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AKD2G-S Series
Kollmorgen AKD2G-S Series User Manual
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Table of Contents
1 Table of Contents
3
X21: I/O, Feedback
4
2 General
9
About this Installation Manual
10
Using the PDF Format
10
Symbols Used
11
Abbreviations Used
12
Referred Standards
13
3 Product Safety
14
You Should Pay Attention to this
15
Shock-Hazard Protection
17
Leakage Current
17
Residual Current Protective Device (RCD)
17
Isolating Transformers
17
Stop / Emergency Stop / Emergency off
18
Stop
18
Emergency Stop
19
Emergency off
19
Warning Note Labels
20
Notes Placed on the Product
20
Adhesive Label in the Package
20
Use as Directed
21
Prohibited Use
22
4 Product Life Cycle Handling
23
Transport
24
Packaging
24
Storage
24
Installation, Setup and Normal Operation
25
Decommissioning
25
Maintenance and Cleaning
25
Disassembly
25
System Repair
26
Disposal
26
5 Package
27
Package Supplied
28
Nameplate
28
Part Number Scheme
29
6 Technical Description and Data
30
The AKD2G Family of Digital Drives
31
Ambient Conditions, Ventilation, and Mounting Position
33
Mechanical Data
33
Performance Data
34
Electrical Data
35
Single Axis Variants (S)
35
Auxiliary Voltage Input Data, 24V DC, Type AKD2G-Sxx- (S)
35
Mains Supply Data, 1 Phase AC, Type AKD2G-Sxx- (S)
35
Mains Supply Data, 3 Phase AC, Type AKD2G-Sxx- (S)
35
Output Data, Type AKD2G-Sxx- (S)
36
Dual Axis Variants (D: I1=I2)
37
Auxiliary Voltage Input Data, 24V DC, Type AKD2G-Sxx- (D)
37
Mains Supply Data, 1 Phase AC, Type AKD2G-Sxx- (D)
37
Mains Supply Data, 3 Phase AC, Type AKD2G-Sxx- (D)
37
Output Data, Type AKD2G-Sxx- (D)
38
LCD Display and Push-Buttons (B1, B2)
39
SD Card Slot
41
Electrical Motor Braking
42
Dynamic Braking
42
Rheostatic Energy Dissipation
42
Functional Description
42
Technical Data for AKD2G-Sxx-6V
43
Technical Data for AKD2G-Sxx-7V
44
7 Mechanical Installation
45
Important Notes
46
Guide to Mechanical Installation
46
Dimensions
47
8 Electrical Installation
48
Important Notes
49
Guide to Electrical Installation
50
Wiring
51
General
51
Mating Connectors
51
Cable and Wire Requirements
52
Cable Material
52
Cable Cross Sections and Requirements
53
Protective Earth Connection
54
EMI Noise Reduction
55
Recommendations for EMI Noise Reduction
55
Shielding with External Shielding Busbar
56
Shielding Concept
56
Shielding Busbar
57
Shielding Connection to the Drive
58
Shielding Concept
58
Grounding Plates and Shield Connection Clamps
59
Motor Connector X1/X2 with Shielding Connection
59
Connection Overview
60
Connector Position AKD2G-Sxx-6V
60
Connector Position AKD2G-Sxx-7V
61
Wiring Overview, Single Axis Drive
62
Wiring Overview, Dual Axis Drive
63
Connector Pin Assignments
64
X1 and X2: Motor, Brake, Feedback
64
X3: Mains, Regen Resistor, DC-Bus
64
X10: 24 VDC
65
X11, X12: Motion Bus
65
X13, X14: CAN Bus (Optional)
65
X20: Service
65
X22: I/O Extended, EEO2, Feedback
67
X23: Feedback 3, EEO1, I/O
68
X41: SFA Feedback Converter, EEO3/EEO4 (Accessory)
69
Power and Logic Voltage Supply (X3/X10)
70
Mains Power Supply (X3)
70
Fusing
71
Wiring Examples Mains Power Supply
73
Auxiliary Voltage Power Supply 24 VDC (X10)
75
Fusing
75
Wiring Example 24 VDC Supply
75
DC Bus Link (X3)
75
External Regen Resistor (X3)
76
Fusing and Wiring
76
Motor Power, Brake and Feedback Connection
77
Motor Connectivity, some Examples
77
Motor Single Cable Connection
78
Motor Power, Brake and Feedback Connectors
78
Feedback Connectors
79
Motor Dual Cable Connection
80
Feedback Connectors
81
Motor Power and Motor Brake Connectors
81
Motor Holding Brake Connection
82
Feedback Connection
84
Feedback Connector
85
Feedback Connector X21
86
Feedback Connector X22
87
Feedback Connector X23
88
Feedback Connector X41 (SFA, Accessory)
89
Electronic Gearing, EEO, Master-Slave
90
Electronic Gearing
90
Emulated Encoder Output (EEO)
91
Master-Slave Control
93
Master-Slave Using Optional X23 or X41
93
Master-Slave Using X22
93
Motion Bus Interface (X11/X12)
94
CAN-Bus Interface (X13/X14)
95
CAN-Bus Topology
95
CAN-Bus Wiring
96
Baud Rate for CAN-Bus
97
Node Address for CAN-Bus
97
CAN-Bus Termination
97
Service Interface (X20)
98
Possible Network Configurations
98
I/O Connection (X21/X22/X23)
99
Pinout
99
Technical Data
100
Analog Input
101
Analog Output
102
Digital Inputs
103
Digital-In 1 and
103
Digital-In 3 to
104
Digital-In/Out 1 and
105
Digital-In/Out 3 to
106
Digital Outputs
107
Digital-Out 1 to
107
Digital-Out 7 and
108
Digital-In/Out 1 and
109
Digital-In/Out 3 to
109
Digital-Out 9, Relay Contacts
110
9 Setup
111
Important Notes
112
Guide to Drive Setup
113
Initial Drive Test Procedure
113
Minimum Wiring for Drive Test Without Load, Example
113
Unpacking, Mounting, and Wiring the AKD2G
113
Confirm Connections (Example: Directly to PC)
114
System Integration
114
Enable the Axis (Hardware)
115
Install and Start Workbench
115
Move the Motor Axis
115
Setup the Axis in Workbench
115
Tune the Axis
115
Setup Software Workbench
116
Use as Directed
116
Hardware Requirements
117
Operating Systems
117
Software Description
117
Installation under Windows 7/8/10
118
Switch-On and Switch-Off Behavior
119
Switch-On Behavior in Standard Operation
120
Switch-Off Behavior
120
Fault and Warning Messages
121
Fault and Warning Messages AKD2G
121
Troubleshooting the AKD2G
122
10 Functional Safety
123
General Notes
124
Use as Directed
124
Prohibited Use
125
Abbreviations Used for Functional Safety
125
Enclosure, Wiring
126
Functional Safety Option 1 (I/O, SIL2 Pld)
127
Technical Data
127
Safety Properties Overview
128
STO (Safe Torque Off)
129
Activation
129
Description
129
Important Notes
129
Precondition before Activation
129
Restart
130
Safety Diagnostic View in Workbench
131
Timing
131
Fault Reaction / Failure Messages
132
Verification, Commissioning
132
Proof Test
132
Verification
132
Safety Faults, Safety Warnings
133
Drive LCD Display
133
Drive Safety Faults
134
Drive Safety Warnings
134
Troubleshooting Safety Functionality
134
Functional Safety Keyword Reference Guide
135
Axisx.safe.sto Parameters
136
Axis#.Safe.sto.active
136
Context
136
Description
136
General Information
136
Variants Supported
136
Versions
136
Axis#.Safe.sto.a
137
Context
137
Description
137
General Information
137
Variants Supported
137
Versions
137
Axis#.Safe.sto.b
138
Context
138
Description
138
General Information
138
Variants Supported
138
Versions
138
Axis#.Safe.sto.reportfault
139
Context
139
Description
139
General Information
139
Variants Supported
139
Versions
139
11 Approvals
140
Conformance with Ul/Cul
141
Conformance with CE
141
Conformance with Rohs
141
Conformance with REACH
141
Functional Safety Approval
141
Conformance with EAC
141
12 Index
143
13 Record of Document Revisions
145
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Kollmorgen AKD2G-S Series Specifications
General
Brand
Kollmorgen
Model
AKD2G-S Series
Category
Servo Drives
Language
English
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