked foodstuffs is not permitted.
Application Area: Foodstuffs and drinks industry, no direct contact with unpacked
Example: Cutting, packing and filling without direct contact with foodstuffs.
Standards: UL, CE, RoHS, FDA
Surface: White coating
Immunity: Against tested industrial cleaning agent (➜ # 20), corrosion-proof
Global Migration: US FDA Regulations 21 CFR 175.300, Condition of Use E
Degree of protection: IP67
Shaft: Stainless steel
Rotary shaft seal: PTFE as per FDA
Lubricant: food-grade as per FDA
Connector: Stainless steel, smooth surface
Screws: Stainless Steel
Name plate: Engraved, additional nameplate in the package
Size: AKM2 - AKM6
Washdown Food without flange coating
Washdown Food with flange coatingof IEC A flange
foodstuff
Motor laterally or below the food.
1.4.14.3 Tested and confirmed properties with respect to cleaning agents
The testing lab of ECOLAB Deutschland GmbH tested the resistance of the Washdown and
Washdown Food surfaces to the following industrial cleaning agents:
l P3-topactive DES
l P3-topactive LA
l P3-topax 56
l P3-topax 66
l P3-topax 91
In the process, the surfaces were immersed in the respective cleaning agent at room temperature for 28 days. This corresponds to approx. 2,500 cleaning cycles with 15-minute contact each with the cleaningagent or 1,500 cleaningcycles with cleaning andsubsequent
disinfection.
The certificates are located in our Kollmorgen Developer Network on the Approvals page.
Kollmorgen can only give a guarantee for the motor's lifecycle if the tested cleansing agents
areused. Any cleansing agent other than those mentioned above can be tested by Kollmorgen upon request and, if appropriate, be approved.
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1.4.14.4 Installation and operating conditions
l The motors may be used only in ambient temperatures up to 50 °C.
l If the front flange is coated, the tolerance class N is not guaranteed.
Motors with flanges without wash-down coating: The flange surface must be protected by
suitable assembly against the influence by cleaning agents.
Duringmounting and operationprotect the motor from mechanical effects which can cause
the scratches or cracks on the painted surface.The mishandling increases risk of corrosion.
1.4.14.5 Cleaning plan
Recommended cleaningplan (short form) with tested cleaningagents:
Flushing with water (40 °... 50 °C)
Flushing with low pressure. From top to bottom in the direction of the drain. Clean the drain.
Foam cleaning
Foaming from top to bottom.
Alkaline: P3-topactive LA or P3-topax 66 (2-5%, 15 min daily)
Acid: P3-topax 56 (2%, if necessary 15 min)
Temperature: cold up to 40 °C
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Disinfection
Spraying with wayer (40 °... 50 °C) with low pressure. From top to bottom.
Spray disinfection: P3-topax 91 (1-2%, if necessary 30-60 min)
Foam disinfection: P3-topactiv DES (1-3%, if necessary 10-30min)
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1.5 Mechanical Installation
Dimension drawings can be found in chapter "DimensionDrawings"(➜ # 186).
1.5.1 Important Notes
Only qualified staff with knowledge of mechanical engineering are permitted to assemble the
motor.
l Protect the motor from unacceptable stresses. Duringtransport and handling no components
must be damaged.
l The site must be free of conductive and aggressive material. For V3-mounting (shaft end
upwards), make sure that no liquids can enter the bearings. If an encapsulatedassembly is
required, please consult Kollmorgen beforehand.
l Ensure an unhindered ventilation of the motors and observe the permissible ambient and
flange temperatures. For ambient temperatures above 40°C please consult our applications
department beforehand. Ensure that there is adequate heat transfer in the surroundings and
the motor flange.
l Motor flangeand shaft are especially vulnerable during storage and assembly - so avoid brute
force. It is important to use the locking threadwhich is provided to tighten up couplings, gear
wheels or pulley wheels and warm up the drive components, where possible. Blows or the
use of force will lead to damage to the bearings and the shaft.
l Wherever possible, use only backlash-free, frictionally-locking collets or couplings. Ensure
correct alignment of the couplings. A displacement will cause unacceptable vibrationand the
destruction of the bearings and the coupling.
l In all cases, do not create a mechanically constrainedmotor shaft mounting by using a rigid
coupling with additional external bearings (e.g. in a gearbox).
l Take note of the no. of motor poles and the no. of resolver poles (if applicable), andensure
that the correct setting is made in the servo amplifier which is used. An incorrect setting can
leadto the destruction of the motor, especially with small motors.
l Avoid axial loads on the motor shaft, as far as possible. Axial loading significantly shortens
the life of the motor.
l Check the compliance to the permitted radial and axial forces F
andFA. When you use a
R
toothed belt drive, the minimal permitted diameter of the pinion
e.g. follows from the equation: d
≥ (M0/FR)*2
min
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1.6 Electrical Installation
Pinout for the connector can be foundin chapter "Connector Pinout" from (➜ # 200). Pinout
of the servo amplifier's end can be found in the instructions manual of the servo amplifier.
1.6.1 Important notes
Only staff qualified and trained in electrical engineering are allowedto wire up the motor.
DANGER
Always make sure that the motors are de-energized during assembly and
wiring, i.e. no voltage may be switched on for any piece of equipment
which is to be connected.
There is a risk of death or severe injury from touching exposed contacts.
Ensure that the switch cabinet remains turned off (barrier, warning signs
etc.). The individual voltages will only be turned on again during setup.
Never undo the electrical connections to the motor while it is energized.
Risk of electric shock! In unfavorable circumstances, electric arcs can
arise causing harm to people and damaging contacts.
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A dangerous voltage, resulting from residual charge, can be still present
on the capacitors up to 10 minutes after switch-off of the mains supply.
Even when the motor is not rotating, control and power leads may be live.
Measure the DC-link voltage and wait until it has fallen below 60V.
The ground symbol , which you will find in the wiringdiagrams, indicates that you must
provide an electrical connection, with as large a surface area as possible, between the unit
indicated and the mounting plate in the switch cabinet. This connection is to suppress HF
interference and must not be confused with the PE (protective earth)symbol (protective
measure to EN 60204).
To wire up the motor, use the wiring diagrams in the Installation and Setup Instructions of the
servo amplifierwhich is used.
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1.6.2 Guide for electrical installation
l Check that the servo amplifier and motor match each other. Compare the ratedvoltage and
rated current of the unit. Carry out the wiring according to the wiring diagram in the instructions manual of the servo amplifier. The connections to the motor are shown in chapter "Connector Pinout" from (➜ # 200).
l Install all cables carrying a heavy current with an adequate cross-section, as per EN60204.
The recommended cross-section can be found in the Technical data.
In case of long motor cables (>25m) and dependent on the type of the used servo amplifier a
motor choke (3YL or 3YLN) must be switched into the motor cable (see instructions manual
of the servo amplifier and accessory manual).
l Ensure that there is proper earthing of the servo amplifier and the motor. Use correct earthing
andEMC-shielding according to the instructions manual of the servo amplifier which is used.
Earth the mounting plate and motor casing.
l If a motor power cable is used which includes integral brake control leads, then these brake
control leads must be shielded. The shielding must be connected at both ends (see instructions manual of the servo amplifier).
l Cabling:
o
Route power cables as separately as possible from control cables
o
Connect the feedback device.
o
Connect the motor cables, install motor chokes (if applicable)close to the amplifier
o
Connect shields to shielding terminals or EMC connectors at both ends
o
Connect the holding brake, if used
o
Connect shielding at both ends.
l Connect up all shielding via a wide surface-area contact (low impedance) and metallized con-
nector housings or EMC-cable glands.
l Requirements to cable material:
Capacity
Motor cable: less than 150 pF/m
Resolver cable: less than 120 pF/m
1.6.3 Connection of the motors with preassembled cables
l Carry out the wiring in accordance with the valid standards and regulations.
l Only use Kollmorgen preassembledshielded cables for the resolver and power connections.
l Incorrectly installed shielding leads to EMC interference and has an adverse effect on sys-
tem function.
l The maximum cable length is defined in the instructions manual of the used servo amplifier.
For a detailed descriptionof configured cables, please refer to the regional accessories
manual.
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1.7 Setup
1.7.1 Important notes
Only specialist personnel with extensive knowledge in the areas of electrical engineering /
drive technology are allowed to commission the drive unit of servo amplifier and motor.
DANGER
Deadly voltages can occur, up to 900 V. Risk of electric shock! Check
that all live connection points are safe against accidental contact.
Never undo the electrical connections to the motor when it is live. Risk of
electric shock! The residual charge in the capacitors of the drive can produce dangerous voltages up to 10 minutes after the mains supply has
been switched off.
Even when the motor is not rotating, control and power leads may be live.
Measure the DC-link voltage and wait until it has fallen below 60 V.
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CAUTION
The surface temperature of the motor can exceed 100°C in operation.
Danger of light burns! Check (measure) the temperature of the motor.
Wait until the motor has cooled down below 40°C before touching it.
CAUTION
The drive performing unplanned movements during commissioning cannot be ruled out.
Make sure that, even if the drive starts to move unintentionally, no danger
can result for personnel or machinery.
The measures you must take in this regard for your task are based on the
risk assessment of the application.
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1.7.2 Guide for setup
The procedure for setup is described as an example. A different method may be appropriate or necessary, depending on the applicationof the equipment.
1. Check the assembly andorientation of the motor.
2. Check the drive components (clutch, gearunit, belt pulley) for the correct seating and setting
(observe the permissible radial and axial forces).
3. Check the wiringand connections to the motor and the servo amplifier. Check that the earthing is correct.
4. Test the function of the holding brake, if used. (apply 24 V, brake must be released).
5. Check whether the rotor of the motor revolves freely (release the brake, if necessary). Listen
for grindingnoises.
6. Check that all the required measures against accidental contact with live andmoving parts
have been carried out.
7. Carry out any further tests which are specifically required for yoursystem.
8. Now commission the drive according to the setup instructions for the servo amplifier.
9. In multi-axis systems, individually commission each drive unit (amplifierand motor).
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1.7.3 Trouble Shooting
The following tableis to be seen as a “First Aid” box. There can be a large numberof different
reasons for a fault, depending on the particular conditions in your system. The fault causes
described below aremostly those which directly influence the motor. Peculiarities which
show up in the control loopbehaviour can usually be traced back to an error in the parameterization of the servo amplifier. The documentation for the servo amplifier and the setup
softwareprovides information on these matters.
For multi-axis systems there may be further hidden reasons for faults.
Fault Possible cause
Motor doesn’t
rotate
Motor runs away — Motor phases in wrong sequence — Correct the phase sequence
Motor oscillates — Break in the shielding of the resolver
Error message:
brake
Error message:
output stage
fault
Error message:
resolver
Error message:
motor tem-
perature
Brake does not
grip
— Servoamplifier not enabled
— Break in setpoint lead
— Motor phases in wrong sequence
— Brake not released
— Drive is mechanically blocked
cable
— amplifier gain to high
— Short-circuit in the supply voltage
leadto the motor holding brake
— Faulty motor holding brake
— Motor cable has short-circuit or earth
short
— Motor has short-circuit or earth short
— Resolver connector is not properly
plugged in
— Break in resolver cable, cable
crushed or similar
— Motor thermosensor has switched
— Loose resolver connector or break in
resolver cable
— Required holding torque too high
— Brake faulty
— Motor shaft axially overloaded
AKM Installation | 1 English
Measures to remove the cause
of the fault
— Supply ENABLE signal
— Check setpoint lead
— Correct the phase sequence
— Check brake controls
— Check mechanism
— Replace resolvercable
— use motor default values
— Remove the short-circuit
— Replace motor
— Replace cable
— Replace motor
— Check connector
— Check cables
— Wait until the motor has
cooleddown. Then investigate
why the motor becomes so hot.
— Check connector, replace
resolver cable if necessary
— Check the dimensioning
— Replace motor
— Check the axial load, reduce
it. Replace motor, since the bearings have been damaged
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1.8 Definition of Terms for Technical Data
Technical data for every motor type can be found in chapter "Technical Data" (➜ # 167).
All data valid for 40°C environmental temperature and 100K overtemperature of the winding.
Determination of nominal data with constant temperature of adapter flangeof 65°C. The data
can have a tolerance of +/- 10%.
Standstill torque M0[Nm]
The standstill torque can be maintainedindefinitely at a speed 0<n<100 rpm and rated ambient conditions.
Rated torque Mn[Nm]
The rated torque is producedwhen the motor is drawing the rated current at the rated speed.
The rated torque can be producedindefinitely at the rated speedin continuous operation (S1).
Standstill current I
0rms
[A]
The standstill current is the effective sinusoidal current which the motor draws at 0<n<100
rpm to produce the standstill torque.
Peak current (pulse current) I
0max
[A]
The peak current (effective sinusoidal value) is several times the ratedcurrent depending on
the motor winding. The actual value is determined by the peak current of the drive which is
used.
Torque constant K
Trms
[Nm/A]
The torque constant defines how much torquein Nm is produced by the motor with 1A r.m.s.
current. The relationship is M=I x KT(upto I = 2 x I0).
Voltage constant K
Erms
[mV/min
-1]
The voltageconstant defines the inducedmotor EMF, as an effective sinusoidal value
between two terminals, per 1000 rpm. Measured at 25°C.
Rotor moment of inertia J [kgcm²]
The constant J is a measure of the accelerationcapability of the motor. For instance, at I0the
acceleration time tbfrom 0 to 3000 rpm is given as:
with M0in Nm and J in kgcm²
Thermal time constant tth[min]
The constant tthdefines the time for the cold motor, under a load of I0, to heat up to an overtemperature of 0.63 x 105 Kelvin. This temperature rise happens in a much shortertime when
the motor is loaded with the peak current.
Release delay time t
[ms] / Engage delay time t
BRH
These constants define the response times of the holding brake when operated with the rated
voltage from the servo amplifier.
U
N
Rated mains voltage
U
n
DC-Bus link voltage.
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[ms] of the brake
BRL
AKM Installation | 2 Deutsch
2 Deutsch
2.1 Allgemeines 30
2.1.1 Zu diesem Handbuch 30
2.1.2 Verwendete Abkürzungen 30
2.1.3 Verwendete Symbole 30
2.2 Sicherheit 31
2.2.1 Darauf sollten Sie achten 31
2.2.2 Bestimmungsgemäße Verwendung 33
2.2.3 Nicht bestimmungsgemäße Verwendung 33
2.2.4 Handhabung 34
2.3 Produktidentifizierung 36
2.3.1 Lieferumfang 36
2.3.2 Typenschild 36
2.3.3 Typenschlüssel 37
2.4 Technische Beschreibung 41
2.4.1 Allgemeine technische Daten 41
2.4.2 Ausführung 41
2.4.3 Flansch 41
2.4.4 Isolierstoffklasse 41
2.4.5 Oberfläche 41
2.4.6 Wellenende, A-Seite 42
2.4.7 Wellendichtung 42
2.4.8 Schutzeinrichtung 42
2.4.9 Schwingungsklasse 43
2.4.10 Anschlusstechnik 43
2.4.11 Haltebremse 44
2.4.12 Lüfter für AKM7 44
2.4.13 Washdown und Washdown Food 45
2.5 Mechanische Installation 48
2.5.1 Wichtige Hinweise 48
2.6 Elektrische Installation 49
2.6.1 Wichtige Hinweise 49
2.6.2 Leitfaden für die elektrische Installation 50
2.6.3 Anschluss der Motorenmit vorkonfektionierten Leitungen 50
2.7 Inbetriebnahme 51
2.7.1 Wichtige Hinweise 51
2.7.2 Leitfaden für die Inbetriebnahme 52
2.7.3 Beseitigen von Störungen 53
2.8 Begriffsdefinitionen für technische Daten 54
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AKM Installation | 2 Deutsch
2.1 Allgemeines
2.1.1 Zu diesem Handbuch
Dieses Handbuch beschreibt die Synchron-Servomotoren der Serie adjust in target (Standardausführung). Die Motoren werden in Antriebssystemenzusammenmit Servoverstärkern
von Kollmorgen betrieben. Beachten Sie daher die gesamte Dokumentationdes Systems,
bestehendaus:
l Betriebsanleitung des Servoverstärkers
l Manuelle Buskommunikation (z.B. CANopen oder EtherCAT)
l Online-Hilfe der Inbetriebnahmesoftware des Servoverstärkers
l Regionales Zubehörhandbuch
l Technische Beschreibung der Motorserie AKM
Weitere Hintergrundinformationen finden Sie im KollmorgenDeveloper Network unter kdn.-
kollmorgen.com.
2.1.2 Verwendete Abkürzungen
Die Abkürzungen für die technischen Daten finden Sie im Kapitel „Begriffsdefinitionen“.
.
54)
In diesem Dokument bedeutet die Symbolik (➜ S. 53): siehe Seite 53.
2.1.3 Verwendete Symbole
Symbol Bedeutung
GEFAHR
WARNUNG
VORSICHT
(➜ #
Weist auf eine gefährliche Situation hin, die, wenn sie nicht
vermiedenwird, zum Tode oder zu schweren, irreversiblen
Verletzungen führen wird.
Weist auf eine gefährliche Situation hin, die, wenn sie nicht
vermiedenwird, zum Tode oder zu schweren, irreversiblen
Verletzungen führen kann.
Weist auf eine gefährliche Situation hin, die, wenn sie nicht
vermiedenwird, zu leichten Verletzungen führen kann.
Dieses Symbol weist auf eine Situationhin, die, wenn sie
nicht vermieden wird, zu Beschädigung von Sachen führen
kann.
Dieses Symbol weist auf wichtige Informationen hin.
30 Kollmorgen | kdn.kollmorgen.com | June 2018
Warnung vor einer Gefahr (allgemein). Die Art der Gefahr wird
durch den nebenstehendenWarntext spezifiziert.
Warnung vor gefährlicher elektrischer Spannung und deren
Wirkung.
Warnung vor heißer Oberfläche.
Warnung vor hängender Last.
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