Kollmorgen AKD 2G-S Series

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9.3.1 Switch-on behavior in standard operation

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

AKD2G-S Installation Manual, Safety 1

Kollmorgen | kdn.kollmorgen.com | June, 2023 171

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Table of Contents4
General10
About this Installation Manual11
Using the PDF Format11
Symbols Used12
Abbreviations Used13
Product Safety14
You Should Pay Attention to this15
Use as Directed17
Prohibited Use18
Warning Note Labels18
Notes Placed on the Product18
Adhesive Label in the Package18
Shock-Hazard Protection19
Leakage Current19
Residual Current Protective Device (RCD)19
Isolating Transformers19
Stop / Emergency Stop / Emergency off20
Stop20
Emergency Stop21
Emergency off21
Product Life Cycle Handling22
Transport23
Packaging23
Storage23
Installation, Setup and Normal Operation23
Decommissioning24
Volatile and Non-Volatile Memory24
Maintenance and Cleaning24
Disassembly24
System Repair25
Disposal25
Package26
Package Supplied27
Nameplate27
Part Number Scheme28
Connector Options Availability29
Technical Description and Data30
The AKD2G Family of Digital Drives31
Ambient Conditions, Ventilation and Mounting Position33
Mechanical Data34
Performance Data34
Electrical Data35
Single Axis Variants (S)35
Mains Supply Data, 1 Phase AC, Type AKD2G-Sxx- (S)35
Mains Supply Data, 3 Phase AC, Type AKD2G-Sxx- (S)35
Mains Supply Data, DC, Type AKD2G-Sxx- (S)35
Output Data, Type AKD2G-Sxx- (S)36
Dual Axis Variants (D: I1=I2)37
Mains Supply Data, 1 Phase AC, Type AKD2G-Sxx- (D)37
Mains Supply Data, 3 Phase AC, Type AKD2G-Sxx- (D)37
Mains Supply Data, DC, Type AKD2G-Sxx- (D)37
Output Data, Type AKD2G-Sxx- (D)38
Steady State Control Current Per Brake Option39
Electrical Motor Braking40
Drive Dynamic Braking40
Regeneration Braking40
Functional Description40
Technical Data for AKD2G-Sxx-6V41
Technical Data for AKD2G-Sxx-7V42
LCD Display and Push-Buttons (B1, B2)43
SD Card Slot46
Mechanical Installation47
Important Notes48
Guide to Mechanical Installation48
Dimensions49
Electrical Installation51
Important Notes52
Guide to Electrical Installation53
Wiring54
General54
Mating Connectors54
Cable and Wire Requirements55
Cable Material55
Cable Length55
T-Connector Wiring55
Cable Cross Sections and Requirements56
Protective Earth Connection57
EMI Noise Reduction58
Reducing EMI Noise58
Shielding with External Shielding Busbar59
Shielding Concept59
Shielding Busbar60
Shielding Connection to the Drive61
Shielding Concept61
Grounding Plates and Shield Connection Clamps62
Motor Connector X1/X2 with Shielding Connection62
Connection Overview63
Connector Position AKD2G-Sxx-6V63
Connector Position AKD2G-Sxx-7V64
AKD2G 480 Vac, 24 Amp Drive65
Wiring Overview, Single Axis Drive66
AKD2G Sxx-Xxs 3-12 Amp Drives66
AKD2G Sxx-724S 24 Amp Drives67
Wiring Overview, Dual Axis Drive68
AKD2G Sxx-Xxs 3-12 Amp Drives68
Connector Pinout69
X1 and X2: Motor, Brake, Feedback69
X3: Mains, Regen Resistor, DC-Bus70
X3A/X3B: Mains, Regen Resistor, DC-Bus71
X4: Second Brake72
X5: Feedback72
X10: 24 VDC72
X11, X12: Ethernet Fieldbus73
X13, X14: CAN Bus (Optional)73
X20: Service73
X21: I/O, Feedback74
X22: I/O, EEO2, Feedback75
X23: I/O, EEO1, Feedback76
X41: SFA Feedback Converter, EEO3/EEO4 EXX3/EXX4 (Accessory)77
Power and Logic Voltage Supply (X3/X10)78
Electrical Supply Connection78
Connection to Various Mains Supply Networks AKD2G-Sxx-6V (100V to 240V)78
Connection to Various Mains Supply Networks AKD2G-Sxx-7V (240V to 480V)79
Mains Power Supply Connector X3/X3A80
Wiring Examples Mains Power Supply81
Fusing85
Auxiliary Voltage Power Supply Connector X1091
Fusing91
Wiring Example 24 VDC Supply91
DC Bus Link Connector X3/X3B92
Fusing93
Wiring Example with T Connectors93
Wiring Example with Busbar94
Regen Resistor Connector X3/X3B95
Fusing and Wiring95
Motor Power, Brake and Feedback Connection96
Motor Connectivity, some Examples96
Single Motor Cable Connection97
Motor Power, Brake and Feedback Connectors97
Feedback Connectors98
Secondary Brake Connector X498
Dual Motor Cable Connection99
Motor Power and Motor Brake Connectors100
Feedback Connectors100
7V24S Model Secondary Brake Connector X4100
Motor Holding Brake Connection101
Secondary Brake Connector X4103
Feedback Connection104
Overview104
Feedback to Connector104
Feedback Type to Connector105
Maximum Cable Lengths by Feedback Type105
Feedback Connectors106
Feedback Connector X5107
Feedback Connector X21108
Feedback Connector X22109
Feedback Connector X23110
X23 Connector Pinout Summary110
X23 Feedback Wiring Pinout Diagrams112
X23 SFD Feedback112
X23 Resolver Feedback113
X23 Biss (Mode B) Analog Feedback114
X23 Biss (Mode C) Digital Feedback115
X23 Endat 2.1 Feedback (with 1V P-P Analog Signals)116
X23 Endat 2.2 Digital Feedback117
X23 HIPERFACE Feedback118
X23 Sine Encoder Feedback119
X23 Sine Encoder with Hall Feedback120
X23 Incremental Encoder Feedback121
X23 Incremental Encoder with Hall Feedback122
X23 Hall Feedback123
X23 SSI Feedback123
X23 Step / Direction and CW / CCW Feedback124
Feedback Connector X41 (SFA, Accessory)125
X41 Connector Pinout Summary126
X41 Feedback Wiring Pinout Diagrams127
X41 SFD Feedback127
X41 Resolver Feedback128
X41 Biss (Mode B) Analog Feedback129
X41 Biss (Mode C) Digital Feedback130
X41 Endat 2.1 Feedback (with 1 V P-P Analog Signals)131
X41 Endat 2.2 Digital Feedback132
X41 HIPERFACE Feedback133
X41 Sine Encoder Feedback134
X41 Sine Encoder with Hall Feedback135
X41 Incremental Encoder Feedback136
X41 Incremental Encoder with Hall Feedback137
X41 Hall Feedback138
X41 SSI Feedback138
Gearing139
Overview139
Input - Electronic Gearing139
Output - Emulated Encoder Output (EEO)139
Master-Slave Control141
Examples141
Ethernet Fieldbus Interface Connector142
Ethercat142
Profinet143
Ethernet/Ip144
CAN-Bus Interface Connector145
CAN-Bus Topology145
CAN-Bus Wiring146
Baud Rate for CAN-Bus147
Node Address for CAN-Bus147
CAN-Bus Termination147
Service Interface Connector X20148
Possible Network Configurations148
Modbus TCP Connector X20149
I/O Connectors150
Technical Data151
Analog Input152
Analog Output153
Digital Inputs154
Digital-In 1 and154
Digital-In 3 to155
Digital-In/Out 1 and156
Digital-In/Out 3 to157
Digital Outputs158
Digital-Out 1 to158
Digital-Out 7 and159
Digital-In/Out 1 and160
Digital-In/Out 3 to160
Digital-Out 9, Relay Contacts161
Setup162
Important Notes163
Guide to Drive Setup164
Initial Drive Test Procedure164
Unpacking, Mounting, and Wiring the AKD2G164
Minimum Wiring for Drive Test Without Load, Example164
Confirm Connections (Example: Directly to PC)165
System Integration165
Install and Start Workbench165
Setup the Axis in Workbench165
Enable the Axis (Hardware)166
Move the Motor Axis166
Tune the Axis166
Workbench Installation167
Use as Directed167
Software Description168
Hardware Requirements168
Operating Systems168
Installation under Windows 7/8/10169
Switch-On and Switch-Off Behavior170
Switch-On Behavior in Standard Operation171
Switch-Off Behavior172
Switch-Off Behavior Using the AXIS#.DIS Command172
Switch-Off Behavior Using a Digital Input (Controlled Stop)173
Switch-Off Behavior Using STO Input (Uncontrolled Stop)173
Switch-Off Behavior in the Event of a Fault174
Fault and Warning Messages177
Fault and Warning Messages AKD2G177
Troubleshooting178
Safety Manual for FS1179
General Notes180
Use as Directed181
Prohibited Use181
Abbreviations Used for Functional Safety181
Enclosure, Wiring182
Verification183
Safety Function Option 1 (I/O, SIL2 Pld)183
Safety Properties Overview183
Technical Data184
STO (Safe Torque Off)185
Important Notes185
Activation185
Restart186
Timing187
Safety Diagnostic View in Workbench187
Fault Reaction / Failure Messages188
Settings189
Safety Faults, Safety Warnings190
LCD Display190
Drive Safety Faults191
Safety Warnings191
Troubleshooting Functional Safety191
Functional Safety Parameter Reference192
Safety Parameters, Sorted Alphanumeric193
Axis#.Safe.sto.a193
Axis#.Safe.sto.b193
Axis#.Safe.sto.active194
Axis#.Safe.sto.reportfault194
Approvals195
Conformance with Ul/Cul196
A Drives196
7V24S 24 a Drives197
Conformance with EU198
Functional Safety199
Conformance with Rohs199
Conformance with REACH199
Waste Framework Directive Substances of Concern in Products (SCIP) Database199
Conformance with UK199
Index200
Record of Document Revisions202
Requirements to User Documentation, Revision205
Sdrs/Ssrs205
IEC 61508-2 Annex D Requirements to User Documentation208
ISO 13849-1, Clause 11, Requirements to User Documentation209
IEC 61508-3 Annex D Requirements to User Documentation210
Revisions210

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