Kollmorgen MKD-C Series, MKD-N060007, MKD-N060607, MKD-N120007, MKD-N120607 Product Safety Manual
...
MKD®-C, MKD®-N
Product Safety Guide
Edition: -, January 2019
Part Number 904-200024-99
English Deutsch Français Italiano Português Español Русский
Original language is English. All other content is translated from the genuine English content.
For safe and proper use, follow
these instructions.
Keep them for futurereference.
Record of Document Revisions
Revision Remarks
...
Table with lifecycle information of this document see (➜ # 79)
A, 01/2019 First edition
Contents
Product Safety Guide English (➜ # 3) Product Safety Guide Português (➜ # 47)
Product Safety Guide Deutsch (➜ # 23) Product Safety Guide Español (➜ # 49)
Product Safety Guide Français (➜ # 43) Product Safety Guide Русский (➜ # 51)
Product Safety Guide Italiano (➜ # 45)
Appendix/Dimensions (➜ # 55) Appendix/Faults and Warnings (➜ # 74)
Appendix/Connections (➜ # 57) Appendix/Approvals (➜ # 77)
Hardware Revision (HR)
MKD-N MKD-C Firmware WorkBench Remarks
A A from 1.18 from 1.18 MKD-C and MKD-N start revisions
Technical changes which improve the performance of the device may be made without prior notice!
This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be reproduced
in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic
means without the written permission of Kollmorgen.
Technische Änderungen zur Verbesserung der Leistung der Geräte ohne vorherige Ankündigung vorbehalten.
Dieses Dokument ist geistiges Eigentum von Kollmorgen. Alle Rechte vorbehalten. Kein Teil dieses Werkes darf in
irgendeiner Form (Fotokopie, Mikrofilm oder in einem anderenVerfahren) ohne schriftliche Genehmigung von Kollmorgen reproduziert oder elektronisch verarbeitet, vervielfältigt oder verbreitet werden.
Sous réserve de modifications techniques apportés en vue d'amélioration des appareils!
Ce document est la propriété intellectuelle de Kollmorgen.Tous droits réservés. Sans autorisation écrite de
l'entreprise Kollmorgen, aucune partie de cet ouvrage n'a le droit d'être ni reproduite par des moyens quelconques
(impression, photocopie, microfilm ou autre procédure) ni traitée, polycopiée ou distribuée électronique.
Il produttore si riserva la facoltà di apportare modifiche tecniche volte al miglioramento degli apparecchi
Questo documento è la proprietà intellettuale di Kollmorgen. Tutti i diritti riservati. Nessuna parte del documento può
essere riprodotta in qualsiasi forma (fotocopia, microfilm o altro processo) senza l’approvazione scritta della ditta Kollmorgen o rielaborata, riprodotta o diffusa mediante l’uso di sistemi elettronici.
Alterações técnicas que melhoram o desempenho do dispositivo podem ser feitos sem aviso prévio!
Este documento é uma propriedade intelectual da Kollmorgen. Todos os direitos reservados. Nenhuma parte deste
trabalho pode ser reproduzida sob qualquer forma (por fotocópia, microfilme ou qualquer outro método) ou
armazenado, processado, copiado ou distribuído por meios eletrônicos sem a permissão escrita da Kollmorgen.
Los cambios técnicos que mejoran el rendimiento del dispositivo pueden llevarse a cabo sin aviso previo.
Este documento es propiedad intelectual de Kollmorgen. Todos los derechos reservados. Ninguna parte de esta
obra, bajo concepto alguno, podrá reproducirse (por fotocopia, microfilm ni ningún otro método) ni almacenarse, procesarse, copiarse ni distribuirse por medios electrónicos sin el permiso por escrito de Kollmorgen.
Сохраняется право внесения технических изменений с целью усовершенствования приборов!
Настоящий документ является интеллектуальной собственностью Kollmorgen. Все права защищены.
Воспроизведение любой части данного издания в любой форме (фотокопия, микрофильм или иной метод) или
редактирование, размножение или распространение с помощью электронных систем без письменного
разрешения компании Kollmorgen запрещаются.
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MKD Product Safety Guide | 1 English
1 English
1.1 General 4
1.1.1 Notes for the Printed Edition (paper version) 4
1.1.2 Symbols Used 5
1.2 Product Safety 6
1.2.1 You should pay attention to this 6
1.2.2 Use as Directed 8
1.2.3 ProhibitedUse 9
1.2.4 Warning note labels 9
1.3 Product life cycle handling 10
1.3.1 Transport 10
1.3.2 Packaging 10
1.3.3 Storage 10
1.3.4 Installation, setup and normal operation 11
1.3.5 Decommissioning 11
1.3.6 Maintenance and cleaning 11
1.3.7 Disassembly 11
1.3.8 System Repair 12
1.3.9 Disposal 12
1.4 Technical description and general data 13
1.4.1 Package Supplied 13
1.4.2 Part Number Scheme 14
1.4.3 Ambient Conditions in normal operation 15
1.4.4 Electrical Data 15
1.4.5 System limits 15
1.5 Safe Torque Off (STO) 16
1.6 Mechanical Installation 17
1.6.1 Important Notes 17
1.6.2 Guide to Mechanical Installation 17
1.7 Electrical Installation 18
1.7.1 Important Notes 18
1.7.2 Guide to electrical installation 18
1.8 Setup 19
1.8.1 Important Notes 19
1.8.2 Initial System Test 20
1.9 Troubleshooting the MKD System 21
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MKD Product Safety Guide | 1 English
1.1 General
This manual, the MKD-C/N Product Safety Guide, presents the relevant information for safe
installation and setup of MKD drive system modules MKD-C power supply and MKD-N servo
drive.
For full informationrefer to the MKD-C/N Installation Manual, to the AKD-N Installation
Manual and additional Kollmorgen documents.
Additional documents include the following:
WorkBench Online Help: describes how to use the system in common applications. It
also provides tips for maximizing your system performance. The Online Help includes the
Parameter and Command Reference Guide which provides documentation for the parameters and commands used to program the system.
EtherCAT Communication: describes how to use the system in EtherCAT applications.
These documents can be found on the DVD in the drive package. All documents can be
downloaded from the Kollmorgen website www.kollmorgen.com.
1.1.1 Notes for the Printed Edition (paper version)
A printed version of the manual is enclosed with each product. For
environmental reasons, the document was reduced in size and printed on DIN A5.
Should you experience difficulties reading the font size of the
scaled-down printed version, you can print and use the PDF version in DIN A4 format 1:1. You can find the PDF version on the
DVD accompanying the product and on the Kollmorgen website.
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1.1.2 Symbols Used
Symbol Indication
DANGER
Indicates a hazardous situation which, if not avoided, will result in death or serious injury.
MKD Product Safety Guide | 1 English
WARNING
CAUTION
Indicates a hazardous situation which, if not avoided, could
result in death or serious injury.
Indicates a hazardous situation which, if not avoided, could
result in minor or moderate injury.
Indicates situations which, if not avoided, could result in property damage.
This symbol indicates important notes.
Warning of a danger (general). The type of danger is specified
by the text next to the symbol.
Warning of danger from electricity and its effects.
Warning of danger from hot surface.
Warning of danger from suspended loads.
Warning of danger from automatic start.
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1.2 Product Safety
1.2.1 You should pay attention to this
Specialist staff required!
Only properly qualified personnel are permitted to perform such tasks as transport, installation and setup. Qualified specialist staff are persons with expertise in transport, installation,
assembly, commissioning and operation of electrotechnical equipment.
Transport, storage, unpacking: only by personnel with knowledge of handling electrostatically sensitive components.
Mechanical installation: only by personnel with mechanical expertise.
Electrical installation: only by personnel with expertise in electrical engineering.
Basic tests / setup: only by personnel with expertise in electrical engineering and drive
technology.
The qualifiedpersonnel must know and observe ISO 12100 / IEC 60364 / IEC 60664and
national accident prevention regulations.
Read the documentation!
Read the availabledocumentation before installation and commissioning. Improper handling
of the devices can cause harm to people or damage to property. The operator of systems
using the drive system must ensure that all personnel who work with the drive read and understand the manual before using the drive.
Check Hardware Revision!
Check the Hardware Revision Number of the product (see product label). Hardware Revsion
Number of MKD-C and MKD-N can differ from each other. This numberis the link between
your product and the manual. The product HardwareRevision Numbermust match the Hardware Revision Number on thecover page of the manual.
Pay attention to the technical data!
Adhere to the technical data and the specifications on connection conditions. If permissible
voltage values or current values are exceeded, the devices can be damaged. Unsuitable
motor or wrong wiring will damage the system components. Check the combination of drive
andmotor. Compare the rated voltage and current of the units.
Perform a risk assessment!
The manufacturerof the machine must generate a risk assessment for the machine, andtake
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.
The manufacturershould define periodic checks of the electrical components and application.
Automatic Restart!
The drive might restart automatically after power on, voltage dip or interruption of the supply
voltage, depending on theparameter setting.
Risk of death orserious injury for humans working in the machine.
If the parameterDRV.ENDEFAULT for one MKD-N is set to 1, then place a warning sign to
the machine (Warning: Automatic Restart at Power On)and ensure, that poweron is not possible, while humans are in a dangerous zoneof the machine. In case of usingan undervoltage protection device, you must observe EN 60204-1:2006 chapter 7.5 .
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MKD Product Safety Guide | 1 English
Observe electrostatically sensitive components!
The devices contain electrostatically sensitive components which may bedamaged by incorrect handling. Electrostatically discharge your body before touching the device. Avoid contact with highly insulatingmaterials (artificial fabrics, plastic film etc.). Place the device on a
conductive surface.
Hot surface!
Drives may have hot surfaces during operation. The housing can reach temperatures above
80°C. Risk of minorburns! Measure the temperature, and wait until the housing has cooled
down below 40 °C before touching it.
Earthing!
It is vital that you ensure that the drive is safely earthed to the PE (protective earth) busbarin
the switch cabinet. Risk of electric shock. Without low-resistance earthing no personal protection can be guaranteed.
Leakage Current!
Since the leakage current to PE is more than 3.5 mA, in compliance with IEC61800-5-1 the
PE connection must either be doubledor a connecting cable with a cross-section >10 mm²
must be used. Deviating measures accordingto regional standards might be possible.
Residual current protective or monitoring devices!
MKD-C with MKD-N can cause a d.c. current in the protective earthingconductor. Wherea
residual current-operated protective (RCD) or monitoring(RCM) device is used for protection
in case of direct or indirect contact, only an RCD or RCM of Type B is allowed on the supply
side of MKD-C.
Lethal voltages!
The equipment produces highelectric voltages up to 900V. Lethal danger exists at live parts
of the device. Do not open or touch the equipment during operation. Keep theIP 54 cabinet
doors closed duringoperation. Built-in protection measures such as insulation or shielding
may not be removed. Work on the electrical installation may only be performed by trained
andqualified personnel, in compliance with the regulations for safety at work, and only with
switched off mains supply, and secured against restart.
Never undo any electrical connections to the MKD while it is live. Thereis a dangerof electrical arcing with damage to contacts and personal injury. Wait at least 5 minutes after disconnecting the product from the supply voltages (mains supply and 24V supply) before
touching potentially live sections of the equipment (such as contacts) or removing any connections.
Functional Safety
Safety functionality is not approved nor certified. Do not use this functionality in applications
with functional safety request.
Never modify the drive!
It is not allowed to modify the drive hardware without permission by the manufacturer. Opening the housingcauses loss of warranty.
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1.2.2 Use as Directed
The MKD-C series powersupplies are exclusively intended for operatingMKD-N servo drive
modules within a cabinet and AKD-N decentralized servo drives.
The MKD-N family of servo drives is exclusively intended for driving suitable synchronous
servomotors with closed-loop control of torque, speed, and/or position.
MKD system modules arecomponents that are built into electrical plants or machines and
can only be operatedas integral components of these plants or machines. The manufacturer
of the machinemust generate a risk assessment for the machine.
When the system modules are built into machines or plant, the drive must not be used until it
has been established that the machine orplant fulfills the requirements of the regional directives.
Kollmorgen multi axes drive system
MKD must only be operated in a motion system with components from Kollmorgen. Required
additional Kollmorgencomponents are the mains chokes, hybrid string cables, hybrid motor
cables, motor power and feedback cables, servomotors.
Assembling
MKD modules must only be operated in environments suitable for the ambient conditions
defined on(➜ # 15).
Wiring
Use only Kollmorgen cables for connecting the system components.
Power supply
MKD-C must be powered from a 3 phase industrial supply network
(not more than 42 kA symmetrical rated current at 400 V and 480 V) via a mains choke 3YL.
MKD-N series drives must be powered by MKD-C intelligent power supply modules with DC
voltage from 55 VDC up to 800 VDC.
Fusing
The devices must be operatedwith fuse protection against power overload.
Motor voltage rating
The rated voltage of the motors must be at least as high as the DC bus link voltagedivided by
√2 produced by the drive (U
nMotor
>=UDC/√2).
For the cases of group installations and of DC powered drives
MKD has not been evaluated by Kollmorgen, UL, or TÜV for group installations norare ratings defined for DC input voltage.
Auxiliary voltage supply, Standby power
Standby power for the drive strings must only be used for supplying the MKD-N electronics.
24 VDC supply unit must accord to PELV (EN 60204-1) requirements.
Safe torque off
Safety functionality is not approved nor certified. Do not use this functionality in applications
with functional safety request.
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1.2.3 Prohibited Use
Otheruse thanthat described in chapter “Use as directed”is not intended and can lead to personnel injuries and equipment damage.
The system may not be used
The use of the device in the following environments is also prohibited:
Wiring the system with hybrid cables from othermanufacturers than Kollmorgen is not
allowed. Changing Kollmorgen cables or connectors is not allowed.
MKD Product Safety Guide | 1 English
with a machine that does not comply with appropriate national directives or standards,
for driving elevators,
in applications with continuous, operational short circuits to the external regen resistor
contacts.
in applications with any short circuits to the DC-Bus link contacts.
potentially explosive areas
environments with corrosive and/or electrically conductive acids, alkaline solutions, oils,
vapors, dusts
ships or offshoreapplications
1.2.4 Warning note labels
If these signs are damaged, they must be replaced immediately.
1.2.4.1 Notes placed on the product
The minimum size of the
protective earthing conductor
shall comply with the local safety
regulations for highprotectice
earthingconductor current.
Residual Voltage
Wait 5 minutes after removing
powerbefore servicing.
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1.3 Product life cycle handling
1.3.1 Transport
Transport the MKD modules in accordance with IEC 61800-2as follows:
Transport only by qualified personnel in the manufacturer’s original recyclable packaging.
Avoid shocks while transporting.
Vibration/Shock: MKD modules are tested for environmental class 3M1 of IEC 60721-3-2.
Store at or below maximum stacking height of 8 cartons
Transport only within specified temperature ranges: -25 to +70 °C, max. rate of change 20
K/hour, class 2K3.
Transport only within specified humidity: maximum 95% relative humidity, no condensation, class 2K3.
The devices contain electrostatically sensitive components that can be damaged by incorrect handling. Electrostatically discharge yourself before touching the device. Avoid contact
with highly insulating materials, such as artificial fabrics and plastic films. Place the device
on a conductive surface.
If the packagingis damaged, check the unit for visible damage. Inform the shipper andthe
manufacturer of any damageto the package or product.
1.3.2 Packaging
1.3.3 Storage
The MKD packaging consists of recyclable cardboard with inserts and a label on the outside
of the box.
Model Package Dimensions
(mm) HxWxL
MKD-C003007 580x 350 x 170 22.5
MKD-N060007
MKD-N060607
MKD-N120007
MKD-N120607
MKD-N121207
MKD-N240007 580x 350 x 110 9.5
MKD-N480007 580x 350 x 140 11.5
Store the MKD modules in accordance with IEC 61800-2as follows:
Store only in the manufacturer’s original recyclable packaging.
Store at or below maximum stacking height of 8 cartons
Store only within specified temperature ranges: -25 to +55 °C, max.rate of change20
K/hour, class 1K4.
Storage only within specified humidity: 5 to 95% relative humidity, no condensation, class
1K3.
Store the MKD in accordance with the following durationrequirements:
Less than 1 year: without restriction.
More than 1 year: capacitors in the MKD-C must be re-formed before setting upand
operating the system. Re-forming procedures are described in the Kollmorgen
Developer Network (Forming).
580x 350 x 110 8.5
Total Weight
(kg)
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1.3.4 Installation, setup and normal operation
Installation and setup information aregiven in this Guide:
Mechanical installation (➜ # 17)
Electrical installation (➜ # 18)
Setup (➜ # 19)
Normal operationtested for environmental class 3K3 according to IEC 61800-2 (➜ # 15).
The manufacturerof the machine defines the necessary end user expertise based onthe risk
assessment for the machineand describes the requirements for normal operation based on
the application.
1.3.5 Decommissioning
Only professional staff who are qualified in electrical engineering are allowedto decommission parts of the system.
DANGER: Lethal Voltages!
There is a dangerof serious personal injury or death by electrical shock or electrical arcing.
Switch off the mainswitch of the switchgearcabinet.
Securethe system against restarting.
Block the mainswitch.
Wait at least 5 minutes after disconnecting.
MKD Product Safety Guide | 1 English
1.3.6 Maintenance and cleaning
The device does not require maintenance. Opening the device voids the warranty. The inside
of the unit can only be cleaned by the manufacturer.
Do not immerse orspray the device. Avoid that liquidenters the device.
To clean the device exterior:
1. Decommission the device (see chapter 1.3.5 "Decommissioning").
2. Casing: Clean with isopropanol or similar cleaning solution.
Caution : Highly Flammable! Risk of injury by explosion and fire.
Observe the safety notes given on the cleaning liquid package.
Wait at least 30 minutes after cleaning beforeputting the device back into operation.
3. Protective grill on fan: Clean with a dry brush.
1.3.7 Disassembly
Only professional staff who are qualified in electrical engineering are allowedto disassemble
parts of the system.
1. Decommission the device (see chapter 1.3.5 "Decommissioning").
2. Check temperature.
CAUTION: High Temperature! Risk of minor burns. During operation, the heat sink of
the drive may reach temperatures above 80°C (176°F). Before touching the device,
check the temperature and wait until it has cooled below 40°C (104°F).
3. Remove the connectors. Disconnect the potential earth connection last.
4. Demount: loosen the fasteningscrews. Remove the device.
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1.3.8 System Repair
Only professional staff who are qualified in electrical engineering are allowedto exchange
parts of the drive system.
CAUTION: Automatic Start! During replacement work a combinationof hazards and mul-
tiple episodes may occur.
Work on the electrical installation may only be performed by trained and qualifiedpersonnel, in compliance with the regulations for safety at work, and only with use of prescribed personal safety equipment.
Exchange of the device
Only the manufacturer can repair the device. Opening the device voids the warranty.
1. Decommission the device (see chapter 1.3.5 "Decommissioning").
2. Demount the device (see chapter 1.3.7 "Disassembly").
3. Send the device to the manufacturer.
4. Install a new device as described in this manual.
5. Setup the system as describedin this manual.
Exchange of other drive system parts
If parts of the drive system (forexample cables) must be replaced, proceed as follows:
1.3.9 Disposal
1. Decommission the device (see chapter 1.3.5 "Decommissioning").
2. Exchange the parts.
3. Check all connections for correct fastening.
4. Setup the system as describedin this manual.
To dispose the unit properly, contact a certified electronic scrap disposal merchant.
In accordance with the WEEE-2012/19/EC guideline and similar, the manufacturer accepts
returns of old devices and accessories for professional disposal. Transport costs are the
responsibility of the sender.
Contact Kollmorgen and clarify the logistics.
Send thedevices in the original packaging to the manufacturer address:
North America South America
KOLLMORGEN
201West Rock Road
Radford, VA 24141, USA
Europe Asia
KOLLMORGEN Europe GmbH
Pempelfurtstr. 1
40880 Ratingen, Germany
KOLLMORGEN
AvenidaJoão Paulo Ablas, 2970
Jardim da Glória, Cotia – SP
CEP 06711-250, Brazil
KOLLMORGEN
Floor 4, Building 9, No. 518,
North Fuquan Road, Changning District,
Shanghai 200335, China
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1.4 Technical description and general data
1.4.1 Package Supplied
Available MKD Modules
Variant Description Power Remarks
MKD-C003007-NAEC Central Power supply 30kW Standard
MKD-N060007-DSEC Drive Module 2.5 kW Single Axis, 6A
MKD-N060607-DSEC Drive Module 5kW Dual Axes, 2 x 6A
MKD-N120007-DSEC Drive Module 5kW Single Axis, 12A
MKD-N120607-DSEC Drive Module 7.5 kW Dual Axes, 12A + 6A
MKD-N121207-DSEC Drive Module 10 kW Dual Axes, 2 x 12A
MKD-N240007-DSEC Drive Module 10 kW SingleAxis, 24A
MKD-N480007-DSEC Drive Module 20 kW SingleAxis, 48A
When a MKD module is ordered, the following items are included in the package:
MKD-C package:
The ordered module itself
Printedcopy of MKD Product Safety Guide
DVD containing the setup software, WorkBench, and all product documentation in digital
format.
Mating connectors MKD-C: X12, X13, X14, X15, X16, X25
OneMKD-N DC-Bus link cover
Two connector covers M23 for AKD-N
MKD Product Safety Guide | 1 English
The M23 connector covers are required forprotecting X2 of the last AKD-N in the strings.
MKD-N package:
The ordered module itself
Data Sheet
Mating connectors MKD-N: X9, X24, X26
Accessories:
Accessories must be ordered separately if required.
Accessories for AKD-N see regional Accessories Manual or AKD-N Installation Manual.
Spare parts
Connector Kit MKD-C-Conkit (X12, X13, X14, X15, X16, X25)
Connector Kit MKD-N-Conkit 6 to 12 A single (X9, X24, X26, X29A)
Connector Kit MKD-N-Conkit 6 to 12 A double (X9, X24, X26, X29A, X29B)
Connector Kit MKD-N-Conkit 24 to 48 A (X9, X24, X26, X29A, X30A)
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1.4.2 Part Number Scheme
Use the part numberscheme for product identification only, not for the order process,
because not all combinations of features arepossible, always.
1.4.2.1 MKD-C modules
Customization code codingfor customerspecials (not relevant for functional safety).
1.4.2.2 MKD-N modules
Available drive modules:
Current rating Current rating
Single Axis Axis 1 Axis 2 Dual Axes Axis 1 Axis 2
MKD-N0600 06 A - MKD-N0606 06 A 06 A
MKD-N1200 12 A - MKD-N1206 12 A 06 A
MKD-N2400 24 A - MKD-N1212 12 A 12 A
MKD-N4800 48 A -
Customization code codingfor customerspecials (not relevant for functional safety).
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1.4.3 Ambient Conditions in normal operation
Storage, Transport (➜ # 10)
Normal operation Environmental class 3K3 accordingto IEC 61800-2
Surrounding air tem-
perature in operation
Humidity in operation Relative humidity 5 to 85%, nocondensation, class 3K3
Site altitude Up to 1000 meters above mean sealevel without restriction
Pollution level Pollution level 2 as per IEC 60664-1
Vibrations Class 3M1 according to IEC 60721-3-3
Environmental area Cabinet IP 54 according to IEC 60529
Mounting position Vertical
Ventilation Built-in fan.
CAUTION
0 to +40 °C under rated conditions
+40 to +55 °C with continuous current derating4 % perKelvin
1,000 to max. 2,000 meters above mean sea level with power
derating1.5%/100 m
Continuous noise up to 60dBA during operation. Keep cabinet
doors closed duringoperation. To reduce inconvenience, we suggest to use ear protection if cabinet doors must be opened during
normal operation.
The device shuts down in case of excessively high temperature
in the control cabinet. Make sure sufficient forcedventilationis
supplied within the control cabinet.
MKD Product Safety Guide | 1 English
1.4.4 Electrical Data
Electrical data (➜ # 53)
1.4.5 System limits
Length String 2/3 Maximum 100 m total cable length perstring.
Number of MKD-C Limitedby fieldbus protocol.
Number of MKD-N
axes
Number of AKD-N Maximum 14per string, total maximum 28 onstrings 2 and3,
Output current Use coincidence factor of the axes for distribution and system
Total power At 565 V to 680 V limited to 30kW.
String 2/3 power At 565 V to 680 V limited to 10kW for each string.
String standby power At 55 V limited to 180W for each string.
Motor Brake power You can control up to 3 motorbrakes per string. Available power
Service Interface X18 Ethernet TCP/IP, 100 Mbit/s, max. cable distance 100m
Maximum 14axes for string 1, total maximum 28 axes if string 1
and2 are combined (observe total power and current restrictions).
(observe total power and current restrictions).
poweroptimization.
String 1: 43 A, String 2: 16 A, String 3: 16 A
for brakes is 76 W per string(= 3.2 A @ 24 VDC).
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1.5 Safe Torque Off (STO)
Safety functionality is not approved nor certified. Do not use this functionality in applications
with functional safety request.
Refer to the MKD Installation Manual for full information on functional safety.
The safety properties given by Kollmorgenlisted in the appendix (➜ # 77) can be reached if
the Kollmorgen components are used. The resulting Functional Safety classification (SIL
and/or PL level)must be calculatedacross the drive system.
MKD-C connector X16:
global STO (String 2/3) inputs of the system powered by this MKD-C.
MKD-N connector X26:
local STO (axis 1 and axis 2 if built-in) input of the drive module.
AKD-N connectors X6:
local STO input of the AKD-N-DS/DT drive modules.
Global STO
There is one STO input for every DC Power string. The string STO input release the power
output stageof all AKD-N (without option DS/DT) connected to the string as longas a 24 V
signal is applied to this input.
Local STO
The local STO input releases the power output stage of the MKD-N drive axis as longas a 24
V signal is applied to this input.
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1.6 Mechanical Installation
Dimensions and mounting hints see (➜ # 55)and refer to the MKD Installation Manual.
1.6.1 Important Notes
MKD-C and MKD-N devices must be mountedin cabinets only with protection class IP 54
according to IEC 60529.
MKD Product Safety Guide | 1 English
CAUTION
Risk of electrical shock, if the servo amplifier (or the motor) is not properly EMC-grounded.
Do not use painted (i.e. non-conductive) mounting plates.
In unfavourable circumstances, use copper mesh tape between the earthing bolts and
earth potential to deflect currents.
Protect the device from impermissible stresses. In particular, do not let any components
become bent or any insulation distances altered during transport and handling. Avoid contact with electronic components and contacts.
The modules will switch itself off in case of overheating. Ensure that the mountingspace
matches the requirements (➜ # 15).
Do not mount devices that produce magnetic fields directly beside the device. Strong magnetic fields can directly affect internal components. Install devices which produce magnetic
field with distance to the MKD-C and/orshield themagnetic fields.
1.6.2 Guide to Mechanical Installation
For details refer to the MKD Installation Manual.The following tools are required (at a min-
imum) to install the MKD-C and MKD-N modules; yourspecific installationmay require additional tools.
M4 hexagon socket-cap screws (ISO 4762)
3 mm T-handle Allen key
No. 2 Phillips head screwdriver
Small slotted screwdriver
High EMC Voltage Level!
Install the modules as follows:
1. Prepare the site. The MKD modules must be mounted in a closed control cabinet (➜ #
15). The site must be free from conductive or corrosive materials.
2. Check that the ventilation of the modules is unimpeded, and keepwithin the permitted
ambient temperature (➜ # 15). Keep the required space clearance above andbelow the
modules (➜ # 56).
3. If cooling systems are used forthe control cabinet, position the cooling system so that
condensation water cannot drip onto the modules or peripheral devices.
4. Assemble the power supply module and the drive modules on the conductive, grounded
mounting plate in the cabinet.
5. Ground the modules, the mounting plate, motor housing, GND of 24V supply and CNCGND of the control system.
For mechanical installation of AKD-N to the machine, refer to the AKD-N Installation
Manual.
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MKD Product Safety Guide | 1 English
1.7 Electrical Installation
Connectors and Wiring overview see (➜ # 57)and refer to the MKD Installation Manual.
1.7.1 Important Notes
Only professional staff who are qualified in electrical engineering are allowedto install the
drive system. Wires with colorgreen with one or more yellow stripes must not be used other
than for protective earth (PE) wiring.
DANGER
There is a dangerof serious personal injury or death by electrical shock or electrical arcing.
Capacitors can still have dangerous voltages present up to 5 minutes after switchingoff the
supply power. Control and power connections can still be live, even if the motor is not rotating.
Only install and wire the equipment when it is not live.
Make sure that the cabinet is safely disconnected (forinstance, with a lock-out and warning signs).
Never remove electrical connections to the drive while it is live.
Wait at least 5 minutes after disconnecting the drive from the main supply power before
touching potentially live sections of the equipment (e.g. contacts) or undoingany connections.
To be sure, measure the voltage in the DC bus link and wait until it has fallen below 50 V.
Since the leakage current to PE is more than 3.5 mA, in compliance with IEC61800-5-1 the
PE connection must either be doubledor a connecting cable with a cross-section >10 mm²
must be used. Deviating measures accordingto regional standards might be possible.
WrongDC Bus link voltage, unsuitable motoror wrong wiringwill damage the system components. Check the combination of drive and motor. Compare the rated voltage and current
of the units. Implement the wiring according to the connection diagrams: (➜ # 57).
It is permissible to use the setup software to alter the settings of the device. Any other alterations will invalidate the warranty.
High Voltage up to 900 V!
1.7.2 Guide to electrical installation
For details refer to the MKD Installation Manual. Install the drive electrical system as follows:
1. Select cables accordance with the planned system topology, see (➜ # 15).
2. Observe the maximum cable length definition (➜ # 15).
3. Install shielding and ground the system components, see (➜ # 61).
4. Wire the system components.
- Observe "Recommendations for EMI noise reduction": see MKD Installation Manual
- Connect all interface according to the wiring diagrams in the MKD Installation Manual.
5. Check the wiring against the wiringdiagrams in the MKD Installation Manual.
For electrical installation of AKD-N to the machine, referto the AKD-N Installation Manual.
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1.8 Setup
For detailed information on functional safety refer to the MKD Installation Manual.
Programming parameters and control loop behavior: see WorkBench online help.
The fieldbus setup is describedin the corresponding manual on the DVD.
1.8.1 Important Notes
Beforetesting andsetup, the manufacturer of the machine must generate a risk assessment
for the machine and take appropriate measures so that unforeseen movements cannot
cause injury or damage to any person or property.
Only professional personnel with extensive knowledge in the fields of electrical engineering
anddrive technology are allowed to test and set up the drive.
MKD Product Safety Guide | 1 English
DANGER
There is a dangerof serious personal injury or death by electrical shock. Lethal danger exists
at live parts of the device.
Built-in protection measures such as insulation orshielding may not be removed.
Work on the electrical installation may only be performed by trained and qualifiedpersonnel, in compliance with the regulations for safety at work, and only with switched off
mains supply, and secured against restart.
WARNING
Risk of death orserious injury for humans working in the machine. The drive might restart
automatically after power on, voltage dip or interruption of the supply voltage, depending on
the parameter setting. If parameterDRV.ENDEFAULT is set to 1,
then place a warning sign ("WARNING: Possible Automatic Restart" or similar) to the
machine.
Ensure, that power on is not possible, while humans are in a dangerous zone of the
machine.
CAUTION
Risk of minor burns. The heat sink of the drive can reach temperatures up to 80°C in operation.
Check the heat sink temperaturebefore handlingthe drive.
Wait until the heat sink has cooled down to 40°C before touching it.
Lethal Voltage!
Automatic Restart!
High Temperature!
If a device has been stored for more than 1 year, you must re-form the capacitors in the DC
bus link circuit. Re-forming procedures aredescribed in the KollmorgenDeveloper Network
(Forming).
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MKD Product Safety Guide | 1 English
1.8.2 Initial System Test
1. Unpack the devices and accessories. Observe the safety instructions in the documentation.
2. Mount the devices and wire the system.
3. Validate mechanical and electrical installation.
4. Validate IP addresses
5. Make sure you have on hand the following information about the drive components:
rated mains supply voltage
motor type (motor data, if the motor type is not listed in the motordatabase)
feedback unit built into the motor (type, poles/lines/protocol)
moment of inertia of the load
1.8.2.1 Set system addresses
The MKD-C IP address can beset with the rotary switch. When connecting the MKD-C directly to a PC, static IP addressing (not 0) is recommended.
Example: if S1 is set to 5 – the IP address is 192.168.0.5
WorkBench looks for IP address in the subnet to detect devices in the LAN and start communication. Refer to the WorkBench Online Help for information.
1.8.2.2 Confirm connections
Switch on 24 VDC logic power for the system (mains supply voltage is not neededfor communications).
Confirm that the greenlink LED 1 on the MKD-C and on the PC are both illuminated.
While the PC is connecting, yourstatus bar will show the following acquiring icon:
Wait for this icon to changeto the limited functionality icon (this process can take up to one
minute).
Although Windows displays this limited functionality icon for the drive connection, the PC
can communicate fully with the drive. Using WorkBench, you can now configure the drive
throughthis connection.
1.8.2.3 Install and start WorkBench
WorkBench is available from the DVD included with the drive and on theKollmorgen Website: www.kollmorgen.com. Select the install file and follow the instructions given by the
installer.
Once installation is complete, click the WorkBench icon to start the program.
1.8.2.4 Parameterize and enable the axes in WorkBench
Refer to the WorkBench Online Help for information.
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1.9 Troubleshooting the MKD System
Drive problems occur for a variety of reasons, depending on the conditions in yourapplication. The causes of faults in multi-axis systems can be very complex. If you cannot resolve
a fault, Kollmorgen customersupport can give you furtherassistance.
Eliminate errors and faults in compliance with work safety rules. Troubleshooting only by
qualified and trained staff.
Details on the removal of faults can be found in the WorkBench onlinehelp.
MKD Product Safety Guide | 1 English
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MKD Product Safety Guide | 1 English
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MKD Product Safety Guide | 2 Deutsch
2 Deutsch
2.1 Allgemeines 24
2.1.1 Hinweise für die gedruckte Ausgabe(Papierversion) 24
2.1.2 Verwendete Symbole 25
2.2 Produktsicherheit 26
2.2.1 Das sollten Sie beachten 26
2.2.2 Bestimmungsgemäße Verwendung 28
2.2.3 Nicht bestimmungsgemäße Verwendung 29
2.2.4 Warnaufkleber 29
2.3 Produkt Lebenszyklus, Handhabung 30
2.3.1 Transport 30
2.3.2 Verpackung 30
2.3.3 Lagerung 30
2.3.4 Installation, Setup und Normalbetrieb 31
2.3.5 Außer Betrieb nehmen 31
2.3.6 Wartung und Reinigung 31
2.3.7 Demontage 31
2.3.8 System Reparatur 32
2.3.9 Entsorgung 32
2.4 Technische Beschreibung und allgemeine Daten 33
2.4.1 Lieferumfang 33
2.4.2 Typenschlüssel 34
2.4.3 Umgebungsbedingungen im normalen Betrieb 35
2.4.4 Elektrische Daten 35
2.4.5 Systemgrenzen 35
2.5 Safe Torque Off (STO) 36
2.6 Mechanische Installation 37
2.6.1 Wichtige Hinweise 37
2.6.2 Anleitung für die mechanische Installation 37
2.7 Elektrische Installation 38
2.7.1 Wichtige Hinweise 38
2.7.2 Anleitung für die elektrische Installation 38
2.8 Setup 39
2.8.1 Wichtige Hinweise 39
2.8.2 Basis Systemtest 40
2.9 Fehlerbehebung beim MKD System 41
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MKD Product Safety Guide | 2 Deutsch
2.1 Allgemeines
Der MKD-C/N Product Safety Guide liefert die relevanten Informationen für sichere Instal-
lation und Inbetriebnahme der MKD Systemmodule MKD-C Netzteil und MKD-N Servoverstärker.
Vollständige Informationen finden Sie im MKD-C/N InstallationManual , in derAKD-N
Betriebsanleitung und weiteren Kollmorgen Dokumenten.
Weitere Dokumente auf der beiliegenden DVD:
WorkBenchOnlinehilfe: Beschreibt die VerwendungdesSystems in gängigenApplikationen. Sie liefert auch Hinweise für die Optimierung der Systemleistung. Die Online
Hilfe beinhaltet den Parameter and Command Reference Guide mit Informationenzu Para-
metern und Befehlen, die zum Programmieren des Systems benutzt werden.
EtherCAT Communication: beschreibt die Verwendung des Systems in EtherCAT Applikationen.
Diese Dokumente finden Sie auf der DVD in der Verpackungdes Servoverstärkers. Alle
Dokumente können Sie von der Kollmorgen Website www.kollmorgen.com herunterladen.
2.1.1 Hinweise für die gedruckte Ausgabe (Papierversion)
Jedem Produkt liegt eine gedruckte Ausgabe dieses Handbuchs
bei. Aus ökologischen Gründen wurde das Dokument verkleinert
auf DIN A5 gedruckt.
Sollten Sie Schwierigkeiten haben, die Schriftgröße des verkleinert gedruckten Exemplars zu lesen, können Sie die PDF Version im DIN A4 Format 1:1 ausdrucken und verwenden. Sie finden
die PDF Version auf der dem Produkt beiliegenden DVD und auf
der Kollmorgen Internetseite.
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