Kollmorgen MKD Series User manual

MKD®Multi Axes System
Installation Manual
Edition: D, February 2020
Valid for MKD-C-NA, Hardware Revision B
Valid for MKD-N, Hardware Revision B
Part Number 904-200003-00
Original Document
For safe and proper use, follow these
instructions. Keep for future use.

Record of Document Revisions
Revision Remarks
... Table with lifecycle information of this document see (➜# 147)
B, 07/2019
Connectors male-female corrected, MKD-C-CA added, RoHS statement, UL completed,
STO certified, brake interruption added, noise emission, X23 sense changed to Up,
X25 poles and pitch, fusing, faults/warnings updated
C, 09/2019
Chapter used standards removed, electrical data completed, 42kA rating, DC-Bus chapter com-
pleted, SuperCap notes added, Brake interruption contact completed, UL markings updated,
Chapter functional safety completed
D, 02/2020 Thermal dissipation and efficiency factor added
Hardware Revision (HR)
MKD-N MKD-C Firmware WorkBench Remarks
A A from 1.18 from 1.18 MKD-C-NA and MKD-N start revisions
B B from 1.18 from 2.1 MKD-C and MKD-N full product range, X25 with 3
poles, SBC support, SuperCAP support
Trademarks
EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH.
EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH.
HIPERFACE is a registered trademark of Max Stegmann GmbH.
SpeedTec is a registered trademark of TE Connectivity Industrial GmbH.
Windows is a registered trademark of Microsoft Corporation.
Current patents
US Patent 8.154.228 (Dynamic Braking For Electric Motors)
US Patent 8.214.063 (Auto-tune of a Control System Based on Frequency Response)
US Patent 8.566.415 (Safe Torque Off over network wiring)
US Patent 10.374.468 (System and method for improved DC power line communication)
Patents referring to fieldbus functions are listed in the matching fieldbus manual.
Technical changes which improve the performance of the device may be made without prior notice!
This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be reproduced
in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic
means without the written permission of Kollmorgen.
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1 Table of Contents
1 Table of Contents 3
2 General 9
2.1 About this Manual 10
2.2 Using the PDF Format 10
2.3 Symbols Used 11
2.4 Abbreviations Used 12
3 Product Safety 13
3.1 You should pay attention to this 14
3.2 Shock-hazard Protection 16
3.2.1 Leakage current 16
3.2.2 Residual current protective device (RCD) 16
3.2.3 Isolating transformers 16
3.3 Stop / Emergency Stop / Emergency Off 17
3.3.1 Stop 17
3.3.2 Emergency Stop 18
3.3.3 Emergency Off 18
3.4 Use as Directed 19
3.5 Prohibited Use 20
3.6 Warning note labels 20
3.6.1 Notes placed on the product 20
4 Product life cycle handling 21
4.1 Packaging 22
4.2 Transport 22
4.3 Storage 22
4.4 Installation, setup and normal operation 23
4.5 Decommissioning 23
4.6 Maintenance and cleaning 23
4.7 Disassembly 23
4.8 System Repair 24
4.9 Disposal 24
5 Approvals 25
5.1 Conformance with UL/cUL 26
5.2 Conformance with REACH 27
5.3 Conformance with EU Low Voltage, EMC and RoHS Directives 27
5.4 Conformance with EU Machinery Directive, Functional Safety 28
5.4.1 Safe Torque Off (STO) 28
5.4.2 Brake Interruption Contact (required for SBC) 28
6 Package 29
6.1 Package Supplied 30
6.2 Nameplate 31
6.2.1 MKD-C modules 31
6.2.2 MKD-N modules 31
6.3 Part Number Scheme 32
6.3.1 MKD-C modules 32
6.3.2 MKD-N modules 32
7 Technical description and data 33
7.1 The MKD Multi Axes System 34
7.2 Mechanical Data 35
7.3 Performance Data 35
7.4 Electrical Data 36
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7.4.1 MKD-C 36
7.4.2 MKD-N, single axis 37
7.4.3 MKD-N, dual axis 37
7.5 Fusing 38
7.5.1 External power supply and 24 V fusing 38
7.5.2 External regen resistor fusing 38
7.5.3 DC-Bus link fusing 38
7.6 Ambient Conditions in normal operation 39
7.7 Ground System 39
7.8 Connectors 40
7.9 Recommended Tightening Torques 41
7.9.1 MKD-C 41
7.9.2 MKD-N 41
7.10 Cable Requirements 42
7.10.1 MKD-C 42
7.10.2 MKD-N 43
7.11 Cable Length Definition 44
7.12 Dynamic Braking 45
7.13 Regen circuit 45
7.13.1 Functional description 45
7.13.2 Technical data 45
7.14 LED signals 46
7.14.1 MKD-C 46
7.14.2 MKD-N 47
7.14.3 RJ45 LED signals 47
7.15 Push-button (B1) 47
7.16 Rotary Switch (S1), Setting IP address 48
8 Mechanical Installation 49
8.1 Important Notes 50
8.2 Guide to Mechanical Installation 50
8.3 Dimension Drawing 51
8.4 Mounting Example 52
9 Electrical Installation 53
9.1 Important Notes 54
9.2 Guide to Electrical Installation 55
9.2.1 MKD-C 55
9.2.2 MKD-N (string 1) 56
9.2.3 AKD-N (strings 2 or 3) 56
9.3 Wiring 57
9.4 EMI Noise Reduction 58
9.4.1 Recommendations for EMI noise reduction 58
9.4.2 Shielding connection to the system modules 59
9.4.2.1 Ethernet connectors X10, X11, X18, X22, X27, X28 59
9.4.2.2 Power connectors with shield plate X12, X14, X20A, X20B, X25, X29A, X29B 59
9.4.2.3 Local fieldbus connectors X21A, X21B 59
9.4.2.4 Example for system earthing 60
9.5 System topology of an MKD drive system 61
9.5.1 System limits 61
9.5.2 Topology example with two external strings 62
9.5.3 Topology example with one external string migrated to cabinet 63
9.6 Connection Overview 64
9.6.1 Connector Position MKD-C 64
9.6.2 Connector Position MKD-N (6A, 12A) 65
9.6.3 Connector Position MKD-N (24A) 66
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9.6.4 Connector Position MKD-N (48A) 67
9.6.5 Connection diagrams 68
9.6.5.1 MKD-C 68
9.6.5.2 MKD-N (6A, 12A) 69
9.6.5.3 MKD-N (24A, 48A) 70
9.6.6 Connector pin assignments 71
9.6.6.1 X9A, X9B: MKD-N, Brake interruption 71
9.6.6.2 X10, X11: MKD-C, EtherCAT Fieldbus In/Out 71
9.6.6.3 X12: MKD-C, Mains Supply 71
9.6.6.4 X13: MKD-C, 24V DC Logic Supply 72
9.6.6.5 X14: MKD-C, External regen resistor 72
9.6.6.6 X15A, X15B: MKD-C, I/O 72
9.6.6.7 X16A, X16B: MKD-C, Global STO String 2 and 3 73
9.6.6.8 X18: MKD-C, Service 73
9.6.6.9 X20A, X20B: MKD-C, String 2/3 DC Power 74
9.6.6.10 X21A, X21B: MKD-C, String 2/3 Communication 74
9.6.6.11 X22: MKD-C, String 1 Communication 74
9.6.6.12 X23: MKD-C, MKD-N, String 1 DC Power 74
9.6.6.13 X24A, X24B: MKD-N, I/O 75
9.6.6.14 X25: MKD-C, DC Bus sharing 75
9.6.6.15 X26A, X26B: MKD-N, Local STO 76
9.6.6.16 X27, X28: MKD-N, String Communication 76
9.6.6.17 X29A, X29B: MKD-N 6A or 12A, Motor Power, Brake 77
9.6.6.18 X29A: MKD-N 24A or 48A, Motor Power 77
9.6.6.19 X30A: MKD-N 24A or 48A, Motor Brake 77
9.6.6.20 X31A, X31B: MKD-N, primary Feedback1 78
9.6.6.21 X32A, X32B: MKD-N, primary Feedback2 78
9.6.6.22 X33A, X33B: MKD-N, secondary Feedback 79
9.7 Electrical Supply Connection 80
9.7.1 Connection to various mains supply networks 80
9.7.2 Mains supply connection (X12) 81
9.7.2.1 Three phase connection 81
9.7.3 Logic supply voltage 24 VDC (X13) 82
9.8 Drive String Connection 83
9.8.1 String 1 (central) 84
9.8.2 Strings 1 and 2 (central) 85
9.8.3 Strings 2 and 3 (decentral) 86
9.9 DC Bus link (X20, X23, X25) 87
9.9.1 DC Bus bar MKD-C to MKD-N, MKD-N to MKD-N 87
9.9.2 DC Bus Strings MKD-C to AKD-N 87
9.9.3 DC Bus sharing MKD-C to MKD-C 87
9.9.4 DC Bus sharing MKD-C-CA to Supercapacitor (SC) 88
9.9.4.1 DC bus sharing examples 89
9.9.4.2 Discharging 90
9.10 External Regen resistor (X14) 91
9.11 Motor Connection 92
9.11.1 Motor single cable connection (X29, X30, X31) 93
9.11.1.1 Motor Power and Motor Brake X29, Motor Feedback X31 94
9.11.1.2 Motor Power X29, Motor Brake X30, Motor FeedbackX31 94
9.11.2 Motor dual cable connection (X29, X30, X32) 95
9.11.2.1 Motor Power and Motor Brake X29 96
9.11.2.2 Motor Power X29, Motor Brake X30 96
9.11.2.3 Motor Feedback X32 97
9.12 Secondary Feedback Connection (X33) 98
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9.13 I/O Connection 99
9.13.1 Technical Data Inputs/Outputs MKD-C 99
9.13.2 Technical Data Inputs/Outputs MKD-N 99
9.13.3 Pinout MKD-C I/O connectors X15 and X16 100
9.13.4 Pinout MKD-N I/O connectors X24 and X26 101
9.13.5 Wiring of DigitalInputs (X15, X16, X24, X26) 102
9.13.5.1 Digital Inputs MKD-C (X15B) 102
9.13.5.2 Digital Inputs MKD-N (X24) 103
9.13.5.3 STO Enable inputs (X16, X26) 103
9.13.6 Wiring of DigitalOutputs (X15, X24) 104
9.13.6.1 Transistor Outputs (X15B, X24) 104
9.13.6.2 Relay Output (X15A) 104
9.13.6.3 STO Status Outputs (X15A, X24) 105
9.14 Motion Bus Interface (X10/X11) 106
9.14.1 Pinout 106
9.14.2 EtherCAT 106
9.15 Service Interface (X18) 107
9.15.1 Pinout 107
9.15.2 Service Bus Protocols 107
10 Functional Safety 108
10.1 STO (Safe Torque Off) 109
10.1.1 STO Safety instructions 109
10.1.2 Use as directed 110
10.1.3 Prohibited use 110
10.1.4 Enclosure, wiring 110
10.1.5 Topology overview 111
10.1.6 OSSD test pulses 111
10.1.7 STO 24 VDC voltage supply 112
10.1.8 Safety characteristic data 112
10.1.9 Response Time 112
10.1.10 Signal diagram (sequence) 113
10.1.11 Global Safe Torque Off (Strings 2 or 3) 114
10.1.11.1 General information (global STO) 114
10.1.11.2 Technical data and connection (global STO) 114
10.1.11.3 Application example (global STO) 115
10.1.11.4 Functional description (global STO) 116
10.1.11.5 Functional test (global STO) 117
10.1.12 Local STO on MKD-N 118
10.1.12.1 General information (local STO) 118
10.1.12.2 Enclosure, wiring (local STO) 118
10.1.12.3 Technical data and connection (local STO) 118
10.1.12.4 Application example (local STO) 119
10.1.12.5 Functional description (local STO) 120
10.1.12.6 Functional test (local STO) 120
10.1.13 Local STO on AKD-N 121
10.1.13.1 General information 121
10.2 Brake interruption contact 122
10.2.1 General information 122
10.2.2 Safety instructions 122
10.2.3 Signal diagram (sequence) 122
10.2.4 Enclosure, wiring 123
10.2.5 Technical data and connection 123
11 Setup 124
11.1 Important Notes 125
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11.2 Guide to setup 126
11.2.1 System addresses 126
11.2.2 System Setup 127
11.3 Setup software WorkBench 128
11.3.1 Use as directed 128
11.3.2 Software description 129
11.3.3 Hardware requirements 129
11.3.4 Operating systems 129
11.3.5 Installation under Windows 130
11.4 Initial System Test 131
11.4.1 Set system addresses 131
11.4.2 Confirm connections 131
11.4.3 Install and start WorkBench 131
11.4.4 Parameterize and enable the axes in WorkBench 131
12 Appendix 132
12.1 Fault and Warning Messages 133
12.1.1 MKD-C Faults 133
12.1.2 MKD-N and AKD-N faults 135
12.2 Troubleshooting the MKD System 139
12.3 Accessories 140
12.3.1 Mains choke for MKD-C-NA 140
12.3.2 Regen resistors 141
12.3.2.1 Important notes 141
12.3.2.2 Dimensions and Data 142
12.3.3 Cables 143
12.3.3.1 Overview 143
Hy b rid String c a b les 14 3Hy b rid MotorCables 14 3MotorPowe rCab les 1 4 3MotorFee d b a c k C a b les 14 4EtherCATc a b les 14 4
12.4 Spare Parts 144
13 Index 145
14 Record of Document Revisions 147
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MKD Installation Manual |
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2 General
2.1 About this Manual 10
2.2 Using the PDF Format 10
2.3 Symbols Used 11
2.4 Abbreviations Used 12
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MKD Installation Manual | 2 General
2.1 About this Manual
This manual, the MKD Multi Axes Installation Manual describes the MKD drive system mod-
ules MKD-C power supply and MKD-N servo drive. It includes all information needed to
safely install the MKD system modules.
A digital version of this manual (pdf format) is available on the DVD included with your drive.
MKD information for use consist of:
ProductSafety Guide: multi-language document with safety information, part of product
delivery in Europe, printed on paper DIN A5.
Installation Manual: This document, describes the MKD modules and includes inform-
ation needed to safely install an MKD system.
WorkBench Online Help: describes how to use the system in common applications. It
also provides tips for maximizing your system performance. The Online Help includes the
Parameter and Command Reference Guide which provides documentation for the para-
meters and commands used to program the system.
EtherCAT Communication: describes how to use the system in EtherCAT applications.
AKD-N Installation Manual: includes all information needed to safely install the AKD-N
drive modules.
All documents can be downloaded from the Kollmorgen Developer Network.
2.2 Using the PDF Format
This document includes several features for ease of navigation
Cross References Table of contents and index include active cross references.
Table of contents and
index
Lines are active cross references. Click on the line and the appro-
priate page is accessed.
Page/chapter numbers
in the text
Page/chapter numbers with cross references are active links.
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2.3 Symbols Used
Warning Symbols
Symbol Indication
Indicates a hazardous situation which, if not avoided, will result
in death or serious injury.
Indicates a hazardous situation which, if not avoided, could res-
ult in death or serious injury.
Indicates a hazardous situation which, if not avoided, could res-
ult in minor or moderate injury.
Indicates situations which, if not avoided, could result in prop-
erty damage.
This symbol indicates important notes.
Warning of a danger (general). The type of danger is specified
by the text next to the symbol.
Warning of danger from electricity and its effects.
Warning of danger from hot surface.
Warning of danger from suspended loads.
Warning of danger from automatic start.
Drawing symbols
Symbol Description Symbol Description
Signal ground Diode
Chassis ground Relay
Protective earth Relay switch off delayed
Resistor Normally open contact
Fuse Normally closed contact
State-of-the-art firewall EMC filter
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MKD Installation Manual | 2 General
2.4 Abbreviations Used
Abbreviation Meaning
(➜# 53) "see page 53" in this document
CE Communité Européenne
COM Serial interface for a personal computer
DCOM Communication line for digital inputs
Disk Magnetic storage (diskette, hard disk)
EEPROM Electrically erasable programmable memory
EMC Electromagnetic compatibility
KAS Kollmorgen Automation Suite
KDN Kollmorgen Developer Network
LED Light-emitting diode
LSB Low significant byte (or bit)
MSB Main significant byte (or bit)
NI Zero pulse
OSSD Output signals Switching Device
PC Personal computer
PE Protective earth
PELV Protective extra low voltage
PLC Programmable logic control
PWM Pulse-width modulation
RAM Random access memory (volatile memory)
RBrake/RBRegen resistor (also called a brake resistor)
RBext External regen resistor
RBint Internal regen resistor
RCD Residual current device
RES Resolver
ROD Incremental encoder (A quad B)
Rth Specific thermal resistance
SBC Safe Brake Control
SBT Safe Brake Test
SC Super Capacitor
SELV Safety Extra Low Voltage
STO Safe torque off
tbd To be discussed (in process)
VAC Volts, alternating current
VDC Volts, direct current
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3 Product Safety
3.1 You should pay attention to this 14
3.2 Shock-hazard Protection 16
3.3 Stop / Emergency Stop / Emergency Off 17
3.4 Use as Directed 19
3.5 Prohibited Use 20
3.6 Warning note labels 20
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MKD Installation Manual | 3 Product Safety
3.1 You should pay attention to this
Specialist staff required!
Only properly qualified personnel are permitted to perform such tasks as transport, install-
ation and setup. Qualified specialist staff are persons with expertise in transport, installation,
assembly, commissioning and operation of electrotechnical equipment.
Transport, storage, unpacking: only by personnel with knowledge of handling elec-
trostatically sensitive components.
Mechanical installation: only by personnel with mechanical expertise.
Electrical installation: only by personnel with expertise in electrical engineering.
Basic tests / setup: only by personnel with expertise in electrical engineering and drive
technology.
The qualified personnel must know and observe ISO 12100 / IEC 60364 / IEC 60664 and
national accident prevention regulations.
Read the documentation!
Read the available documentation before installation and commissioning. Improper handling
of the devices can cause harm to people or damage to property. The operator of systems
using the drive system must ensure that all personnel who work with the drive read and under-
stand the manual before using the drive.
Check Hardware Revision!
Check the Hardware Revision Number of the product (see product label). Hardware Revsion
Number of MKD-C and MKD-N can differ from each other. This number is the link between
your product and the manual. The product Hardware Revision Number must match the Hard-
ware Revision Number on the cover page of the manual.
Pay attention to the technical data!
Adhere to the technical data and the specifications on connection conditions. If permissible
voltage values or current values are exceeded, the devices can be damaged. Unsuitable
motor or wrong wiring will damage the system components. Check the combination of drive
and motor. Compare the rated voltage and current of the units.
Perform a risk assessment!
The manufacturer of the machine must generate a risk assessment for the machine, and take
appropriate measures to ensure that unforeseen movements cannot cause injury or damage
to any person or property. Additional requirements on specialist staff may also result from the
risk assessment.
The manufacturer should define periodic checks of the electrical components and applic-
ation.
Automatic Restart!
The drive might restart automatically after power on, voltage dip or interruption of the supply
voltage, depending on the parameter setting.
Risk of death or serious injury for humans working in the machine.
If the parameter DRV.ENDEFAULT for one MKD-N is set to 1, then place a warning sign to
the machine (Warning: Automatic Restart at Power On) and ensure, that power on is not pos-
sible, while humans are in a dangerous zone of the machine. In case of using an under-
voltage protection device, you must observe EN 60204-1:2006 chapter 7.5 .
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Observe electrostatically sensitive components!
The devices contain electrostatically sensitive components which may be damaged by incor-
rect handling. Electrostatically discharge your body before touching the device. Avoid con-
tact with highly insulating materials (artificial fabrics, plastic film etc.). Place the device on a
conductive surface.
Hot surface!
Drives may have hot surfaces during operation. The housing can reach temperatures above
80°C. Risk of minor burns! Measure the temperature, and wait until the housing has cooled
down below 40 °C before touching it.
Earthing!
It is vital that you ensure that the drive is safely earthed to the PE (protective earth) busbar in
the switch cabinet. Risk of electric shock. Without low-resistance earthing no personal pro-
tection can be guaranteed.
Leakage Current!
Since the leakage current to PE is more than 3.5 mA, in compliance with IEC61800-5-1 the
PE connection must either be doubled or a connecting cable with a cross-section >10 mm²
must be used. Deviating measures according to regional standards might be possible.
Residual current protective or monitoring devices!
MKD-C with MKD-N can cause a d.c. current in the protective earthing conductor. Where a
residual current-operated protective (RCD) or monitoring (RCM) device is used for protection
in case of direct or indirect contact, only an RCD or RCM of Type B is allowed on the supply
side of MKD-C.
Lethal voltages!
The equipment produces high electric voltages up to 900V. Lethal danger exists at live parts
of the device. Do not open or touch the equipment during operation. Keep the IP 54 cabinet
doors closed during operation. Built-in protection measures such as insulation or shielding
may not be removed. Work on the electrical installation may only be performed with switched
off mains supply, and secured against restart.
Never undo any electrical connections to the MKD while it is live. There is a danger of elec-
trical arcing with damage to contacts and personal injury. Wait at least 5 minutes after dis-
connecting the product from the supply voltages before touching potentially live sections of
the equipment or removing any connections.
Ensure the MKD-N DC-Bus link cover is installed on the last MKD-N before switching on
mains power.
High noise pollution!
Fans generate noise of up to 90 dBA when operating at maximum load. This can lead to dam-
age to the hearing. Keep the cabinet doors closed during operation. Use ear protection if the
control cabinet has to be opened during normal operation. The operator must provide ear pro-
tection and monitor its use depending on the daily noise exposure level determined.
Functional Safety!
The STO safety implementation on the MKD is certified. The brake interruption input can be
used to realize an SBC function. The assessment of the safety functions according to
EN13849 or EN 62061 must finally be done by the user.
Never modify the drive!
It is not allowed to modify the drive hardware without permission by the manufacturer. Open-
ing the housing causes loss of warranty.
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MKD Installation Manual | 3 Product Safety
3.2 Shock-hazard Protection
3.2.1 Leakage current
Leakage current via the PE conductor results from the combination of equipment and cable
leakage currents. The leakage current frequency pattern includes a number of frequencies,
whereby the residual-current circuit breakers definitively evaluate the 50 Hz current. For this
reason, the leakage current cannot be measured using a conventional multimeter.
Since the leakage current to PE is more than 3.5 mA, in compliance with IEC61800-5-1 the
PE connection must either be doubled or a connecting cable with a cross-section >10 mm²
must be used. Deviating measures according to regional standards might be possible
3.2.2 Residual current protective device (RCD)
MKD-C with connected MKD-N and AKD-N can cause a d.c. current in the protective earth-
ing conductor. Where a residual current-operated protective (RCD) or monitoring (RCM)
device is used for protection in case of direct or indirect contact, only an RCD or RCM of
Type B is allowed on the supply side of MKD-C.
In conformity with IEC 60364-4-41 – Regulations for installation and IEC 60204 – Electrical
equipment of machinery, residual current protective devices (RCDs) can be used provided
the requisite regulations are complied with.
The MKD-C is a 3-phase system with a B6 bridge. Therefore, RCDs which are sensitive to
all currents must be used in order to detect any DC fault current.
Rated residual currents in the RCDs:
10 to 30 mA Protection against "indirect contact" (personal fire protection) for stationary
and mobile equipment, as well as for "direct contact".
50 to 300 mA Protection against "indirect contact" (personal fire protection) for stationary
equipment
If you use a selective RCD, the more intelligent evaluation process will prevent spurious trip-
ping of the RCD.
3.2.3 Isolating transformers
When protection against indirect contact is absolutely essential despite a higher leakage cur-
rent, or when an alternative form of shock-hazard protection is sought, the MKD can also be
operated via an isolating transformer (schematic connection (➜# 80). A ground-leakage mon-
itor can be used to monitor for short circuits.
Keep the length of wiring between the transformer and the drive as short as possible.
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3.3 Stop / Emergency Stop / Emergency Off
The control functions Stop, Emergency Stop and Emergency Off are defined by IEC 60204.
Notes for safety aspects of these functions can be found in ISO 13849 and IEC 62061.
The parameter DRV.DISMODE must be set to 2 to implement the different stop categories.
Consult the WorkBench Online Help for configuring the parameter.
Vertical load can fall!
Serious injury could result when a suspended load is not properly blocked. Functional
safety, e.g. with hanging load (vertical axes), requires a safely operated brake, for example
by a safety control via the brake interruption input (➜# 122), in process. Depending on the
requested safety level a second (external) brake must be installed.
Add a safe mechanical blocking (for instance, a motor-holding brake).
Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply the motor holding
brake immediately after faults or Hardware Disable.
3.3.1 Stop
The stop function shuts down the machine in normal operation. The stop function is defined
by IEC 60204.
The Stop Category must be determined by a risk evaluation of the machine.
Stop function must have priority over assigned start functions. The following stop categories
are defined:
Stop Category 0
Shut-down by immediate switching-off the energy supply to the drive machinery (this is an
uncontrolled shut-down). With the safety function STO the drive can be stopped using its
internal electronics (IEC 62061 SIL2).
Stop Category 1
A controlled shut-down, whereby the energy supply to the drive machinery is maintained to
perform the shut-down, and the energy supply is only interrupted when the shut-down has
been completed.
Stop Category 2
A controlled shut-down, whereby the energy supply to the drive machinery is maintained.
Stop Category 0 and Stop Category 1 stops must be operable independently of the operating
mode, whereby a Category 0 stop must have priority.
If necessary, provision must be made for the connection of protective devices and lock-outs.
If applicable, the stop function must signal its status to the control logic. A reset of the stop
function must not create a hazardous situation.
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3.3.2 Emergency Stop
The Emergency Stop function is used for the fastest possible shutdown of the machine in a
dangerous situation. The Emergency Stop function is defined by IEC 60204. Principles of
emergency stop devices and functional aspects are defined in ISO 13850.
The Emergency Stop function will be triggered by the manual actions of a single person. It
must be fully functional and available at all times. The user must understand instantly how to
operate this mechanism (without consulting references or instructions).
The Stop Category for the Emergency Stop must be determined by a risk evaluation of the
machine.
In addition to the requirements for stop, the Emergency Stop must fullfil the following require-
ments:
Emergency Stop must have priority over all other functions and controls in all operating
modes.
The energy supply to any drive machinery that could cause dangerous situations must be
switched off as fast as possible, without causing any further hazards (Stop Category 0)
or must be controlled in such a way, that any movement that causes danger, is stopped
as fast as possible (Stop Category 1).
The reset must not initiate a restart.
3.3.3 Emergency Off
The Emergency Off function is used to switch-off the electrical power supply of the machine.
This is done to prevent users from any risk from electrical energy (for example electrical
impact). Functional aspects for Emergency Off are defined in IEC 60364-5-53.
The Emergency Off function will be triggered by the manual actions of a single person.
The result of a risk evaluation of the machine determines the necessity for an Emergency
Off function.
Emergency Off is done by switching off the supply energy by electro-mechanical switching
devices. This results in a category 0 stop. If this stop category is not possible in the applic-
ation, then the Emergency Off function must be replaced by other measures (for example by
protection against direct touching).
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3.4 Use as Directed
The MKD-C series power supplies are exclusively intended for operating MKD-N servo drive
modules within a cabinet and AKD-N decentralized servo drives.
The MKD-N family of servo drives is exclusively intended for driving suitable synchronous
servomotors with closed-loop control of torque, speed, and/or position.
MKD system modules are components that are built into electrical plants or machines and
can only be operated as integral components of these plants or machines. The manufacturer
of the machine must generate a risk assessment for the machine. The drive must not be
used until it has been established that the machine or plant fulfills the requirements of the
regional directives.
Kollmorgen multi axes drive system
MKD must only be operated in a motion system with components from Kollmorgen. Required
additional Kollmorgen components are the mains chokes, hybrid string cables, hybrid motor
cables, motor power and feedback cables, servomotors.
Assembling
MKD modules must only be operated in environments suitable for the ambient conditions
defined on (➜# 39).
Wiring
Use only Kollmorgen cables for connecting the system components.
Power supply
MKD-C must be powered from a 3 phase industrial supply network
(not more than 42 kA symmetrical rated current at 400 V and 480 V) via a mains choke 3L.
MKD-N drive modules must be powered from MKD-C intelligent power supply modules with
DC voltage from 55 VDC up to 800 VDC.
Fusing
The devices must be operated with fuse protection against power overload.
Motor voltage rating
The rated voltage of the motors must be at least as high as the DC bus link voltage divided
by √2 produced by the drive (UnMotor>=UDC/√2).
For the cases of group installations and of DC powered drives
MKD-C has not been evaluated by Kollmorgen, UL, or TÜV for group installations nor are rat-
ings defined for DC input voltage.
Auxiliary voltage supply, Standby power
Standby power for the drive strings must only be used for supplying the MKD-N electronics.
24 VDC supply unit must accord to PELV (EN 60204-1) requirements.
Safe torque off
Review the section "Use as Directed" in the STO chapter (➜# 109) before using this safety
function. 24 VDC supply unit for global STO supply must accord to PELV (EN 60204-1)
requirements.
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3.5 Prohibited Use
Other use than that described in chapter “Use as directed” is not intended and can lead to per-
sonnel injuries and equipment damage.
The system may not be used
with a machine that does not comply with appropriate national directives or standards,
for driving elevators,
in applications with continuous, operational short circuits to the external regen resistor
contacts.
in applications with any short circuits to the DC-Bus link contacts.
The use of the device in the following environments is also prohibited:
potentially explosive areas
environments with corrosive and/or electrically conductive acids, alkaline solutions, oils,
vapors, dusts
ships or offshore applications
Wiring the system with hybrid cables from other manufacturers than Kollmorgen is not
allowed. Changing Kollmorgen cables or connectors is not allowed.
3.6 Warning note labels
If these signs are damaged, they must be replaced immediately.
3.6.1 Notes placed on the product
The minimum size of the
protective earthing conductor
shall comply with the local safety
regulations for high protectice
earthing conductor current.
Residual Voltage
Wait 5 minutes after removing
power before servicing.
In a system with supercapacitors, the waiting time for servicing can increase. Based on the
risk assessment, the user must attach additional warning labels in the control cabinet.
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