Kollmorgen AKD series User manual

AKD™ and AKD PDMM™
Installation Manual
Edition: G, March 2012
Valid for Hardware Revision D
Part Number 903-200003-00
Original Document
Patents Pending
Keep all manuals as 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
-, 11/2009 Beta launch version
-, 12/2009 Digital I/O corrections, several updates
A, 03/2010 CAN termination connector "optional", data dynamic brake updated, resolver signals renamed,
CE certificate, X9 description updated, technical data completed
B, 06/2010 Several updates, typos, dimensions corrected, switch on/off timing diagrams
C, 07/2010 Switch on/off timing diagrams,typos, cover layout
D, 01/2011 Hardware Revison C, STO certified, voltage level digital inputs changed
E, 04/2011 Analog In/Out specification extended, single-/two phase mains supply updated
F, 10/2011 PROFINET RT, Modbus TCP, several updates, cover layout updated
G, 03/2012 AKD PDMM added, 270 Vac mains supply restriction removed, part number scheme extended,
EnDat 2.2 @ X9, STOP chapter updated, dimension drawings
Hardware Revision (HR)
AKD
HR
AKD PDMM
HR Firmware WorkBench KAS IDE Remarks
A - 01.03.xx.yyy 1.3.0.zzzzz - AKD Start revision
C - 01.05.xx.yyy 1.5.0.zzzzz - STO certified, PROFINET RT released
D DA 01.06.xx.yyy 1.6.0.zzzzz 2.5.0.zzzzz Control board revision 9, AKD PDMM Start
revision
EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH”
PROFINET is a registered trademark of PROFIBUS and PROFINET International (PI)
Ethernet/IP is a registered trademark of ODVA, Inc.
Ethernet/IP Communication Stack: copyright (c) 2009, Rockwell Automation
EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
HIPERFACE is a registered trademark of Max Stegmann GmbH
SIMATIC is a registered trademark of SIEMENS AG
Windows is a registered trademark of Microsoft Corporation
AKD is a registered trademark of Kollmorgen™ Corporation
Current patents:
US Patent 5,646,496 (used in control card R/D and 1 Vp-p feedback interface)
US Patent 5,162,798 (used in control card R/D)
US Patent 6,118,241 (used in control card simple dynamic braking)
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, microfilm or any other method) or stored, processed, copied or dis-
tributed by electronic means without the written permission of Kollmorgen™.
2 Kollmorgen™ | March 2012

Table of Contents
1 General 9
1.1 About this Manual 10
1.2 Target Group 10
1.3 Using the PDF Format 10
1.4 Abbreviations used 11
1.5 Symbols used 12
1.6 Standards Used 13
2 Safety 14
2.1 Safety Instructions 15
2.2 Use as Directed 16
2.3 Prohibited Use 16
3 Approvals 17
3.1 Conformance with UL/cUL 18
3.1.1 UL Markings 18
3.2 CE Conformance 20
3.2.1 European Directives and Standards for the machine builder 21
3.2.2 EC Declaration of Conformity 22
3.3 Safe Torque Off (STO) 23
4 Handling 24
4.1 Transport 25
4.2 Packaging 25
4.3 Storage 25
4.4 Maintenance and Cleaning 26
4.5 Uninstalling 26
4.6 Repair and Disposal 26
5 Package 27
5.1 Package Supplied 28
5.2 Nameplate 28
5.3 Part number scheme 29
6 Technical description and data 30
6.1 The AKD Family of Digital Drives 31
6.2 Ambient Conditions, Ventilation, and Mounting Position 33
6.3 Mechanical Data 33
6.4 Inputs/Outputs 33
6.5 Electrical Data AKD-xzzz06 34
6.6 Electrical Data AKD-xzzz07 35
6.7 Performance Data 36
6.8 Recommended tightening torques 36
6.9 Fusing 37
6.9.1 External Power Supply fusing 37
6.9.2 External 24 V supply fusing 37
6.9.3 External regen resistor fusing 37
6.10 Grounding System 37
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6.11 Connectors 38
6.11.1 AKD-xzzz06 Types (120V to 240V Mains Voltage Supply) 38
6.11.2 AKD-xzzz07 Types (240V to 480V Mains Voltage Supply) 38
6.12 Cable and Wire Requirements 39
6.12.1 General 39
6.12.2 Cable Cross Sections and Requirements 39
6.13 Dynamic Braking 40
6.13.1 Regen Circuit 40
6.13.1.1 Functional description 40
6.13.1.2 Technical Data for AKD-xzzz06 41
6.13.1.3 Technical Data for AKD-xzzz07 42
6.14 Switch-on and Switch-off Behavior 43
6.14.1 Switch-on behavior in standard operation 44
6.14.2 Switch-off behavior 45
6.14.2.1 Switch-off behavior using the DRV.DIS command 45
6.14.2.2 Switch-off behavior using a digital input (controlled stop) 46
6.14.2.3 Switch-off behavior using HW Enable input (uncontrolled stop) 46
6.14.2.4 Switch-off behavior in the event of a fault 47
6.15 Stop / Emergency Stop / Emergency Off 50
6.15.1 Stop 50
6.15.2 Emergency Stop 51
6.15.3 Emergency Off 51
6.16 Safe Torque Off (STO) 52
6.16.1 Safety characteristic data 52
6.16.2 Use as directed 52
6.16.3 Prohibited Use 52
6.16.4 Safety instructions 53
6.16.5 Technical data and pinning 53
6.16.6 Enclosure 53
6.16.7 Wiring 53
6.16.8 Functional description 54
6.16.8.1 Signal diagram (sequence) 54
6.16.8.2 Control circuit (example) 55
6.16.8.3 Functional test 56
6.16.8.4 Mains supply circuit (example) 56
6.17 Shock-hazard Protection 57
6.17.1 Leakage Current 57
6.17.2 Residual Current Protective Device (RCD) 57
6.17.3 Isolating Transformers 57
7 Mechanical Installation 58
7.1 Safety Instructions 59
7.2 Guide to Mechanical Installation 59
7.3 Mechanical Drawings Standard Width 60
7.3.1 Control Cabinet Layout AKD-xzzz06, Standard Width 60
7.3.2 Control Cabinet Layout AKD-xzzz07, Standard Width 61
7.3.3 Dimensions AKD-xzzz06, standard width 62
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7.3.4 Dimensions AKD-xzzz07, standard width 63
7.4 Mechanical Drawings Extended Width 64
7.4.1 Control Cabinet Layout, Example with AKD-M00306 64
7.4.2 Control Cabinet Layout, Example with AKD-M00307 65
7.4.3 Dimensions AKD-xzzz06, extended width 66
7.4.4 Dimensions AKD-xzzz07, extended width 67
8 Electrical Installation 68
8.1 Safety Instructions 69
8.2 Guide to electrical installation 70
8.3 Wiring 71
8.4 Components of a servosystem 72
8.5 Connection Overview AKD-B, AKD-P, AKD-T 74
8.5.1 Connector assignment AKD-x00306, AKD-x00606 74
8.5.2 Connector assignment AKD-x01206 74
8.5.3 Connector assignment AKD-x02406 and AKD-xzzz07 75
8.5.4 Connection Diagram AKD-x00306, AKD-x00606 76
8.5.5 Connection Diagram AKD-x01206 77
8.5.6 Connection Diagram AKD-x02406 and AKD-xzzz07 78
8.6 Connection Overview AKD-M 79
8.6.1 Connector assignment AKD-M00306, AKD-M00606 79
8.6.2 Connector assignment AKD-M01206 79
8.6.3 Connector assignment AKD-M00307, AKD-M00607, AKD-M01207 80
8.6.4 Connection Diagram AKD-M00306, AKD-M00606 81
8.6.5 Connection Diagram AKD-M01206 82
8.6.6 Connection Diagram AKD-M00307, AKD-M00607, AKD-M01207 83
8.7 EMI Noise Reduction 84
8.7.1 Recommendations for EMI Noise Reduction 84
8.7.2 Shielding with External Shielding Busbar 85
8.7.2.1 Shielding Concept 85
8.7.2.2 Shielding Busbar 86
8.7.3 Shielding Connection to the Drive 87
8.7.3.1 Grounding Plates 87
8.7.3.2 Shield connection clamps 87
8.7.3.3 Motor Connector X2 with shielding connection 87
8.8 Electrical Supply Connection 88
8.8.1 Connection to Various Mains Supply Networks AKD-xzzz06 (120V to 240V) 88
8.8.2 Connection to Various Mains Supply Networks AKD-xzzz07 (240V to 480V) 89
8.8.3 24 V Auxiliary Supply (X1) 90
8.8.4 Mains Supply Connection (X3, X4) 91
8.8.4.1 Three Phase connection (all AKD types) 91
8.8.4.2 Single phase connection (AKD-xzzz06 only) 92
8.9 External Regen Resistor (X3) 93
8.10 DC Bus Link (X3) 94
8.11 Motor Connection 95
8.11.1 Motor Power (X2) 96
8.11.1.1 Cable Length ≤ 25 m 96
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8.11.1.2 Cable length >25 m 96
8.11.2 Motor Holding Brake (X2) 97
8.12 Feedback Connection 98
8.12.1 Feedback Connector (X10) 99
8.12.2 Resolver 100
8.12.3 SFD 101
8.12.4 Encoder with BiSS 102
8.12.5 Sine Encoder with EnDat 2.1 103
8.12.6 Encoder with EnDat 2.2 104
8.12.7 Sine Encoder with Hiperface 105
8.12.8 Sine Encoder 106
8.12.9 Incremental Encoder 107
8.13 Electronic gearing, Master-slave operation 108
8.13.1 Technical characteristics and pinout 108
8.13.1.1 Connector X7 Input 108
8.13.1.2 Connector X9 Input 109
8.13.1.3 Connector X9 Output 109
8.13.2 Command encoder signal connection 110
8.13.2.1 Incremental encoder input 5 V (X9) 110
8.13.2.2 Incremental encoder input 24 V (X7) 110
8.13.2.3 Encoder with EnDat 2.2 input 5 V (X9) 111
8.13.3 Pulse / Direction signal connection 112
8.13.3.1 Pulse / Direction input 5 V (X9) 112
8.13.3.2 Pulse / Direction Input 5V (X7) 112
8.13.4 Up / Down signal connection 113
8.13.4.1 Up / Down input 5 V (X9) 113
8.13.4.2 Up / Down input 24 V (X7) 113
8.13.5 Emulated Encoder Output (EEO) 114
8.13.6 Master-Slave Control 115
8.14 I/O Connection 116
8.14.1 I/O Connectors X7 and X8 (all AKD variants) 116
8.14.2 I/O Connectors X35 and X36 (AKD-M only) 117
8.14.3 Analog Input (X8) 118
8.14.4 Analog Output (X8) 119
8.14.5 Digital Inputs (X7/X8) 120
8.14.5.1 Digital Inputs 1 and 2 122
8.14.5.2 Digital Inputs 3 to 7 122
8.14.5.3 Digital Input 8 (ENABLE) 122
8.14.6 Digital Outputs (X7/X8) 123
8.14.6.1 Digital Outputs 1 and 2 123
8.14.6.2 FAULT relay contacts 124
8.14.7 Digital Inputs (X35/X36) with AKD-M 125
8.14.8 Digital Outputs (X35/X36) with AKD-M 127
8.14.8.1 Digital Outputs 21 and 22 127
8.15 LED display 128
8.16 Pushbuttons (B1, B2, B3) 129
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8.16.1 Pushbutton B1 with AKD-B, -P, -T 129
8.16.2 Pushbuttons B1, B2, B3 with AKD-M 129
8.17 SD Card Slot AKD-M 130
8.17.1 Supported SD card types 130
8.17.2 Features 130
8.18 Service Interface (X11, X32) 131
8.18.1 Pinout X11, X32 131
8.18.2 Service Bus Protocols X11, X32 131
8.18.3 Possible Network Configurations 131
8.18.4 Setting the IP Address AKD-B, AKD-P, AKD-T 132
8.18.5 Setting the IP Address AKD-M 134
8.18.6 Modbus TCP 135
8.19 CAN-Bus Interface (X12/X13) 135
8.19.1 CAN-Bus activation with AKD-CC models 136
8.19.2 Baudrate for CAN-Bus 137
8.19.3 Node Address for CAN-Bus 138
8.19.4 CAN-Bus Termination 138
8.19.5 CAN-Bus Cable 138
8.19.6 CAN-Bus Wiring 139
8.20 Motion Bus Interface (X5/X6/X11) 140
8.20.1 Pinout X5, X6, X11 140
8.20.2 Bus Protocols X5, X6, X11 140
8.20.3 EtherCAT 141
8.20.3.1 EtherCAT activation with AKD-CC models 141
8.20.4 SynqNet 142
8.20.5 PROFINET 142
8.20.6 Ethernet/IP 142
9 Setup 143
9.1 Safety Instructions 144
9.2 Setup AKD-B, AKD-P, AKD-T 145
9.2.1 Setup software WorkBench 145
9.2.2 Use as directed 145
9.2.3 Software description 146
9.2.4 Hardware requirements 146
9.2.5 Operating systems 146
9.2.6 Installation under Windows 2000/XP/VISTA/7 147
9.2.7 Initial Drive Test AKD-B, AKD-P, AKD-T 148
9.2.7.1 Unpacking, Mounting, and Wiring the AKD 148
9.2.7.2 Minimum Wiring for Drive Test without Load 148
9.2.7.3 Set IP Address 149
9.2.7.4 Confirm Connections 149
9.2.7.5 Install and Start WorkBench 150
9.2.7.6 Set Drive IP Address in WorkBench 150
9.2.7.7 Enable the Drive Using the Setup Wizard 150
9.3 Setup AKD-M 151
9.3.1 Setup software KAS IDE 151
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9.3.2 Use as directed 151
9.3.3 Software description 152
9.3.4 Hardware requirements 152
9.3.5 Operating systems 152
9.3.6 Installation under Windows XP/7 153
9.3.7 Initial Drive Test AKD-M 154
9.3.7.1 Unpacking, Mounting, and Wiring the AKD PDMM 154
9.3.7.2 Minimum Wiring for Drive Test without Load 154
9.3.7.3 Set IP Address 155
9.3.7.4 Confirm Connections 155
9.3.7.5 Install and Start KAS IDE 156
9.3.7.6 Set Drive IP Address in KAS IDE 157
9.3.7.7 Starting new project 158
9.4 Fault and Warning Messages 161
9.5 Error and Alarm Messages AKD-M 173
9.5.1 Errors 173
9.5.2 Alarms 175
9.6 Troubleshooting the AKD 176
10 Index 177
AKD Installation | Table of Contents
8 Kollmorgen™ | March 2012

1 General
1.1 About this Manual 10
1.2 Target Group 10
1.3 Using the PDF Format 10
1.4 Abbreviations used 11
1.5 Symbols used 12
1.6 Standards Used 13
AKD Installation | 1 General
Kollmorgen™ | March 2012 9

AKD Installation | 1 General
1.1 About this Manual
This manual, AKD Installation Manual, describes the AKD series of digital drives and includes information
needed to safely install an AKD. A digital version of this manual (pdf format) is available on the CD-ROM
included with your drive. Manual updates can be downloaded from the Kollmorgen™ website (www.kol-
lmorgen.com).
This document fulfills all requirements for an "Instructions Manual" under the EC Machinery Directive
(2006/42/EC).
Additional documents on the accompanying CD-ROM include the following:
lAKD User Guide. This manual describes how to use your drive in common applications. It also provides
tips for maximizing your system performance with the AKD. The User Guide includes the Parameter and
Command Reference Guide. This guide provides documentation for the parameters and commands used
to program the AKD.
lAKD CAN-BUS Communication. This manual describes how to use your drive in CANopen applications.
lAKD EtherCAT Communication. This manual describes how to use your drive in EtherCAT applications.
lAKD PROFINET RT Communication. This manual describes how to use your drive in PROFINET RT
applications.AKD
lAKD Ethernet/IP Communication. This manual describes how to use your drive in Ethernet/IP appli-
cations.
lAKD SynqNet Communication. This manual describes how to use your drive in SynqNet appli-
cations.AKD
lAccessories Manual. This manual provides documentation for accessories like cables and regen resist-
ors used with AKD. Regional variants of this manual exist.
1.2 Target Group
This manual addresses personnel with the following qualifications:
lTransport: only by personnel with knowledge of handling electrostatically sensitive components.
lUnpacking: only by electrically qualified personnel.
lInstallation: only by electrically qualified personnel.
lBasic tests: only by qualified personnel with knowledge of electrical engineering and drive technology
The qualified personnel must know and observe the following standards:
lISO 12100, IEC 60364 and IEC 60664
lNational accident prevention regulations
During operation, hazards exist that can cause death, severe injury, or material
damage. To safely operate the AKD, you must follow all safety instructions in this
manual. The operator of systems using the AKD must require that all personnel
who work with the drive read and understand the manual before using the drive.
1.3 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 appropriate
page is accessed.
Page/chapter numbers in the text Page/chapter numbers with cross references are active links.
10 Kollmorgen™ | March 2012

1.4 Abbreviations used
Abbreviation Meaning
AGND Analog ground
CE Communité Européenne
COM Serial interface for a personal computer
DCOMx Communication line for digital inputs (with x=7 or 8)
Disk Magnetic storage (diskette, hard disk)
EEPROM Electrically erasable programmable memory
EMC Electromagnetic compatibility
F-SMA Fiber optic cable connector according to IEC 60874-2
KAS Kollmorgen Automation Suite
KAS IDE Setup software (Kollmorgen Automation Suite Integrated Development Envi-
ronment) used for AKD PDMM drives
LED Light-emitting diode
LSB Low significant byte (or bit)
MSB Main significant byte (or bit)
NI Zero pulse
PC Personal computer
PE Protective earth
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)
S1 Continuous operation
STO Safe torque off
Vac Volts, alternating current
Vdc Volts, direct current
AKD Installation | 1 General
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AKD Installation | 1 General
1.5 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 result in death or serious
injury.
Indicates a hazardous situation which, if not avoided, could result in minor or mod-
erate injury.
Indicates situations which, if not avoided, could result in property damage.
This is not a safety symbol.
This symbol indicates important notes.
Drawing symbols
Symbol Description Symbol Description
Signal ground Diode
Chassis ground Relays
Protective earth Relays switch off
delayed
Resistor Normal open contact
Fuse Normal closed contact
12 Kollmorgen™ | March 2012

1.6 Standards Used
Standard Content
ISO 4762 Hexagon socket head cap screws
ISO 11898 Road vehicles — Controller area network (CAN)
ISO 12100 Safety of machinery: Basic concepts, general principles for design
ISO 13849 Safety of machinery: Safety-related parts of control systems
IEC 60085 Electrical insulation - Thermal evaluation and designation Maintenance
IEC 60204 Safety of Machinery: Electrical equipment of machinery
IEC 60364 Low-voltage electrical installations
IEC 60439 Low-Voltage Switchgear and Controlgear Assemblies
IEC 60529 International protection rating (IP code)
IEC 60664 Insulation coordination for equipment within low-voltage systems
IEC 60721 Classification of environmental conditions
IEC 61000 Electromagnetic compatibility (EMC)
IEC 61131 Programmable controllers
IEC 61491 Electrical equipment of industrial machines – Serial data link for real-time communications
between controls and drives.
IEC 61508 Functional safety of electrical/electronic/programmable electronic safety-related systems
IEC 61800 Adjustable speed electrical power drive systems
IEC 62061 Functional safety of electrical/electronic/programmable electronic safety-related systems
IEC 62079 Preparation of instructions - Structuring, content and presentation
ANSI Z535 Product safety (symbols, colors, information)
UL 840 UL Standard for Safety for Insulation Coordination Including Clearances and Creepage Distances
for Electrical Equipment
UL 508C UL Standard for Safety Power Conversion Equipment
ANSI - American National Standard Institute, Inc.
IEC - International Electrotechnical Commission
ISO - International Organization for Standardization
UL - Underwriters Laboratories
AKD Installation | 1 General
Kollmorgen™ | March 2012 13

AKD Installation | 2 Safety
2 Safety
2.1 Safety Instructions 15
2.2 Use as Directed 16
2.3 Prohibited Use 16
14 Kollmorgen™ | March 2012

2.1 Safety Instructions
During operation, hazards exist that can cause death, severe injury, or material
damage. Do not open or touch the equipment during operation. Keep all covers
and cabinet doors closed during operation. Only properly qualified persons may
handle the equipment during installation and commissioning .
lDuring operation, drives may have uncovered live components, depending
on their level of enclosure protection.
lControl and power connections may be live, even though the motor is not
rotating.
lDrives may have hot surfaces during operation. The heat sink can reach tem-
peratures above 80°C.
The danger of electrical arcing is present. Electrical arcing can damage contacts
and injure personnel. Never undo any electrical connections to the drive while it is
live.
Wait at least 7 minutes after disconnecting the drive from the main supply power
before touching potentially live sections of the equipment (such as contacts) or
removing any connections.
Capacitors can have dangerous voltages present up to seven minutes after switch-
ing off the supply power. Always measure the voltage in the DC bus link and wait
until the voltage is below 40 V before handling components.
Incorrect handling of the drive can lead to personnel injury or material damage.
Read this documentation before installing and commissioning the drive. It is vital
that you keep to the technical data and information on connection requirements
(nameplate and documentation).
Only properly qualified personnel may perform activities such as transport, instal-
lation, commissioning, and maintenance. Properly qualified persons are those who
are familiar with the transport, assembly, installation, commissioning and oper-
ation of the product, and who have the appropriate qualifications for their job. The
qualified personnel must know and observe the following standards:
lIEC 60364 and IEC 60664
lnational accident prevention regulations
The manufacturer of the machine must produce a risk assessment for the machine
and take appropriate measures to ensure that unforeseen movements do not result
in personnel injury or material damage.
It is not allowed to modify this device without permission by the manufacturer.
Check the Hardware Revision Number of the product (see product label). This
revision number must match the Hardware Revision Number on the cover page of
the manual.
The drives contain electrostatically sensitive components which may be damaged
by incorrect handling. Electrostatically discharge your body before touching the
drive. Avoid contact with highly insulating materials (artificial fabrics, plastic film
etc.). Place the drive on a conductive surface.
AKD Installation | 2 Safety
Kollmorgen™ | March 2012 15

AKD Installation | 2 Safety
2.2 Use as Directed
Drives are components that are built into electrical plants or machines and can only be operated as integral com-
ponents of these plants or machines. The manufacturer of the machine used with a drive must generate a risk
assessment for the machine and take appropriate measures to ensure that unforeseen movements cannot cause
personnel injury or property damage.
Cabinet and wiring
Drives must only be operated in a closed control cabinet suitable for the ambient conditions => p. 30. Ventilation
or cooling may be necessary to keep the temperature within the cabinet below 40 °C.
Use only copper conductors for wiring. The conductor cross-sections can be derived from the standard IEC
60204 (alternatively for AWG cross-sections: NEC Table 310-16, 75 °C column).
Power supply
Drives in the AKD series can be supplied as follows:
lAKD-xzzz06: 1 or 3 phase industrial supply networks
(not more than 200 kA symmetrical rated current at 120 V and 240 V).
lAKD-xzzz07: 3 phase industrial supply networks
(not more than 200 kA symmetrical rated current at 240 V, 400 V and 480 V).
Connection to other voltage types of supply networks is possible with an additional isolating transformer (=> p.
88).
Periodic overvoltages between phases (L1, L2, L3) and the housing of the drive must not exceed 1000 V peak. In
accordance with IEC 61800, voltage spikes (< 50 µs) between phases must not exceed 1000 V. Voltage spikes
(< 50 µs) between a phase and the housing must not exceed 2000 V.
EMC filter measures for AKD-xzzz06 must be implemented by the user.
Motor voltage rating
The AKD family of drives is exclusively intended for driving suitable synchronous servomotors with closed-loop
control of torque, speed, and/or position. 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).
Safe torque off
Review the section "Use as Directed" in the STO chapter (=> p. 52) before using this safety function (according
to ISO 13849 category 3).
2.3 Prohibited Use
Other use than that described in chapter “Use as directed” is not intended and can lead to personnel injuries and
equipment damage. The drive may not be used with a machine that does not comply with appropriate national
directives or standards. The use of the drive in the following environments is also prohibited:
lpotentially explosive areas
lenvironments with corrosive and/or electrically conductive acids, alkaline solutions, oils, vapors, dusts
lships or offshore applications
16 Kollmorgen™ | March 2012

3 Approvals
3.1 Conformance with UL/cUL 18
3.2 CE Conformance 20
3.3 Safe Torque Off (STO) 23
AKD Installation | 3 Approvals
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AKD Installation | 3 Approvals
3.1 Conformance with UL/cUL
This drive is listed under UL (Underwriters Laboratories Inc.) file number E141084 Vol.3 Sec.5.
USL, CNL – Power conversion equipment (NMMS, NMMS7) – Models AKD followed by B,P,S,M or F, followed
by 003, 006, 012, and 024, followed by 06 or 07, followed by additional suffixes.
USL
Indicates Investigated to United States Standard for Power Conversion Equipment, UL 508C, Third Edition,
Revised February 15, 2008.
CNL
Indicates investigation to Canadian Standard for Industrial Control Equipment, CAN/CSA - C22.2 No. 14-2005,
Second Edition, Revised April 2008.
Note:
CNL = Canadian National Standards - Listed.
USL = United States Standards - Listed.
3.1.1 UL Markings
lThese drives are open type adjustable frequency motor drives that provide variable speed control to
motors and provides overload protection and current limit control.
lThese devices are intended to be used in a pollution degree 2 environment.
lIdentification of the terminals on the controller are coded so they may be identified in the instructions. The
instructions shall identify power connections for power supply, load, control, and ground.
lIntegral solid state short circuit protection does not provide branch circuit protection. Branch circuit pro-
tection must be provided in accordance with the National Electrical Code and any additional local codes,
or the equivalent.
lThis product is suitable for use on a circuit capable of delivering not more than 200,000 rms symmetrical
amperes, 240 V (AKD-xzzz06) / 480 V (AKD-xzzz07) volts maximum, when protected by ” Fuses", or
equivalant.
lThe following fuse types are recommended:
Model Fuse class Rating Max. Fuse Rating
AKD-x00306 J 600 Vac, 200 kA 10 A
AKD-x00606 J 600 Vac, 200 kA 15 A
AKD-x01206 J 600 Vac, 200 kA 15 A
AKD-x02406 J 600 Vac, 200 kA 30 A
AKD-x00307 J 600 Vac, 200 kA 6 A
AKD-x00607 J 600 Vac, 200 kA 10 A
AKD-x01207 J 600 Vac, 200 kA 15 A
AKD-x02407 J 600 Vac, 200 kA 30 A
lThese drives provide solid state motor overload protection at 125% of the rated FLA Current.
lUse minimum 75°C copper wire.
18 Kollmorgen™ | March 2012

lThe following table illustrates the torque requirements for the field wiring connectors:
Model Mains Connector Motor Phase Connector 24 Vdc Input Connector
AKD-x00306 5-7 in-lbs 5-7 in-lbs 4 in-lbs
AKD-x00606 5-7 in-lbs 5-7 in-lbs 4 in-lbs
AKD-x01206 5-7 in-lbs 7 in-lbs 4 in-lbs
AKD-x02406 7 in-lbs 7 in-lbs 4 in-lbs
AKD-x00307 7 in-lbs 7 in-lbs 4 in-lbs
AKD-x00607 7 in-lbs 7 in-lbs 4 in-lbs
AKD-x01207 7 in-lbs 7 in-lbs 4 in-lbs
AKD-x02407 7 in-lbs 7 in-lbs 4 in-lbs
lMaximum surrounding air temperature of 40°C” or equivalent.
AKD Installation | 3 Approvals
Kollmorgen™ | March 2012 19

AKD Installation | 3 Approvals
3.2 CE Conformance
Conformance with the EC EMC Directive 2004/108/EC and the Low Voltage Directive 2006/95/EC is mandatory
for the supply of drives within the European Community.
The drives have been tested by an authorized testing laboratory in a defined configuration, using the system com-
ponents that are described in this documentation. Any divergence from the configuration and installation
described in this documentation means that the user will be responsible for carrying out new measurements to
ensure conformance with regulatory requirements.
AKD-xzzz06
AKD-xzzz06 drives do not have integrated EMC filters. These drives can cause high-
frequency interferences and may require measures for interference suppression
(such as additional external EMC filters).
With external EMC filters for noise emission the drives meet the noise immunity requirements of the second envi-
ronmental category (industrial environment) to a product of the category C2 (motor cable < 10 m).
With a motor cable length of 10 m or longer and external EMC filters, the drive meets the requirement of category
C3.
AKD-xzzz07
AKD-xzzz07 drives have integrated EMC filters.
The drive meets the noise immunity requirements to the 2nd environmental category (industrial environment). For
noise emission the drive meets the requirement to a product of the Category C2 (motor cable < 10 m).
With a motor cable length of 10 m or longer, the servo drive meets the requirement to the Category C3.
20 Kollmorgen™ | March 2012