Kollmorgen AKD PDMM User manual

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AKD PDMM™
Quick Start
Edition: April, 2012, Revision A
Valid for Hardware Revision DB
Patents Pending
Part Number 903-200014-00
North America
Kollmorgen Customer Support
Internet: www.kollmorgen.com
E-Mail: [email protected]
Tel.: +1 - 540 - 633 - 3545
Fax: +1 - 540 - 639 - 4162
Europe
Kollmorgen Customer Support
Internet: www.kollmorgen.com
E-Mail: [email protected]
Tel.: [phone] - 9394 - 0
Fax:[phone] - 9394 - 3155
Keep all manuals as a product component during the life span of the product.
Pass all manuals to future users / owners of the product.

2
Record of Document Revisions:
Revision Remarks
A, 04/2012 Launch version
WINDOWS is a registered trademark of Microsoft Corporation
AKD PDMM is a registered trademark of Kollmorgen™ Corporation
Technical changes which improve the performance of the device may be made
without prior notice.
Printed in the United States of America
This document is the intellectual property of Kollmorgen™. All rights reserved. No part
of this work may be reproduced in any form (by photocopying, microlm or any other
method) or stored, processed, copied or distributed by electronic means without the
written permission of Kollmorgen™.

Before You Begin
Safety Precautions
Before installing, review the safety instructions included in the AKD PDMM Installation
Manual. Failure to follow these safety instructions may result in user injury or damage to
equipment. The AKD PDMM Installation Manual is available on the CD included with the
AKD PDMM, and also on the Kollmorgen website: www.kollmorgen.com.
Required Tools and Equipment
• Two M4 hexagon socket cap screws (DIN 912)
• 3 mm T-handle Allen key
• No. 2 Phillips head screwdriver
• Small slotted screwdriver
• Microsoft Windows XP or Windows 7 equipped PC with an available Ethernet port
for connecting to the PDMM. Windows screenshots in this guide show the XP envi
ronment.
Installing the PDMM
Install the hardware by following the steps detailed in this guide:
Step 1 Secure the Drive and Connect the Protective Earth (PE)
Step 2 Connect Logic Power and STO (X1 Connector)
Step 3 Connect Motor Power (X2 Connector)
Step 4 Connect Feedback (X10 Connector)
Step 5 Connect I/O (X7, X8, X35, and X36 Connectors)
Step 6 Connect AC Input Power (X3 and X4 Connectors)
Step 7 Connect Drive Communication (X32)
Step 8 Conrm Connections
After installing the hardware, install the Kollmorgen Automation Suite Integrated
Development Environment (KAS IDE) from the CD or website and congure the drive
through your PC as follows:
Step 9 Install and Start KAS IDE
Step 10 Starting a New Project in the KAS IDE
Step 11 Conguring the Drives and Remote I/O
Step 12 Running the Axis
Wiring Diagram, AKD-M00306 & AKD-M00606
Wiring Diagram, AKD-M01206
Wiring Diagram, AKD-Mxxx07
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Februrary, 2012 edition. 2012© Kollmorgen Corporation. All rights reserved. Specications are subject to change
without notice. It is the responsibility of the product user to determine the suitability of this product for a specic
application.

4
Hardware Installation
AKD PDMM Wiring Diagram
Figure 1 summarizes wiring of the AKD PDMM. Detailed wiring diagrams are included
at the end of this Quick Start guide.
Steps 1 through 8 of this guide provide detailed information for each connection shown
below:
Figure 1. AKD PDMM Wiring Diagram
X32 TCP/IP
STO
X 1/3
Power/Brake
K1
Power ON 3
3
Mains Power
Fuses
Enable
X8/3
X8/4
X8/2
X8/1
X1/2
X1/1
24V DN
+24V DC
24V GND
Logic Power
Feedback

Tools:
• Two M4 hexagon socket cap screws (DIN 912)
• 3 mm T-handle Allen key
• No. 2 Phillips head screwdriver
Bolt the AKD PDMM to a conductive metal plate. See the AKD PDMM Installation
Manual for the dimensions and mounting information on your specic drive model.
Connect the protective earth (PE) to any ground screw on the drive grounding lug
shown in Figure 2.
Figure 2. Protective Earth (PE) Connection
Step 2: Connect Logic Power and STO (X1 Connector)
Safe Torque Off (STO) is a restart lock safety feature that protects personnel by pre-
venting an unintentional system restart. To use this feature, the STO pin must be con-
nected to the output of a security control or a safety relay. The safety relay must comply
with the requirements of the SIL 2 according to IEC 61800-5-2, PL d according to ISO
13849-1.
Connect logic supply and safe torque off (STO) as shown in Figure 3.
Figure 3. Logic Supply Pin Conguration
Pin Signal Description
1 +24 Vdc Logic power
2 24 V GND Supply GND
3STO STO enable
Grounding Lug
+24 GND STO
5
Step 1: Secure the Drive and Connect the Protective Earth

6
Please note the following when connecting logic power supply:
• Input current of up to 2A is required. If the brake relay is used, current of up to 4A
must be supplied.
• Check your motor holding brake amperage requirements in order to size the 24 Vdc
power supply.
• If STO is not needed, then pin 3 must be connected directly with +24 Vdc. The STO
is then bypassed and cannot be used.
• Consult the installation manual for the proper wiring and use of STO.
Step 3: Connect Motor Power (X2 Connector)
Wire the motor power cable to the X2 mating connector according to Figures 4, 5, and
6as appropriate.
Figure 4. Connector X2, AKD PDMM- xxxx06
Figure 5. Connector X2, AKD PDMM-xxxx07
Pin Signal Description
1 -Br Motor holding brake, negative
2 +Br Motor holding brake, positive
3 PE Protective earth (motor housing)
4 U Motor phase U
5 V Motor phase V
6 W Motor phase W
Pin Signal Description
1 -Br Motor holding brake, negative
2 +Br Motor holding brake, positive
3 PE Protective earth (motor housing)
4 U Motor phase U
5 V Motor phase V
6 W Motor phase W
—Br +Br PE U V W
-Br +Br PE U V W
12A
3-6A
AKD PDMM Quick Start | Connect Logic Power and STO
-Br +Br PE U V W
3-12A

Figure 6. Motor Power Wiring Details, Cable length <= 25 m
Please note the following when connecting motor power:
• Refer to the wiring diagram included with your cable before connecting motor power.
• Some drive models do not have brake leads.
• Wire gauge required varies with drive amperage.
Step 4: Connect Feedback (X10 Connector)
Connect the feedback from the motor to the X10 connector according to Figure 7.
Standard Kollmorgen motor feedbacks are plug-and-play and require no parameter set-
ting for motor recognition and commutation to occur.
Figure 7. Feedback connection
AKD PDMM
6
11
1
10 155
7
AKD PDMM Quick Start | Connect Motor Power

8
Connect required I/O according to the conguration shown in Figure 8. All pins are
congurable; factory presets are shown in the pin conguration table.
Connector Pin Signal Recommended Function Specials
X7 1Digital Common X7 Common line for
X7 pins 2,3,4,9
N/A
X7 2Digital Input 7 Programmable N/A
X7 3 Digital Input 4 Programmable N/A
X7 4 Digital Input 3 Programmable N/A
X7 5 Digital Output 2- Programmable N/A
X7 6 Digital Output 2+ Programmable N/A
X7 7 Digital Output 1- Programmable N/A
X7 8 Digital Output 1+ Programmable N/A
X7 9 Digital Input 2 Reference Point High speed
X7 10 Digital Input 1 Home Switch High speed
X8 1 Fault Relay Output N/A N/A
X8 2 Fault Relay Output N/A N/A
X8 3Digital Common X8 Common line for
X8 pins 4, 5, 6
N/A
X8 4Digital Input 8 Hardware enable Not
programmable
X8 5 Digital Input 6 Negative limit switch N/A
X8 6 Digital Input 5 Positive limit switch N/A
X8 7 Analog Ground Analog GND N/A
X8 8 Analog Output + Actual velocity voltage N/A
X8 9 Analog Input - N/A
X8 10 Analog Input + N/A
1 X7 10
1 X8 10
1 X35 8
1 X36 8
Figure 8. I/0 Connection Pin Conguration
Step 5: Connect I/O (X7, X8, X35, and X36 Connectors)

X35 1 Digital Common
X35
Common line for X35
pins 2,3,4
N/A
X35 2 Digital Input 21 Programmable N/A
X35 3 Digital Input 22 Programmable N/A
X35 4 Digital Input 23 Programmable N/A
X35 7 Digital Output 21- Programmable N/A
X35 8 Digital Output 21+ Programmable N/A
X36 1 Digital Common
X36
Common line for X36
pins 2,3,4
N/A
X36 2 Digital Input 24 Programmable N/A
X36 3 Digital Input 25 Programmable N/A
X36 4 Digital Input 26 Programmable N/A
X36 7 Digital Output 22- Programmable N/A
X36 8 Digital Output 22+ Programmable N/A
Digital common lines for X7,X8, X35, and X36 are not common to each other.
Connect the DCOMx line to the 0V of the I/O supply when using “source” type sensors with
digital inputs. Connect the DCOMx line to the 24 V of the I/O supply when using “sink” type
sensors with digital inputs.
Connect AC input power for your AKD PDMM model as shown in Figures 9 and 10. Do
not apply power until all hardware connections are made.
Pin Signal Description
AKD PDMM-x00306 to AKD PDMM-x00606 (X3)
4 L1 Line 1
5 L2 Line 2
6 L3 Line 3
7PE Protective Earth
AKD PDMM-x01206 (X3)
5 L1 Line 1
6 L2 Line 2
7L3 Line 3
8PE Protective Earth
-RB-DC+RB L1 L2 L3 PE
Step 6: Connect AC Input Power (X3 and X4 Connectors)
9
AKD PDMM Quick Start | Connect I/O
Figure 9. Input power pin congurations
L1 L2 L3 PE

10
Figure 10. AC Input power wiring diagram
Please note the following when connecting AC input power:
• Single-phase operation is available on AKD PDMM-x00306, AKD PDMM-x00606,
and AKD PDMM-x01206 models. For a single phase AC line, connect L1 and L2,
with L3 left open circuited. The PE is connected in the same manner as 3-phase
operation.
• A pre-installed jumper is included if the unit has internal braking resistor.
For external braking resistor use, please consult the installation manual.
Step 7: Connect AKD PDMM Communication (X32)
1. Assign an IP Address
To establish communication between the PC and the AKD PDMM, you must rst set the
AKD PDMM IP address using either static or dynamic IP addressing.
a. Static IP addressing (switch setting 1 to 9):
The S1 rotary switch on the front panel of the AKD PDMM corresponds to its IP
address setting.
Figure 11. Rotary switch for static IP addressing
IP address = 192.168.0.S1
For example, if S1 is set to 3, then the IP address is 192.168.0.103
AKD PDMM
AKD PDMM Quick Start | Connect AC Input Power

b. Dynamic IP addressing (DHCP and Auto-IP):
If the S1 switch is set at 0, then the drive is in Dynamic Host Conguration Protocol (DHCP)
mode. The AKD PDMM will acquire its IP address from an external DHCP server if one is
present in the network.
If a DHCP server is not present, then the AKD PDMM will assume an automatic private IP
address of the form 169.254.0.xx. If your PC is directly connected to the AKD PDMM and set
to obtain an IP address automatically in the TCP/IP settings, then a connection is established
between the devices using compatible automatically generated addresses. This connection
can require as long as a minute to complete.
c. Displaying the IP Address
Press the B3 button to display the IP menu item, then press B2 to activate the selection.
The IP address will then be displayed on the 7-segment LED. If an Ethernet cable is
connected at power-on, the IP address will automatically be displayed on the 7-segment
LED during the power-on boot sequence.
Figure 12. B2 & B3 Pushbuttons
d.Changing the IP address:
If the AKD PDMM is not powered on, then you can change the IP address using the
rotary switch, and the change takes effect upon AKD PDMM restart. You can also
change the IP address while the AKD PDMM is powered on. If you move the rotary
switch while 24 V logic power is supplied to the drive, then you must unplug the network
cable from the AKD PDMM for three seconds or longer. This action will reset the
address and the new address will take effect when the cable is plugged in again.
2. Connect the AKD PDMM to the Network
After you have assigned the AKD PDMM IP address, you have two connection options:
direct connection or hub/switch/router connection.
Option A: Direct Connection
1. Connect the AKD PDMM directly to the PC using a standard Ethernet (straight)
patch cable. You can also use a crossover cable, since the drive detects the cable
type automatically. Use static IP addressing for a direct connection.
11
AKD PDMM Quick Start | Connect AKD PDMM Communication

12
Figure 13. Option A. Direct Connection
2. Set the PC IP address. In Windows, select Start>Control Panel>Network
Connections. Choose the correct network connection for the port over which you
will connect to the AKD PDMM.
Figure 14. Network Connection Selection
3. In the network connection window, scroll to Internet Protocol (TCP/IP) and then
select Properties. Congure the TCP/IP properties as shown below and click OK.
Figure 15. Network Connection Properties
Select connection
PC Running KAS IDE
AKD PDMM
Service Port (TCP/IP)
X32 Connection
AKD PDMM Quick Start | Connect AKD PDMM Communication

4. Check the AKD PDMM address setting and make sure that S1 is set to a nonzero
value (static IP connection).
The connection is now congured to establish a point-to-point direct connection be-
tween the AKD PDMM and the PC using the KAS IDE. You can now skip to Step 8.
Option B: Network device connection
1. Set the rotary switch on the AKD PDMM to zero.
2. Connect the AKD PDMM and the PC to the network. The network must include a
DHCP server (usually standard in corporate networks). If the network does not have
a DHCP server, you can connect using a stand-alone router with a built-in DHCP
server. In either case, both the PC and the AKD PDMM acquire IP addresses auto
matically.
Figure 16. Option B: Connection to a Router
Step 8: Conrm Connections
After completing Steps 1 through 7, you can turn on logic power to the AKD PDMM
through the X1 connector (bus voltage is not needed for communications). The AKD
PDMM has two LED displays:
Figure 17. LED Displays
Left Display (Drive LED)
Step Display Description
1 Power on
2
13
PC Running KAS IDE
Router
AKD PDMM
X32 Connection
AKD PDMM Quick Start | Connect AKD PDMM Communication

14
Step Display Description
3
4 Drive operational mode (not enabled)
5 Drive operational mode (enabled)
Right Display (Controller LED):
Step Display Description
1 Power on
2 Boot sequence
3 IP address
4 Operational - program not running
5 Operational - program running
Conrm that the link LEDs on the AKD PDMM(green LED on the RJ45 connector) and
on your PC are both illuminated. If both LEDs are illuminated, then you have a working
electrical connection.
Figure 18. Active connection LED
AKD PDMM Quick Start | Conrm Connections

While the PC is connecting, your taskbar will show the following acquiring icon:
Wait for this icon to change to the limited functionality icon (this process can take up to
one minute).
Although Windows displays this limited functionality icon for the AKD PDMM connec-
tion, the PC can communicate fully with the AKD PDMM. Using the KAS IDE, you can
now congure the AKD PDMM through this connection.
Software Setup
Step 9: Install and Start the KAS IDE
Once the Kollmorgen Automation Suite Integrated Development Environment (KAS IDE)
installation is complete, click the IDE icon to launch the program.
Begin a new project in the KAS IDE by selecting File > New. This will launch the Add a New
Controller window.
Figure 19. Add a New Controller
15
Acquiring AKD PDMM connection.
AKD PDMM connection complete.
AKD PDMM Quick Start | Conrm Connections
The KVB software used for developing an HMI display does not install
with the KAS IDE and must be installed separately.

16
Select your AKD PDMM model from the list and click Next. You will then be prompted to select
an application template:
Figure 20. Select Application Template
Choose from PipeNetwork, PLCopen, or Library, and click Finish. The controller will then be
added to the project view.
To associate the project with the IP address of the PDMM controller, right click on the
Controller option in the Project View.
Figure 21. Controller Selection
AKD PDMM Quick Start | Install and Start the KAS IDE

17
Select Properties and the following screen appears:
Figure 22. Controller Properties
Type in the IP address of the PDMM, set the Controller Type to PDMM and click OK.
Step 10: KAS IDE Project View
The KAS IDE contains tools for conguring the EtherCAT network, setting up and tuning
the drives, adding and conguring HMIs, and creating a PLC program. For more complete
information see the KAS IDE User Guide.
Once a project (new or saved) is opened, the user can open a variety of items to build a
project from the Project Explorer:
Figure 23. Project View
Create PLC Programs
Add Motion
Configure Resident
I/O
Configure Drives and
Remote I/O
Add Additional
Reference Documents
AKD PDMM Quick Start | Install and Start the KAS IDE

18
Step 11: Conguring the Drives and Remote I/O
All drives, including the drive in the PDMM itself and the Remote I/O, can be congured
by the IDE. In order to connect to an EtherCAT device you must rst compile your
project. After the project is compiled you must connect to the target:
Figure 24. Compile and Connect
Next click on the EtherCAT item in the project view to bring up the EtherCAT Devices
screen in the IDE workspace. Click on Scan Devices and the IDE will launch a view which
automatically identies your connected device(s). Click OK, to add these devices to the
project.
Figure 25. Scan Devices & Mapped to Axis
Step 1:
Compile
Project
Step 2:
Connect to
Target
Step 1: Go to the EtherCAT Devices view and press Scan Devices.
Step 2: Mapped to Axis in the Application

Step 1:
Compile
Project
Step 2:
Download
Project
The devices are added to the project view:
Figure 26. Devices Added to Project
To communicate directly with a drive without running a project, rst compile and down-
load the project:
Figure 27. Compile and Download
Online Conguration Mode must also be active. Click on the EtherCAT item in the proj-
ect tree and then click on the OnlIne Conguration Mode button next to Scan Devices:
Figure 28. Online Conguration Mode
Online Conguration Mode is now active. To congure a particular item in the Ether-
CAT network, click on the item in the project tree. A set of screens will open in the work
space that enable the user to completely congure the selected drive:
Figure 29. AKD GUI screens
19
AKD PDMM Quick Start | Conguring the Drives and Remote I/O

20
Additionally, the setup wizard will guide you through a set of conguration steps:
Figure 30. Setup Wizard
Step 12: Running the Axis
To perform basic motion without running a project, use the Service Motion view with the
drive set to Position Mode:
Figure 31. Service Motion
AKD PDMM Quick Start | Conguring the Drives and Remote I/O