AKD CANopen | 4 Installation and Setup
4.1 Safety Instructions
Never undo any electrical connections to the drive while it is live. There is a danger of
electrical arcing with damage to contacts and serious personal injury. Wait at least
seven minutes after disconnecting the drive from the main supply power before touch-
ing potentially live sections of the equipment (e.g. contacts) or undoing any con-
nections.
Capacitors can still have dangerous voltages present up to 7 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 ensur-
ing 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 operating 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. Soft-
ware 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 set-
point input and the positioning interface, as shown in the wiring diagram in the Instal-
lation 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 emergency stop circuit must operate the supply contactor.
It is permissible to use the setup software to alter the settings of the drive. Any other
alterations will invalidate the warranty.
Because of the internal representation of the position-control parameters, the position
controller 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.
16 Kollmorgen™ | November 2012
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