Kollmorgen AKD series User manual

AKD®, AKD®BASIC, AKD®PDMM
Installation Manual
Edition: AA, October 2017
Valid for AKD, AKD BASIC Hardware Revision E
Valid for AKD BASIC-I/O Hardware Revision EA
Valid for AKD PDMM Hardware Revision EB
Part Number 903-200003-00
Original Document
Keep allmanuals 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
... Table with lifecycle information of this document see (➜# 215)
W, 08/2016
Techn.Data X7 (Electr.Gearing) updated, LV and EMC Directive version updated, Warning
notes updated, chapter Handling moved, 48A motor brake connection corrected, PFH value
changed
Y, 03/2017 Frequency limit EnDat 2.2 changed, Links in Fault chapters to KDN, fault table updated (F120,
F124, n179, n180, F471, n495, F631)
AA, 10/2017 Digital output wiring X23/X24 updated, STO reaction time added (03...24A), 24V wiring for 48A
STO control, AKD48A motor holding brake connection corrected
Hardware Revision (HR)
AKD-
B/P-NA
AKD-
B/P-NB
AKD-
M
AKD-
T-IC
Firmware/
Workbench KAS IDE Export Classification Remarks
A - - -from 1.3 - 3A225 Start revision, export control
C - - -from 1.5 - 3A225 STO certified, PROFINET RT
released, export control
- D DB DA from 1.6 from 2.5 3A225
Control board revision 9, AKD
PDMM Start revision, AKD
BASIC-IC Start revision,
export control
D E EB EA from 1.13 from 2.9 -
Hardware revision for export
classification tracebility pur-
poses
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
Ethernet/IP is a registered trademark of ODVA, Inc.
Ethernet/IP Communication Stack: copyright (c) 2009, Rockwell Automation
sercos®is a registered trademark of sercos®international e.V.
HIPERFACE is a registered trademark of Max Stegmann GmbH
PROFINET is a registered trademark of PROFIBUS and PROFINET International (PI)
SIMATIC is a registered trademark of SIEMENS AG
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)
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 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 9
2.1 About this Installation Manual 10
2.2 Using the PDF Format 10
2.3 Symbols Used 11
2.4 Abbreviations Used 12
2.5 Referred Standards 13
3 Safety 14
3.1 You should pay attention to this 15
3.2 Use as Directed 17
3.3 Prohibited Use 18
3.4 Warning notes placed on the product 18
4 Handling 19
4.1 Transport 20
4.2 Packaging 20
4.3 Storage 20
4.4 Decommissioning 21
4.5 Maintenance and cleaning 21
4.6 Disassemble 21
4.7 System Repair 22
4.8 Disposal 22
5 Approvals 23
5.1 Conformance with UL/cUL 24
5.1.1 UL Markings / Marquages UL 24
5.2 Conformance with CE 26
5.2.1 European Directives and Standards for the Machine Builder 27
5.2.2 Conformance with RoHS 27
5.2.3 Conformance with REACH 27
5.3 Safe Torque Off (STO) approval 28
5.4 Conformance with EAC 28
6 Package 29
6.1 Package Supplied 30
6.2 Nameplate 30
6.3 Part Number Scheme 31
7 Technical description and data 32
7.1 The AKD Family of Digital Drives 33
7.2 Ambient Conditions, Ventilation, and Mounting Position 35
7.3 Mechanical Data 35
7.4 Inputs/Outputs 36
7.5 Electrical Data AKD-xzzz06 37
7.6 Electrical Data AKD-xzzz07 38
7.7 Performance Data 39
7.8 Recommended Tightening Torques 39
7.9 Grounding System 39
7.10 Fusing 40
7.10.1 External power supply fusing 40
7.10.2 External 24 V supply fusing 40
7.10.3 External regen resistor fusing 40
7.10.4 External DC Bus link fusing 40
7.11 Connectors 41
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7.12 Cable and Wire Requirements 42
7.12.1 General 42
7.12.2 Cable cross sections and requirements 42
7.13 Dynamic Braking 43
7.13.1 Regen circuit 43
7.13.2 Functional description 43
7.13.3 Technical data for AKD-xzzz06 44
7.13.4 Technical data for AKD-xzzz07 45
7.14 Switch-On and Switch-Off Behavior 46
7.14.1 Switch-on behavior in standard operation 47
7.14.2 Switch-off behavior 48
7.14.2.1 Switch-off behavior using the DRV.DIS command 48
7.14.2.2 Switch-off behavior using a digital input (controlled stop) 49
7.14.2.3 Switch-off behavior using HW Enable input (uncontrolled stop) 49
7.14.2.4 Switch-off behavior in the event of a fault 50
7.15 Stop / Emergency Stop / Emergency Off 53
7.15.1 Stop 53
7.15.2 Emergency Stop 54
7.15.3 Emergency Off 54
7.16 Safe Torque Off (STO) 55
7.16.1 Safety characteristic data 55
7.16.2 Safety instructions 56
7.16.3 Use as directed 57
7.16.4 Prohibited use 57
7.16.5 Technical data and pinout 57
7.16.6 Enclosure, wiring 59
7.16.7 OSSD test pulses 59
7.16.8 Functional description 60
7.16.8.1 Signal diagram (sequence) 61
7.16.8.2 Wiring examples 62
7.16.8.3 Functional test 64
7.17 Shock-hazard Protection 66
7.17.1 Leakage current 66
7.17.2 Residual current protective device (RCD) 66
7.17.3 Isolating transformers 66
8 Mechanical Installation 67
8.1 Important Notes 68
8.2 Guide to Mechanical Installation 68
8.3 Mechanical Drawings Standard Width 69
8.3.1 Control cabinet layout AKD-xzzz06, standard width 69
8.3.2 Control cabinet layout AKD-xzzz07, standard width 70
8.3.3 Dimensions AKD-xzzz06, standard width 71
8.3.4 Dimensions AKD-xzzz07, standard width 72
8.4 Mechanical Drawings Extended Width 73
8.4.1 Control cabinet layout, example with AKD-M00306 73
8.4.2 Control cabinet layout, example with AKD-M00307 74
8.4.3 Dimensions AKD-xzzz06, extended width 75
8.4.4 Dimensions AKD-xzzz07, extended width 76
9 Electrical Installation 77
9.1 Important Notes 78
9.2 Guide to electrical installation 79
9.3 Wiring 80
9.4 Components of a servosystem 81
9.5 Connection Overview AKD-B, AKD-P, AKD-T 83
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9.5.1 Connector assignment AKD-x00306, AKD-x00606 83
9.5.2 Connection diagram AKD-x00306, AKD-x00606 84
9.5.3 Connector assignment AKD-x01206 85
9.5.4 Connection diagram AKD-x01206 86
9.5.5 Connector assignment AKD-x02406 and AKD-x00307 to 02407 87
9.5.6 Connection diagram AKD-x02406 and AKD-x00307 to 02407 88
9.5.7 Connector assignment AKD-x04807 89
9.5.8 Connection diagram AKD-x04807 90
9.6 Connection Overview AKD-M 91
9.6.1 Connector assignment AKD-M00306, AKD-M00606 91
9.6.2 Connection diagram AKD-M00306, AKD-M00606 92
9.6.3 Connector assignment AKD-M01206 93
9.6.4 Connection diagram AKD-M01206 94
9.6.5 Connector assignment AKD-M02406, AKD-M00307 to AKD-M02407 95
9.6.6 Connection diagram AKD-M02406, AKD-M00307 to AKD-M02407 96
9.6.7 Connector assignment AKD-M04807 97
9.6.8 Connection diagram AKD-M04807 98
9.7 EMI Noise Reduction 99
9.7.1 Recommendations for EMI noise reduction 99
9.7.2 Shielding with external shielding busbar 100
9.7.2.1 Shielding Concept 100
9.7.2.2 Shielding Busbar 101
9.7.3 Shielding connection to the drive 102
9.7.3.1 Grounding plates 102
9.7.3.2 Shield connection clamps 102
9.7.3.3 Motor connector X2 with shielding connection 102
9.8 Electrical Supply Connection 103
9.8.1 Connection to various mains supply networksAKD-xzzz06 (120V to 240V) 103
9.8.2 Connection to various mains supply networksAKD-xzzz07 (240V to 480V) 104
9.8.3 24 V auxiliary supply (X1) 105
9.8.3.1 AKD-x003 to 024, connector X1 105
9.8.3.2 AKD-x048, connector X1 105
9.8.4 Mains supply connection (X3, X4) 106
9.8.4.1 Three phase connection (all AKD types) 107
9.8.4.2 Single/Dual phase connection (AKD-x00306 to AKD-x01206 only) 107
9.9 DC Bus link (X3, X14) 108
9.9.1 DC Bus topology with Y connectors (24 A max.) 109
9.9.2 DC Bus topology with busbar 109
9.9.3 External regen resistor (X3) 110
9.9.3.1 AKD-x003 to 024, regen connector X3 110
9.9.3.2 AKD-x048, regen connector X3 111
9.9.4 Capacitor Modules (X3) 112
9.9.4.1 Technical Data 112
9.9.4.2 Example installation with KCM-S and KCM-E 113
9.9.4.3 Example installation with KCM-P and KCM-E 114
9.9.4.4 Discharging KCM modules 115
9.10 Motor Power Connection (X2) 116
9.10.1 AKD-x003 to 024, power connector X2 117
9.10.2 AKD-x048, power connector X2 117
9.11 Motor Brake Connection (X2, X15, X16) 118
9.11.1 AKD-x003 to 024, bBrake connector X2 118
9.11.2 AKD-x048, brake connectors X15, X16 119
9.11.3 Functionality 120
9.12 Feedback Connection (X10, X9, X7) 121
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9.12.1 Feedback connector (X10) 122
9.12.2 Feedback connector (X9) 123
9.12.3 Feedback connector (X7) 123
9.12.4 Resolver 124
9.12.5 SFD 125
9.12.6 SFD3 126
9.12.7 Hiperface DSL 127
9.12.8 Encoder with BiSS 128
9.12.8.1 BiSS (Mode B) analog 128
9.12.8.2 BiSS (Mode C) digital 129
9.12.9 Sine Encoder with EnDat 2.1 130
9.12.10 Encoder with EnDat 2.2 131
9.12.10.1 Connection to X10 131
9.12.10.2 Connection to X9 and X8 132
9.12.11 Sine Encoder with Hiperface 133
9.12.12 Sine Encoder 134
9.12.13 Incremental Encoder 135
9.12.14 Hall Sensors 136
9.12.15 Tamagawa Smart Abs Encoder 137
9.13 Electronic gearing, Master-slave operation (X9, X7) 138
9.13.1 Technical characteristics and pinout 138
9.13.1.1 Connector X7 Input 138
9.13.1.2 Connector X9 Input 139
9.13.1.3 Connector X9 Output 139
9.13.2 Command encoder signal connection 140
9.13.2.1 Incremental encoder input 5 V (X9) 140
9.13.2.2 Incremental encoder input 24 V (X7) 140
9.13.2.3 Encoder with EnDat 2.2 input 5 V (X9) 141
9.13.3 Pulse / Direction signal connection 142
9.13.3.1 Pulse / Direction input 5 V (X9) 142
9.13.3.2 Pulse / Direction Input 5 V to 24 V (X7) 142
9.13.4 CW / CCW signal connection 143
9.13.4.1 CW / CCW input 5 V (X9) 143
9.13.4.2 CW / CCW input 24 V (X7) 143
9.13.5 Emulated Encoder Output (EEO) 144
9.13.6 Master-Slave control 145
9.14 I/O Connection 146
9.14.1 Overview 146
9.14.1.1 I/O connectors X7 and X8 (all AKD variants) 146
9.14.1.2 I/O connectors X21, X22, X23 and X24 (AKD-T with I/O option card only) 147
9.14.1.3 I/O connectors X35 and X36 (AKD-M only) 149
9.14.2 Analog Input (X8, X24) 150
9.14.3 Analog Output (X8, X23) 151
9.14.4 Digital Inputs (X7/X8) 152
9.14.4.1 Digital Inputs 1 and 2 153
9.14.4.2 Digital Inputs 3 to 7 154
9.14.4.3 Digital Input 8 (ENABLE) 154
9.14.5 Digital Inputs with I/O option (X21, X22) 154
9.14.6 Digital Inputs (X35/X36) with AKD-M 157
9.14.7 Digital Outputs (X7/X8) 159
9.14.7.1 Digital Outputs 1 and 2 159
9.14.7.2 FAULT relay contacts 160
9.14.8 Digital Outputs with I/O option (X23/X24) 161
9.14.9 Digital Outputs 21 to 24, 26 to 29 161
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9.14.10 Digital Relay Outputs 25, 30 163
9.14.11 Digital Outputs (X35/X36) with AKD-M 164
9.14.11.1 Digital Outputs 21 and 22 164
9.15 LED display 165
9.16 Rotary Switches (S1, S2, RS1) 166
9.16.1 Rotary switches S1 and S2 with AKD-B, -P, -T 166
9.16.2 Rotary switch RS1 with AKD-M 166
9.17 Push-buttons (B1, B2, B3) 167
9.17.1 Push-button B1 with AKD-B, -P, -T 167
9.17.2 Push-buttons B1, B2, B3 with AKD-M 168
9.18 SD Card Slot 169
9.18.1 SD Card Slot with I/O option card 169
9.18.2 SD Card Slot with AKD-M 170
9.19 Service Interface (X11, X32) 171
9.19.1 Pinout X11, X32 171
9.19.2 Service Bus Protocols X11, X32 171
9.19.3 Possible Network Configurations 171
9.19.4 Setting the IP Address AKD-B, AKD-P, AKD-T 172
9.19.5 Setting the IP Address AKD-M 174
9.19.6 Modbus TCP 175
9.20 CAN-Bus Interface (X12/X13) 175
9.20.1 CAN-Bus activation with AKD-CC models 176
9.20.2 Baud rate for CAN-Bus 177
9.20.3 Node Address for CAN-Bus 178
9.20.4 CAN-Bus Termination 178
9.20.5 CAN-Bus Cable 178
9.20.6 CAN-Bus Wiring 179
9.21 Motion Bus Interface (X5/X6/X11) 180
9.21.1 Pinout X5, X6, X11 180
9.21.2 Bus Protocols X5, X6, X11 180
9.21.3 EtherCAT 181
9.21.3.1 EtherCAT activation with AKD-CC models 181
9.21.4 SynqNet 182
9.21.5 PROFINET 182
9.21.6 Ethernet/IP 182
9.21.7 sercos® III 183
10 Setup 184
10.1 Important Notes 185
10.2 SetupAKD-B, AKD-P, AKD-T 186
10.2.1 Setup software WorkBench 186
10.2.2 Use as directed 186
10.2.3 Software description 187
10.2.4 Hardware requirements 187
10.2.5 Operating systems 187
10.2.6 Installation under Windows 2000/XP/VISTA/7 188
10.2.7 Initial Drive TestAKD-B, AKD-P, AKD-T 189
10.2.7.1 Unpacking, mounting, and wiring the AKD 189
10.2.7.2 Minimum wiring for drive test without load 189
10.2.7.3 Set IP address 190
10.2.7.4 Confirm connections 190
10.2.7.5 Install and start WorkBench 191
10.2.7.6 Set drive IP address in WorkBench 191
10.2.7.7 Enable the drive using the setup wizard 191
10.3 Setup AKD-M 192
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10.3.1 Setup software KAS IDE 192
10.3.2 Use as directed 192
10.3.3 Software description 193
10.3.4 Hardware requirements 193
10.3.5 Operating systems 193
10.3.6 Installation under Windows XP/7 194
10.3.7 Initial Drive Test AKD-M 195
10.3.7.1 Unpacking, mounting, and wiring the AKD PDMM 195
10.3.7.2 Minimum wiring for drive test without load 195
10.3.7.3 Set IP address 196
10.3.7.4 Confirm connections 196
10.3.7.5 Install and start KAS IDE 197
10.3.7.6 Set drive IP address in KAS IDE 198
10.3.7.7 Starting new project 199
10.4 Fault and Warning Messages 202
10.4.1 Fault and warning messages AKD 202
10.4.2 Additional fault messages AKD-T 207
10.4.3 Additional error and alarm messages AKD-M 208
10.4.3.1 Alarms 208
10.4.3.2 Errors 209
10.5 Troubleshooting the AKD 210
11 Index 211
12 Record of document revisions 215
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2 General
2.1 About this Installation Manual 10
2.2 Using the PDF Format 10
2.3 Symbols Used 11
2.4 Abbreviations Used 12
2.5 Referred Standards 13
AKD Installation | 2 General
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AKD Installation | 2 General
2.1 About this Installation Manual
This manual, AKD Installation Manual ("Instructions Manual" according to EC Machinery Dir-
ective 2006/42/EC), describes theAKD series of digital drives drive and includes information
needed to safely install an AKD. A digital version of this installation 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:
WorkBench Online Help: : describes how to use your drive in common applications. It
also provides tips for maximizing your system performance with the AKD. The Online
Help includes the Parameter and Command Reference Guide which provides information
for the parameters and commands used to program the AKD.
CAN-BUS Communication: describes how to use your drive in CANopen applications.
EtherCAT Communication: describes how to use your drive in EtherCAT applications.
Ethernet/IP Communication: describes how to use your drive in Ethernet/IP applications.
sercos®III Communication: describes how to use your drive in sercos®applications.
PROFINET RT Communication: describes how to use your drive in PROFINET RT
applications.
SynqNet Communication: describes how to use your drive in SynqNet applications.
Accessories Manual.It provides information for accessories like cables and regen res-
istors used with AKD. 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.
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2.3 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
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AKD Installation | 2 General
2.4 Abbreviations Used
Abbreviation Meaning
(➜# 53) "see page 53" in this document
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 Devel-
opment Environment) 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
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2.5 Referred Standards
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 com-
munications 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 82079 Preparation of instructions for use - Structuring, content and presentation
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
IEC - International Electrotechnical Commission
ISO - International Organization for Standardization
UL - Underwriters Laboratories
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AKD Installation | 3 Safety
3 Safety
3.1 You should pay attention to this 15
3.2 Use as Directed 17
3.3 Prohibited Use 18
3.4 Warning notes placed on the product 18
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3.1 You should pay attention to this
This section helps you to recognize and avoid dangers to people and objects.
Specialist staff required!
Only properly qualified personnel are permitted to perform such tasks as transport,
assembly, setup and maintenance. Qualified specialist staff are persons who are familiar
with the transport, installation, assembly, commissioning and operation of drives and who
bring their relevant minimum qualifications to bear on their duties:
Transport: only by personnel with knowledge of handling electrostatically sensitive com-
ponents.
Unpacking: only by electrically qualified personnel.
Installation: only by electrically qualified personnel.
Basic tests / Setup: only by qualified personnel with knowledge of 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 drive can cause harm to people or damage to property. 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.
Check Hardware Revision!
Check the Hardware Revision Number of the product (see product label). This number is the
link between your product and the manual, it must match the Hardware 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 (rating plate and
documentation). If permissible voltage values or current values are exceeded, the drives 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.
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 work-
ing in the machine.
If the parameter DRV.ENDEFAULT 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 possible, while
humans are in a dangerous zone of the machine. In case of using an undervoltage protection
device, you must observe EN 60204-1:2006 chapter 7.5 .
AKD Installation | 3 Safety
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AKD Installation | 3 Safety
Observe electrostatically sensitive components!
The drives contain electrostatically sensitive components which may be damaged by incor-
rect 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 con-
ductive surface.
Hot surface!
Drives may have hot surfaces during operation. The heat sink can reach temperatures above
80°C. Risk of minor burns! Measure the temperature, and wait until the heat sink 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.
High voltages!
The equipment produces high electric voltages up to 900V. Risk of electric shock. Do not
open or touch the equipment during operation. Keep all covers and cabinet doors closed.
During operation, drives may have uncovered live sections, according to their level of enclos-
ure protection.
Lethal danger exists at live parts of the device. Built-in protection measures such as insu-
lation or shielding may not be removed. Work on the electrical installation may only be per-
formed by trained and qualified personnel, in compliance with the regulations for safety at
work, and only with switched off mains supply, and secured against restart.
Never undo any electrical connections to the drive while it is live. There is a danger of elec-
trical arcing with damage to contacts and personal injury. Wait at least 7 minutes after dis-
connecting the drive from the main supply power before touching potentially live sections of
the equipment (such as contacts) or removing any connections.
Always measure the voltage in the DC bus link and wait until the voltage is below 50 V
before handling components.
Functional Safety!
The STO safety implementation on the AKD is certified. The assessment of the safety func-
tions according to EN13849 or EN 62061 must finally be done by the user.
Reinforced Insulation!
Thermal sensors, motor holding brakes and feedback systems built into the connected motor
must have reinforced insulation (according to IEC61800-5-1) against system components
with power voltage, according to the required application test voltage. All Kollmorgen com-
ponents meet these requirements.
Never modify the drive!
It is not allowed to modify the drive without permission by the manufacturer. Opening the
housing causes loss of warranty.
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3.2 Use as Directed
The AKD drives are exclusively intended for driving suitable synchronous servomotors with
closed-loop control of torque, speed, and/or position.
AKDs are components that are built into electrical plants or machines and can only be oper-
ated as integral components of these plants or machines. The manufacturer of the machine
used with a drive must generate a risk assessment for the machine. When the drives are built
into machines or plant, the drive must not be used until it has been established that the
machine or plant fulfills the requirements of the regional directives.
Cabinet and wiring
Drives must only be operated in a closed control cabinet suitable for the ambient conditions
(➜# 32). 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
The drives can be supplied by 1 or 3 phase industrial supply networks.
Drives in the AKD series can be supplied as follows:
AKD-xzzz06: 1 or 3 phase industrial supply networks
(not more than 200 kA symmetrical rated current at 120 V and 240 V).
AKD-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 (➜# 103).
AKD-x04807: In case of mains voltage asymmetry >3% a mains choke 3L0,24-50-2 must be
used.
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.
For the cases of group installations and of DC powered drives
AKD has not been evaluated by Kollmorgen, UL, or TÜV for group installations nor are rat-
ings defined for DC input voltage.
Group installations must be reviewed and evaluated by the user for branch circuit protection*,
wire size, wire voltage rating, fuse protection, system dielectric requirements, overvoltage
and input** current rating.
In case of DC supplied drives the built-in EMC filter will not work. The user is responsible to
keep the conducted emissions and the immunity of the drive within the required noise levels.
* Special care must be taken in branch circuit design with mixed rating drives to avoid the
smaller drives becoming the effective ‘fuse’ rather than the circuit protective fuse.
** The power supply system design must ensure inrush current protection by limiting input
current during power up. DC supply polarity must be properly wired. Improper polarity of DC
power will damage the drive and void warranty.
AKD Installation | 3 Safety
Kollmorgen | kdn.kollmorgen.com | October 2017 17

AKD Installation | 3 Safety
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).
Safe torque off
Review the section "Use as Directed" in the STO chapter (➜# 57) before using this safety
function (according to ISO 13849 category 3).
3.3 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 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 fol-
lowing environments is also prohibited:
potentially explosive areas
environments with corrosive and/or electrically conductive acids, alkaline solutions, oils,
vapors, dusts
ships or offshore applications
3.4 Warning notes placed on the product
AKD-x002407 AKD-x00306 ... 02406,
00307 ... 01206, 04807
Wait 7 minutes
after removing power
before servicing.
Wait 5 minutes
after removing power
before servicing.
If these signs are damaged, they must be replaced immediately.
18 Kollmorgen | kdn.kollmorgen.com | October 2017

4 Handling
4.1 Transport 20
4.2 Packaging 20
4.3 Storage 20
4.4 Decommissioning 21
4.5 Maintenance and cleaning 21
4.6 Disassemble 21
4.7 System Repair 22
4.8 Disposal 22
AKD Installation | 4 Handling
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AKD Installation | 4 Handling
4.1 Transport
Transport the AKD in accordance with IEC 61800-2 as follows:
Transport only by qualified personnel in the manufacturer’s original recyclable packaging.
Avoid shocks while transporting.
Store at or below maximum stacking height, details see "Storage" (➜# 20)
Transport only within specified temperature ranges: -25 to +70 °C, max. rate of change
20K/hour, class 2K3.
Transport only within specified humidity: max. 95% relative humidity, no condensation,
class 2K3.
The drives contain electrostatically sensitive components that can be damaged by incorrect
handling. Electrostatically discharge yourself before touching the drive. Avoid contact with
highly insulating materials, such as artificial fabrics and plastic films. Place the drive on a
conductive surface.
If the packaging is damaged, check the unit for visible damage. Inform the shipper and the
manufacturer of any damage to the package or product.
4.2 Packaging
The AKD packaging consists of recyclable cardboard with inserts and a label on the outside
of the box.
Model Package
Dimensions
(mm) HxWxL
Total Weight
AKD-B, -P, -T
(kg)
Total Weight
AKD-M
(kg)
up to AKD-x00606 113 x 250 x 222 1.7 1.9
AKD-x01206 158 x 394 x 292 3.4 3.6
AKD-x02406 158 x 394 x 292 5 5.2
AKD-x00307 and AKD-x00607 158 x 394 x 292 4.3 4.5
AKD-x01207 158 x 394 x 292 4.3 4.5
AKD-x02407 158 x 394 x 292 6.7 6.9
AKD-x04807 390 x 600 x 400 15.3 15.5
4.3 Storage
Store the AKD in accordance with IEC 61800-2 as follows:
Store only in the manufacturer’s original recyclable packaging.
Store at or below maximum stacking height :
AKD-x00306 to 00606 models: 8 cartons,
AKD-x01206, x02406, x00307 to x02407 models: 6 cartons,
AKD-x04807 models: 3 cartons.
Store only within specified temperature ranges: -25 to +55 °C, max.rate of change
20K/hour, class 1K4.
Storage only within specified humidity: 5 to 95% relative humidity, no condensation, class
1K3.
Store in accordance with the following duration requirements:
Less than 1 year: without restriction.
More than 1 year: capacitors must be re-formed before setting up and operating the
drive. Re-forming procedures are described in the Kollmorgen Developer Network
(Forming).
20 Kollmorgen | kdn.kollmorgen.com | October 2017