Kollmorgen AKD-N series User manual

AKD®Near Servo Drive
Installation Manual
Edition: J, February 2018
Valid for AKD-N, Hardware Revision B
Part Number 903-200018-00
Original Document
Keep allmanuals as a product component during the life span of the product. Passallmanuals to
future users and owners of the product.

Record of document revisions
Revision Remarks
... Table with lifecycle information of this document see (➜# 81)
G, 03/2017 References to cable connector option A3 removed, tertiary fieldbus cable type updated
H, 10/2017 Global STO note, enclosure/wiring note, product prohibited use: elevator
J, 02/2018 Heat sink 40 mm removed, Trademark list updated, SpeedTec spelling corrected
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 9
3 Safety 10
3.1 You should pay attention to this 11
3.2 Use as Directed 13
3.3 Prohibited Use 13
3.4 Warning notes placed on the product 14
4 Handling 15
4.1 Packaging 16
4.2 Transport 16
4.3 Storage 16
4.4 Decommissioning 17
4.5 Maintenance and cleaning 17
4.6 Disassemble 17
4.7 System Repair 18
4.8 Disposal 18
5 Approvals 19
5.1 Conformance with UL/cUL 20
5.1.1 UL Markings / Marquages UL 20
5.2 Conformance with EC Low Voltage and EMC Directives 21
5.3 Conformance with EC Machinery Directive, Functional Safety 21
5.4 Conformance with EAC 22
5.5 Conformance with RoHS 22
5.6 Conformance with REACH 22
6 Package 23
6.1 Package Supplied 24
6.2 Nameplate 24
6.3 Part Number Scheme 25
7 Technical description and data 26
7.1 The AKD-N Family of Digital Drives 27
7.2 Mechanical Data 28
7.3 Electrical Data 28
7.4 Performance Data 28
7.5 Ambient Conditions, Ventilation, and Mounting Position 29
7.6 Inputs/Outputs 29
7.7 Connectors 30
7.8 Cable Requirements 31
7.9 Cable length definition 32
7.10 Dynamic Braking 33
7.11 Regen circuit 33
7.11.1 Functional description 33
7.11.2 Technical data 33
7.12 LED Codes 34
7.13 Switch-On and Switch-Off Behavior 35
7.13.1 Switch-on behavior in standard operation 35
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7.13.2 Switch-off behavior 36
7.13.2.1 Switch-off behavior using a digital input (controlled stop) 36
7.13.2.2 Switch-off behavior using the DRV.DIS command 37
7.13.2.3 Switch-off behavior using HW Enable input on AKD-C (uncontrolled stop) 38
7.13.2.4 Switch-off behavior in the event of a fault 39
7.14 Safe Torque Off (STO) 42
7.14.1 Global STO, control via AKD-C 42
7.14.2 Local STO, control via digital input on AKD-N-DS/DT 42
7.14.3 Safety characteristic data 42
7.14.4 Use as directed 43
7.14.5 Prohibited use 43
7.14.6 Response Time 43
7.14.7 Enclosure, wiring 43
7.14.8 Local STO safety instructions 44
7.14.9 Technical data and pinout local STO 45
7.14.10 Functional description local STO 46
7.14.10.1 Signal diagram (sequence) 46
7.14.11 Functional test 47
7.14.11.1 Global STO 47
7.14.11.2 Local STO 47
7.14.11.3 Local STO application example 48
7.14.11.4 OSSD test pulses 48
8 Mechanical Installation 49
8.1 Important Notes 50
8.2 Temperature Management 51
8.3 Mechanical Drawings 52
8.3.1 Dimensions AKD-N, preferred mounting 52
8.3.2 Dimensions AKD-N with optional heat sink, preferred mounting 53
9 Electrical Installation 54
9.1 Important Notes 55
9.2 Guide to Electrical Installation 56
9.3 System Topology of a Decentralized Servo System 57
9.3.1 System limits 57
9.3.2 Example 57
9.4 Wiring 58
9.5 Connection Overview 59
9.5.1 Connector assignment AKD-Nzzz07-DB 59
9.5.2 Connector assignment AKD-Nzzz07-DG/DT 59
9.5.3 Connector assignment AKD-Nzzz07-DF/DS 60
9.5.4 Connection diagram AKD-Nzzz07-DB 61
9.5.5 Connection diagram AKD-Nzzz07-DG/DT 62
9.5.6 Connection diagram AKD-Nzzz07-DF/DS 63
9.6 Hybrid Connection (X1, X2) 64
9.7 I/O Connection (X3) 64
9.7.1 Digital Inputs 65
9.7.2 Digital Output 66
9.8 Motor Power Connection (X4) 67
9.8.1 Connector X4 AKD-Nzzz07 all variants, hybrid, single cable 67
9.8.2 Connector X4 AKD-Nzzz07-DF/DS, dual cables 67
9.9 Motor Brake Connection (X4) 68
9.10 Motor Feedback Connection (X4, X5) 69
9.10.1 Connector X4 AKD-Nzzz07 all variants, hybrid, single cable 69
9.10.2 Connector X5 AKD-Nzzz07-DF/DS, dual cable 70
9.11 Optional Connector (X6) 71
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9.11.1 Pinout AKD-Nzzz07-DF/DG 71
9.11.2 Pinout AKD-Nzzz07-DS/DT 71
10 Setup 72
10.1 Important Notes 73
10.2 Setup software WorkBench 74
10.3 Initial System Test 75
10.3.1 Unpacking, mounting, and wiring 75
10.3.2 Set IP address 75
10.3.3 Confirm connections 75
10.3.4 Install and start WorkBench 76
10.3.5 Enable the drive using the setup wizard 76
10.4 Fault and Warning Messages 77
11 Index 79
12 Record of document revisions 81
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AKD-N 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 9
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AKD-N Installation | 2 General
2.1 About this Manual
This manual, AKD-N Installation Manual ("Instructions Manual" according to EC Machinery
Directive 2006/42/EC), describes the AKD-N series of digital drives and includes information
needed to safely install an AKD-N. A digital version of this manual (pdf format) is available on
the DVD included with your drive. Manual updates can be downloaded from the Kollmorgen
website (www.kollmorgen.com).
Additional documents include the following:
Projecting Guide Decentralized Drive System: 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-C Installation Manual: describes the AKD-C series of intelligent power supply for
Kollmorgen decentralized drive system and includes information needed for safe assem-
bling, installation and system setup.
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
Symbol Indication
DANGER Indicates a hazardous situation which, if not avoided, will res-
ult in death or serious injury.
WARNING Indicates a hazardous situation which, if not avoided, could
result in death or serious injury.
CAUTION Indicates a hazardous situation which, if not avoided, could
result 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.
2.5 Abbreviations Used
Abbreviation Meaning
(➜# 53) "see page 53" in this document
CE Communité Européenne
EMC Electromagnetic compatibility
LED Light-emitting diode
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)
ROD Incremental encoder (A quad B)
Rth Specific thermal resistance
SELV Safety Extra Low Voltage
STO Safe torque off
VAC Volts, alternating current
VDC Volts, direct current
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AKD-N Installation | 3 Safety
3 Safety
3.1 You should pay attention to this 11
3.2 Use as Directed 13
3.3 Prohibited Use 13
3.4 Warning notes placed on the product 14
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