Kollmorgen AKD series User Manual

20.3.1 Safety Instructions
Never undo any electrical connections to the drive while it is live. There is a danger of elec-
trical arcing with damage to contacts and serious personal injury. Wait at least seven min-
utes after disconnecting the drive from the main supply power before touching potentially
live sections of the equipment (e.g. contacts) or undoing any connections.
Capacitors can still have dangerous voltages present up to7 minutes after switching off the
supply power. To be sure, measure the voltage in the DC Bus link and wait until it has fallen
below 40 V.
Control and power connections can still be live, even if the motor is not rotating.
Electronic equipment is basically not failure-proof. The user is responsible for ensuring that,
in the event of a failure of the drive, the drive is set to a state that is safe for both machinery
and personnel, for instance with the aid of a mechanical brake.
Drives with drives and CANopen are remote-controlled machines. They can start to move
at any time without previous warning. Take appropriate measures to ensure that the oper-
ating and service personnel is aware of this danger.
Implement appropriate protective measures to ensure that any unintended start-up of the
machines cannot result in dangerous situations for personnel or machinery. Software limit-
switches are not a substitute for the hardware limit-switches in the machine.
Install the drive as described in the Installation Manual. The wiring for the analog setpoint
input and the positioning interface, as shown in the wiring diagram in the Installation
Manual, is not required. Never break any of the electrical connections to the drive while it is
live. This action can result in destruction of the electronics.
The drive's status must be monitored by the PLC to acknowledge critical situations. Wire
the FAULT contact in series into the emergency stop circuit of the installation. The emer-
gency stop circuit must operate the supply contactor.
It is permissible to use the setup software to alter the settings of the drive. Any other alter-
ations will invalidate the warranty.
Because of the internal representation of the position-control parameters, the position con-
troller can only be operated if the final limit speed of the drive does not exceed:
rotary
at sinusoidal² commutation: 7500 rpm
at trapezoidal commutation: 12000 rpm.
linear
at sinusoidal² commutation: 4 m/s
at trapezoidal commutation: 6.25 m/s
All the data on resolution, step size, positioning accuracy etc. refer to calculatory values.
Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account. If the
final limit speed of the motor must be altered, then all the parameters that were previously
entered for position control and motion blocks must be adapted.
AKD User Guide |
Kollmorgen | December 2010 36

Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing