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Servo Drives
AKD series
Kollmorgen AKD series
216 pages
Manual
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2
G
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Table of Contents
Main Page
1 Table of Contents
3
2 General
9
About this Installation Manual
10
Using the PDF Format
10
Symbols Used
11
Abbreviations Used
12
Referred Standards
13
3 Safety
14
You Should Pay Attention to this
15
Use as Directed
17
Prohibited Use
18
Warning Notes Placed on the Product
18
4 Handling
19
Transport
20
Packaging
20
Storage
20
Decommissioning
21
Maintenance and Cleaning
21
Disassemble
21
System Repair
22
Disposal
22
5 Approvals
23
Conformance with Ul/Cul
24
UL Markings / Marquages UL
24
Conformance with CE
26
European Directives and Standards for the Machine Builder
27
Conformance with Rohs
27
Conformance with REACH
27
Safe Torque off (STO) Approval
28
Conformance with EAC
28
6 Package
29
Package Supplied
30
Nameplate
30
Part Number Scheme
31
7 Technical Description and Data
32
The AKD Family of Digital Drives
33
Ambient Conditions, Ventilation, and Mounting Position
35
Mechanical Data
35
Inputs/Outputs
36
Electrical Data AKD-Xzzz06
37
Electrical Data AKD-Xzzz07
38
Performance Data
39
Recommended Tightening Torques
39
Grounding System
39
Fusing
40
External Power Supply Fusing
40
External 24 V Supply Fusing
40
External Regen Resistor Fusing
40
External DC Bus Link Fusing
40
Connectors
41
Cable and Wire Requirements
42
General
42
Cable Cross Sections and Requirements
42
Dynamic Braking
43
Regen Circuit
43
Functional Description
43
Technical Data for AKD-Xzzz06
44
Technical Data for AKD-Xzzz07
45
Switch-On and Switch-Off Behavior
46
Switch-On Behavior in Standard Operation
47
Switch-Off Behavior
48
Switch-Off Behavior Using the DRV.DIS Command
48
Switch-Off Behavior Using a Digital Input (Controlled Stop)
49
Switch-Off Behavior Using HW Enable Input (Uncontrolled Stop)
49
Switch-Off Behavior in the Event of a Fault
50
Stop / Emergency Stop / Emergency off
53
Stop
53
Emergency Stop
54
Emergency off
54
Safe Torque off (STO)
55
Safety Characteristic Data
55
Safety Instructions
56
Use as Directed
57
Prohibited Use
57
Technical Data and Pinout
57
Enclosure, Wiring
59
OSSD Test Pulses
59
Functional Description
60
Signal Diagram (Sequence)
61
Wiring Examples
62
Functional Test
64
Shock-Hazard Protection
66
Leakage Current
66
Residual Current Protective Device (RCD)
66
Isolating Transformers
66
8 Mechanical Installation
67
Important Notes
68
Guide to Mechanical Installation
68
Mechanical Drawings Standard Width
69
Control Cabinet Layout AKD-Xzzz06, Standard Width
69
Control Cabinet Layout AKD-Xzzz07, Standard Width
70
Dimensions AKD-Xzzz06, Standard Width
71
Dimensions AKD-Xzzz07, Standard Width
72
Mechanical Drawings Extended Width
73
Control Cabinet Layout, Example with AKD-M00306
73
Control Cabinet Layout, Example with AKD-M00307
74
Dimensions AKD-Xzzz06, Extended Width
75
Dimensions AKD-Xzzz07, Extended Width
76
9 Electrical Installation
77
Important Notes
78
Guide to Electrical Installation
79
Wiring
80
Components of a Servosystem
81
Connection Overview AKD-B, AKD-P, AKD-T
83
Connector Assignment AKD-X00306, AKD-X00606
83
Connection Diagram AKD-X00306, AKD-X00606
84
Kollmorgen | Kdn.kollmorgen.com | October
84
Connector Assignment AKD-X01206
85
Connection Diagram AKD-X01206
86
Connector Assignment AKD-X02406 and AKD-X00307 to 02407
87
Connection Diagram AKD-X02406 and AKD-X00307 to 02407
88
Connector Assignment AKD-X04807
89
Connection Diagram AKD-X04807
90
Connection Overview AKD-M
91
Connector Assignment AKD-M00306, AKD-M00606
91
Connection Diagram AKD-M00306, AKD-M00606
92
Connector Assignment AKD-M01206
93
Connection Diagram AKD-M01206
94
Connector Assignment AKD-M02406, AKD-M00307 to AKD-M02407
95
Connection Diagram AKD-M02406, AKD-M00307 to AKD-M02407
96
Connector Assignment AKD-M04807
97
Connection Diagram AKD-M04807
98
EMI Noise Reduction
99
Recommendations for EMI Noise Reduction
99
Shielding with External Shielding Busbar
100
Shielding Concept
100
Shielding Busbar
101
Shielding Connection to the Drive
102
Grounding Plates
102
Shield Connection Clamps
102
Motor Connector X2 with Shielding Connection
102
Electrical Supply Connection
103
Connection to Various Mains Supply Networks AKD-Xzzz06 (120V to 240V)
103
Connection to Various Mains Supply Networks AKD-Xzzz07 (240V to 480V)
104
Auxiliary Supply (X1)
105
AKD-X003 to 024, Connector X1
105
AKD-X048, Connector X1
105
Mains Supply Connection (X3, X4)
106
Three Phase Connection (All AKD Types)
107
Single/Dual Phase Connection (AKD-X00306 to AKD-X01206 Only)
107
DC Bus Link (X3, X14)
108
DC Bus Topology with y Connectors (24 a Max.)
109
DC Bus Topology with Busbar
109
External Regen Resistor (X3)
110
AKD-X003 to 024, Regen Connector X3
110
AKD-X048, Regen Connector X3
111
Capacitor Modules (X3)
112
Technical Data
112
Example Installation with KCM-S and KCM-E
113
Example Installation with KCM-P and KCM-E
114
Discharging KCM Modules
115
Motor Power Connection (X2)
116
AKD-X003 to 024, Power Connector X2
117
AKD-X048, Power Connector X2
117
Motor Brake Connection (X2, X15, X16)
118
AKD-X003 to 024, Bbrake Connector X2
118
AKD-X048, Brake Connectors
119
Functionality
120
Feedback Connection (X10, X9, X7)
121
Feedback Connector (X10)
122
Feedback Connector (X9)
123
Feedback Connector (X7)
123
Resolver
124
Sfd
125
Sfd3
126
Hiperface DSL
127
Encoder with Biss
128
Biss (Mode B) Analog
128
Biss (Mode C) Digital
129
Sine Encoder with Endat
130
Encoder with Endat
131
Connection to X10
131
Connection to X9 and X8
132
Sine Encoder with Hiperface
133
Sine Encoder
134
Incremental Encoder
135
Hall Sensors
136
Tamagawa Smart Abs Encoder
137
Electronic Gearing, Master-Slave Operation (X9, X7)
138
Technical Characteristics and Pinout
138
Connector X7 Input
138
Connector X9 Input
139
Connector X9 Output
139
Command Encoder Signal Connection
140
Incremental Encoder Input 5 V (X9)
140
Incremental Encoder Input 24 V (X7)
140
Encoder with Endat 2.2 Input 5 V (X9)
141
Pulse / Direction Signal Connection
142
Pulse / Direction Input 5 V (X9)
142
Pulse / Direction Input 5 V to 24 V (X7)
142
CW / CCW Signal Connection
143
CW / CCW Input 5 V (X9)
143
CW / CCW Input 24 V (X7)
143
Emulated Encoder Output (EEO)
144
Master-Slave Control
145
I/O Connection
146
Overview
146
I/O Connectors X7 and X8 (All AKD Variants)
146
I/O Connectors X21, X22, X23 and X24 (AKD-T with I/O Option Card Only)
147
I/O Connectors X35 and X36 (AKD-M Only)
149
Analog Input (X8, X24)
150
Analog Output (X8, X23)
151
Digital Inputs (X7/X8)
152
Digital Inputs 1 and
153
Digital Inputs 3 to
154
Digital Input 8 (ENABLE)
154
Digital Inputs with I/O Option (X21, X22)
154
Digital Inputs (X35/X36) with AKD-M
157
Digital Outputs (X7/X8)
159
Digital Outputs 1 and
159
FAULT Relay Contacts
160
Digital Outputs with I/O Option (X23/X24)
161
Digital Outputs 21 to 24, 26 to
161
Kollmorgen | Kdn.kollmorgen.com | October
162
Digital Relay Outputs
163
Digital Outputs (X35/X36) with AKD-M
164
Digital Outputs 21 and
164
LED Display
165
Rotary Switches (S1, S2, RS1)
166
Rotary Switches S1 and S2 with AKD-B, -P, -T
166
Rotary Switch RS1 with AKD-M
166
Push-Buttons (B1, B2, B3)
167
Push-Button B1 with AKD-B, -P, -T
167
Push-Buttons B1, B2, B3 with AKD-M
168
SD Card Slot
169
SD Card Slot with I/O Option Card
169
SD Card Slot with AKD-M
170
Service Interface (X11, X32)
171
Pinout
171
Service Bus Protocols
171
Possible Network Configurations
171
Setting the IP Address AKD-B, AKD-P, AKD-T
172
Setting the IP Address AKD-M
174
Modbus TCP
175
CAN-Bus Interface (X12/X13)
175
CAN-Bus Activation with AKD-CC Models
176
Baud Rate for CAN-Bus
177
Node Address for CAN-Bus
178
CAN-Bus Termination
178
CAN-Bus Cable
178
CAN-Bus Wiring
179
Motion Bus Interface (X5/X6/X11)
180
Pinout
180
Bus Protocols
180
Ethercat
181
Ethercat Activation with AKD-CC Models
181
Synqnet
182
Profinet
182
Ethernet/Ip
182
Sercos
183
10 Setup
184
Important Notes
185
Setupakd-B, AKD-P, AKD-T
186
Setup Software Workbench
186
Use as Directed
186
Software Description
187
Hardware Requirements
187
Operating Systems
187
Installation under Windows 2000/XP/VISTA/7
188
Initial Drive Testakd-B, AKD-P, AKD-T
189
Unpacking, Mounting, and Wiring the AKD
189
Minimum Wiring for Drive Test Without Load
189
Set IP Address
190
Confirm Connections
190
Install and Start Workbench
191
Set Drive IP Address in Workbench
191
Enable the Drive Using the Setup Wizard
191
Setup AKD-M
192
Setup Software KAS IDE
192
Use as Directed
192
Software Description
193
Hardware Requirements
193
Operating Systems
193
Installation under Windows
194
Initial Drive Test AKD-M
195
Unpacking, Mounting, and Wiring the AKD PDMM
195
Minimum Wiring for Drive Test Without Load
195
Set IP Address
196
Confirm Connections
196
Install and Start KAS IDE
197
Set Drive IP Address in KAS IDE
198
Starting New Project
199
Fault and Warning Messages
202
Fault and Warning Messages AKD
202
Additional Fault Messages AKD-T
207
Additional Error and Alarm Messages AKD-M
208
Alarms
208
Errors
209
Troubleshooting the AKD
210
11 Index
211
12 Record of Document Revisions
215
Kollmorgen | Kdn.kollmorgen.com | October
216
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