Kollmorgen AKD-C User manual

AKD®Central Power Supply
Installation Manual
Edition: H, February 2018
Valid for AKD-C, Hardware Revision A
Part Number 903-200019-00
Original Document
Keep allmanualsas a product component during the life span of the product. Pass all manuals to
future users and owners of the product.

Record of Document Revisions
Revision Remarks
... Table with lifecycle information of this document see (➜# 91)
F, 09/2016 Warning notes updated, projecting guide notes, warning labels described, UL Markings updated,
circuit breaker removed from UL approval, mains frequency 40-70Hz, SCCR 42kA
G, 10/2017 Safety characteristic value MTTFd added, reference to safe slip rings (Stemmann)
H, 02/2018 Part number scheme (Mx types removed), Trademark list updated
Hardware Revision (HR)
AKD-N AKD-C Firmware/
WorkBench
Export
Classification Remarks
A A from 1.11 3A225 AKD-C and AKD-N start revisions
B A from 1.13 - AKD-N Hardware Revision for export classification
tracebility purposes
Trademarks
AKD is a registered trademark of Kollmorgen Corporation
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 Ltd.
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)
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!
Printed in Germany
This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be repro-
duced 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 7
2.1 About this Manual 8
2.2 Using the PDF Format 8
2.3 Notes for the Printed Edition (paper version) 8
2.4 Symbols Used 9
2.5 Abbreviations Used 10
2.6 Standards Used 11
3 Safety 12
3.1 You should pay attention to this 13
3.2 Use as Directed 15
3.3 Prohibited Use 16
3.4 Warning notes placed on the product 16
4 Handling 17
4.1 Packaging 18
4.2 Transport 18
4.3 Storage 18
4.4 Decommissioning 18
4.5 Maintenance and cleaning 19
4.6 Disassemble 19
4.7 System Repair 19
4.8 Disposal 20
5 Approvals 21
5.1 Conformance with UL/cUL 22
5.1.1 UL Markings / Marquages UL 22
5.2 Conformance with EC Low Voltage and EMC Directives 23
5.3 Conformance with EC Machinery Directive, Functional Safety 23
5.4 Conformance with EAC 24
5.5 Conformance with RoHS 24
5.6 Conformance with REACH 24
6 Package 25
6.1 Package Supplied 26
6.2 Nameplate 26
6.3 Part Number Scheme 27
7 Technical description and data 28
7.1 The AKD-C Central Power Supply 29
7.2 Mechanical Data 30
7.3 Electrical Data 30
7.4 Fusing 31
7.4.1 External power supply fusing 31
7.4.2 External regen resistor fusing 31
7.5 Ambient Conditions, Ventilation, and Mounting Position 31
7.6 Grounding System 32
7.7 Signal Inputs/Outputs 32
7.8 Connectors 33
7.9 Recommended Tightening Torques 33
7.10 Cable Requirements 33
7.11 Cable Length Definition 34
7.12 Dynamic Braking 35
7.13 Regen circuit 35
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7.13.1 Functional description 35
7.13.2 Technical data 35
7.14 Switch-On and Switch-Off Behavior 36
7.14.1 Switch-on behavior in standard operation 36
7.14.2 Switch-off process, standard operation 37
7.15 Global Safe Torque Off (STO) 38
7.15.1 STO Safety instructions 38
7.15.2 Use as directed 39
7.15.3 Prohibited use 39
7.15.4 Safety characteristic data 39
7.15.5 Response Time 39
7.15.6 General information 40
7.15.7 Enclosure, wiring 41
7.15.8 Technical data and connection 42
7.15.9 Functional description 43
7.15.9.1 Signal diagram (sequence) 44
7.15.9.2 Functional test 44
7.15.9.3 Global STO application example with KSM 45
7.15.9.4 OSSD test pulses 45
7.16 Shock-hazard Protection 46
7.16.1 Leakage current 46
7.16.2 Residual current protective device (RCD) 46
7.16.3 Isolating transformers 46
7.17 LED Display 46
8 Mechanical Installation 47
8.1 Important Notes 48
8.2 Dimension Drawing 49
8.3 Mounting Example 50
9 Electrical Installation 51
9.1 Important Notes 52
9.2 Guide to Electrical Installation 53
9.3 EMI Noise Reduction 54
9.3.1 Recommendations for EMI noise reduction 54
9.3.2 Shielding connection to the device 55
9.3.2.1 Shield connection clamps for X12, X13, X14, X15, X16 55
9.3.2.2 Ethernet connectors X10, X11, X18 55
9.3.2.3 DC power connector X20A, X21A (cable CCNCN1) 55
9.3.2.4 Local fieldbus connectors X20B, X21B (cable CCNCN1) 55
9.4 System Topology of a Decentralized Servo System 56
9.4.1 System limits 56
9.4.2 Example for one AKD-C 56
9.4.3 Example for several AKD-C 57
9.5 Wiring 58
9.6 Connection Overview 59
9.6.1 Connector assignment 59
9.6.2 Connection diagram 60
9.7 Electrical Supply Connection 61
9.7.1 Connection to various mains supply networks 61
9.7.2 Mains supply connection (X12) 62
9.7.2.1 Three phase connection 62
9.7.3 24 VDC supply voltage (X13) 63
9.8 DC Bus link (X14) 64
9.8.1 Regen resistor (X14) 65
9.8.1.1 Internal regen resistor 65
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9.8.1.2 External regen resistor 65
9.8.2 Capacitor Modules (X14) 66
9.8.2.1 Technical Data 66
9.8.2.2 Example installation with KCM-S and KCM-E 67
9.8.2.3 Example installation with KCM-P and KCM-E 68
9.8.2.4 Discharging KCM modules 69
9.9 Drive String Connection 70
9.9.1 String assignment 71
9.9.2 DC power (X20A, X21A) 72
9.9.3 Local Fieldbus (X20B, X21B) 72
9.10 I/O Connection 73
9.10.1 I/O connectors X15 and X16 73
9.10.2 Digital Input (ENABLE, X15) 74
9.10.3 Digital Output (X15) 75
9.10.4 FAULT relay contacts 76
9.10.5 STO signals (X16) 76
9.11 Motion Bus Interface (X10/X11) 77
9.11.1 Pinout 77
9.11.2 Bus Protocols 77
9.11.3 Network configuration 77
9.11.4 EtherCAT 77
9.12 Service Interface (X18) 78
9.12.1 Pinout 78
9.12.2 Service Bus Protocols 78
9.12.3 Possible Network Configurations 78
9.13 Push-button (B1) 79
9.14 Rotary Switches (S1), Setting IP address 79
10 Setup 80
10.1 Important Notes 81
10.2 Setup software WorkBench 82
10.2.1 Use as directed 82
10.2.2 Software description 83
10.2.3 Hardware requirements 83
10.2.4 Operating systems 83
10.2.5 Installation under Windows 84
10.3 Initial System Test 85
10.3.1 Unpacking, mounting, and wiring 85
10.3.2 Set IP address 85
10.3.3 Confirm connections 85
10.3.4 Install and start WorkBench 86
10.3.5 Enable the drive using the setup wizard 86
10.4 Fault and Warning Messages 87
10.5 Troubleshooting the AKD-C 88
11 Index 89
12 Record of Document Revisions 91
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AKD-C Installation |
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2 General
2.1 About this Manual 8
2.2 Using the PDF Format 8
2.3 Notes for the Printed Edition (paper version) 8
2.4 Symbols Used 9
2.5 Abbreviations Used 10
2.6 Standards Used 11
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AKD-C Installation | 2 General
2.1 About this Manual
This manual, AKD-C Installation Manual ("Instructions Manual" according to EC Machinery
Directive 2006/42/EC), describes the AKD-C (Central Power Supply) and includes inform-
ation needed to safely install decentral drive system with an AKD-C and several AKD-N
drives. A digital version of this manual (pdf format) is available on the DVD included with your
device. Manual updates can be downloaded from the Kollmorgen website (www.koll-
morgen.com).
Additional documents include the following:
Decentralized Drive System Projecting Guide: describes how to build a decentralized
drive system with AKD-C and AKD-N. It provides tips for system topology, cooling, and
maximizing the system performance.
AKD-N Installation Manual: describes the AKD-N series of drives for Kollmorgen decent-
ralized drive system and includes information needed for safe assembling and installation
of the drives.
WorkBench Online Help: describes how to use your drive in common applications. It also
provides tips for maximizing your system performance. The Online Help includes the Para-
meter and Command Reference Guide which provides documentation for the parameters
and commands used to program the drive.
EtherCAT Communication: describes how to use your system in EtherCAT applications.
Accessories Manual.It provides documentation for accessories like cables and regen res-
istors used with AKD-C and AKD-N. Regional variants of this manual exist.
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.
2.3 Notes for the Printed Edition (paper version)
A printed version of the manual is enclosed with each product. For
environmental reasons, the document was reduced in size and prin-
ted on DIN A5.
Should you experience difficulties reading the font size of the
scaled-down printed version, you can print and use the PDF ver-
sion in DIN A4 format 1:1. You can find the PDF version on the
DVD accompanying the product and on the Kollmorgen website.
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2.4 Symbols Used
Warning Symbols
Symbol Indication
DANGER Indicates a hazardous situation which, if not avoided, will result
in death or serious injury.
WARNING Indicates a hazardous situation which, if not avoided, could res-
ult in death or serious injury.
CAUTION 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
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AKD-C Installation | 2 General
2.5 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
KAS IDE Setup software (Kollmorgen Automation Suite Integrated Development
Environment)
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)
STO Safe torque off
VAC Volts, alternating current
VDC Volts, direct current
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