Kollmorgen AKD2G-S Series User manual

AKD®2G-Sxx with Functional Safety Option 1
STO - SIL2
Installation Manual, English
Manual Edition: C, July 2020
Safety Edition: S102, April 2020
Valid for AKD®2G-S Hardware Revision A
Part Number 907-200003-00
Original Document
For safe and proper use, follow these
instructions. Keep for future use.
Beta Drives: All approvals are pending.

Record of Document Revisions
Edition Remarks
... Table with lifecycle information of this document (➜# 155)
A, 12/2019 First edition
B, 04/2020
Electrical data updated, UL markings updated, default setting: STO active, connector tight-
ening torque added to connector pin assignments, regen resistor wiring updated,
AXIS#.ZEROx keywords updated for stop diagrams, X1/X2 feedback voltage 11V, X23 max.
current 350mA, FS trouble shooting updated, SFA voltage/current values, continuous brake
power of external regen resistor reduced, CE: external EMC mains filters for 7V models, max.
cable length for unshielded I/O lines, 24V supply with X10T, SFF=75%, PROFINET added,
EtherNet/IP added, X22 digital feedbacks added, breakers for 7V models removed
C, 07/2020
Performance data table corrected, mounting M/P values synchronized, X23/X41 pinout
Step/Dir&CW/CCW updated, chapter CAN termination improved, PROFINET/EtherNet-IP
label CHx->Portx, UL Markings updated, Modbus added
Hardware Revision (HR)
AKD2G Firmware Workbench KAS IDE Remarks
A from 02-00-00-000 from 2.00.0.0000 from 3.01 First revision
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, Germany.
EtherNet/IP is a registered trademark of ODVA, Inc.
HIPERFACE is a registered trademark of Max Stegmann GmbH.
PROFINET is a registered trademark of PROFIBUS and PROFINET International (PI).
Windows is a registered trademark of Microsoft Corporation.
Current patents
US Patent 2017/0211640 (method and apparatus for power saving, fail-safe control of an electromechanical
brake), patent pending
US Patent 16,247,478 (method and apparatus for limiting the output voltages of switching mode power sup-
plies), patent pending
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 10.374.468 (System and method for improved DC power line communication)
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 reproduced
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
3 Product Safety 13
3.1 You should pay attention to this 14
3.2 Use as Directed 16
3.3 Prohibited Use 17
3.4 Warning note labels 17
3.4.1 Notes placed on the product 17
3.4.2 Adhesive label in the package 17
3.5 Shock-hazard Protection 18
3.5.1 Leakage current 18
3.5.2 Residual current protective device (RCD) 18
3.5.3 Isolating transformers 18
3.6 Stop / Emergency Stop / Emergency Off 19
3.6.1 Stop 19
3.6.2 Emergency Stop 20
3.6.3 Emergency Off 20
4 Product life cycle handling 21
4.1 Transport 22
4.2 Packaging 22
4.3 Storage 22
4.4 Installation, setup and normal operation 23
4.5 Decommissioning 23
4.6 Maintenance and cleaning 23
4.7 Disassembly 23
4.8 System Repair 24
4.9 Disposal 24
5 Package 25
5.1 Package Supplied 26
5.2 Nameplate 26
5.3 Part Number Scheme 27
6 Technical description and data 28
6.1 The AKD2G Family of Digital Drives 29
6.2 Ambient Conditions, Ventilation, and Mounting Position 31
6.3 Mechanical Data 31
6.4 Performance Data 32
6.5 Electrical data 33
6.5.1 Single axis variants (S) 33
6.5.1.1 Mains supply data, 1 phase AC, type AKD2G-Sxx- (S) 33
6.5.1.2 Mains supply data, 3 phase AC, type AKD2G-Sxx- (S) 33
6.5.1.3 Mains supply data, DC, type AKD2G-Sxx- (S) 33
6.5.1.4 Auxiliary voltage input data, 24VDC, type AKD2G-Sxx- (S) 33
6.5.1.5 Output data, type AKD2G-Sxx- (S) 34
6.5.2 Dual axis variants (D: I1=I2) 35
6.5.2.1 Mains supply data, 1 phase AC, type AKD2G-Sxx- (D) 35
6.5.2.2 Mains supply data, 3 phase AC, type AKD2G-Sxx- (D) 35
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6.5.2.3 Mains supply data, DC, type AKD2G-Sxx- (D) 35
6.5.2.4 Auxiliary voltage input data, 24VDC, type AKD2G-Sxx- (D) 35
6.5.2.5 Output data, type AKD2G-Sxx- (D) 36
6.6 Electrical Motor Braking 37
6.6.1 Drive Dynamic Braking 37
6.6.2 Regeneration breaking 37
6.6.2.1 Functional description 37
6.6.2.2 Technical data for AKD2G-Sxx-6V 38
6.6.2.3 Technical data for AKD2G-Sxx-7V 38
6.7 LCD Display and Push-buttons (B1, B2) 39
6.8 SD Card Slot 41
7 Mechanical Installation 42
7.1 Important Notes 43
7.2 Guide to Mechanical Installation 43
7.3 Dimensions 44
8 Electrical Installation 45
8.1 Important Notes 46
8.2 Guide to electrical installation 47
8.3 Wiring 48
8.3.1 General 48
8.3.2 Mating connectors 48
8.3.3 Cable and Wire Requirements 49
8.3.3.1 Cable material 49
8.3.3.2 Cable Length 49
8.3.3.3 T-Connector wiring 49
8.3.3.4 Cable cross sections and requirements 50
8.3.4 Protective Earth connection 51
8.4 EMI Noise Reduction 52
8.4.1 Recommendations for EMI noise reduction 52
8.4.2 Shielding with external shielding busbar 53
8.4.2.1 Shielding Concept 53
8.4.2.2 Shielding Busbar 54
8.4.3 Shielding connection to the drive 55
8.4.3.1 Shielding Concept 55
8.4.3.2 Grounding plates and shield connection clamps 56
8.4.3.3 Motor connector X1/X2 with shielding connection 56
8.5 Connection Overview 57
8.5.1 Connector Position AKD2G-Sxx-6V 57
8.5.2 Connector Position AKD2G-Sxx-7V 58
8.5.3 Wiring overview, single axis drive 59
8.5.4 Wiring overview, dual axis drive 60
8.5.5 Connector pin assignments 61
8.5.5.1 X1 and X2: Motor, Brake, Feedback 1 61
8.5.5.2 X3: Mains, regen resistor, DC-Bus 61
8.5.5.3 X10: 24 VDC 62
8.5.5.4 X11, X12: EtherNet Fieldbus 62
8.5.5.5 X13, X14: CAN bus (optional) 62
8.5.5.6 X20: Service 62
8.5.5.7 X21: I/O, Feedback 4 63
8.5.5.8 X22: I/O, EEO2, Feedback 5 64
8.5.5.9 X23: I/O, EEO1, Feedback 3 65
8.5.5.10 X41: SFA Feedback converter, EEO3/EEO4 (accessory) 66
8.6 Power and Logic Voltage Supply (X3/X10) 67
8.6.1 Mains power supply (X3) 67
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8.6.1.1 Wiring examples mains power supply 68
8.6.1.2 Fusing 71
8.6.2 Auxiliary voltage power supply 24 VDC (X10) 75
8.6.2.1 Fusing 75
8.6.2.2 Wiring example 24 VDC supply 75
8.7 DC Bus link (X3) 76
8.7.1 Fusing 76
8.7.2 Wiring example with T connectors 77
8.7.3 Wiring example with busbar 77
8.8 Regen resistor (X3) 78
8.8.1 Fusing and Wiring 78
8.9 Motor Power, Brake and Feedback connection 79
8.9.1 Motor connectivity, some examples 79
8.9.2 Motor single cable connection 80
8.9.2.1 Motor Power, Brake and Feedback connectors X1, X2 80
8.9.2.2 Feedback connectors X21, X22, X23 81
8.9.3 Motor dual cable connection 82
8.9.3.1 Motor power and motor brake connectors X1, X2 83
8.9.3.2 Feedback connectors X1, X2, X41, X21, X22, X23 83
8.9.4 Motor Holding Brake Connection 84
8.9.5 Feedback Connection 86
8.9.5.1 Feedback Connector X1, X2 87
8.9.5.2 Feedback Connector X21 88
8.9.5.3 Feedback Connector X22 89
8.9.5.4 Feedback Connector X23 90
8.9.5.5 Feedback Connector X41 (SFA, accessory) 91
8.10 EEO, Electronic Gearing, Master-Slave 92
8.10.1 Emulated Encoder Output (EEO) 92
8.10.2 Electronic Gearing 94
8.10.3 Master-Slave control 94
8.10.3.1 Master-Slave using X22 94
8.10.3.2 Master-Slave using optional X23 or X41 94
8.11 EtherNet Fieldbus Interface (X11/X12) 95
8.11.1 EtherCAT® 95
8.11.2 PROFINET (available 2021) 96
8.11.3 EtherNet/IP (available 2021) 97
8.12 CAN-Bus Interface (X13/X14) 98
8.12.1 CAN-Bus Topology 98
8.12.2 CAN-Bus Wiring 99
8.12.3 Baud rate for CAN-Bus 100
8.12.4 Node Address for CAN-Bus 100
8.12.5 CAN-Bus Termination 100
8.13 Service Interface (X20) 101
8.13.1 Possible Network Configurations 101
8.14 Modbus TCP (X20) 102
8.15 I/O Connection (X21/X22/X23) 103
8.15.1 Pinout 103
8.15.2 Technical data 104
8.15.3 Analog Input 105
8.15.4 Analog Output 106
8.15.5 Digital Inputs 107
8.15.5.1 Digital-In 1 and 2 107
8.15.5.2 Digital-In 3 to 12 108
8.15.5.3 Digital-In/Out 1 and 2 109
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8.15.5.4 Digital-In/Out 3 to 6 110
8.15.6 Digital Outputs 111
8.15.6.1 Digital-Out 1 to 6 111
8.15.6.2 Digital-Out 7 and 8 112
8.15.6.3 Digital-In/Out 1 and 2 113
8.15.6.4 Digital-In/Out 3 to 6 113
8.15.6.5 Digital-Out 9, Relay contacts 114
9 Setup 115
9.1 Important Notes 116
9.2 Guide to drive setup 117
9.2.1 Initial Drive Test Procedure 117
9.2.1.1 Unpacking, mounting, and wiring the AKD2G 117
9.2.1.2 Minimum wiring for drive test without load, example 117
9.2.1.3 Confirm connections (example: directly to PC) 118
9.2.1.4 System integration 118
9.2.1.5 Install and start WorkBench 119
9.2.1.6 Setup the axis in WorkBench 119
9.2.1.7 Enable the axis (Hardware) 119
9.2.1.8 Move the motor axis 119
9.2.1.9 Tune the axis 119
9.2.2 Setup software WorkBench 120
9.2.2.1 Use as directed 120
9.2.2.2 Software description 121
9.2.2.3 Hardware requirements 121
9.2.2.4 Operating systems 121
9.2.2.5 Installation under Windows 7/8/10 122
9.3 Switch-On and Switch-Off Behavior 123
9.3.1 Switch-on behavior in standard operation 124
9.3.2 Switch-off behavior 125
9.3.2.1 Switch-off behavior using the AXIS#.DIS command 125
9.3.2.2 Switch-off behavior using a digital input (controlled stop) 126
9.3.2.3 Switch-off behavior using STO input (uncontrolled stop) 126
9.3.2.4 Switch-off behavior in the event of a fault 127
9.4 Fault and Warning Messages 130
9.4.1 Fault and warning messages AKD2G 130
9.5 Troubleshooting 131
10 Safety Manual 133
10.1 General notes 134
10.1.1 Use as directed 135
10.1.2 Prohibited use 135
10.1.3 Abbreviations used for functional safety 135
10.1.4 Enclosure, wiring 136
10.2 Verification 137
10.3 Safety Function Option 1 (I/O, SIL2 PLd) 137
10.3.1 Safety Properties Overview 138
10.3.2 Technical Data 138
10.3.3 STO (Safe Torque Off) 139
10.3.3.1 Important Notes 139
10.3.3.2 Activation 139
10.3.3.3 Restart 140
10.3.3.4 Timing 141
10.3.3.5 Safety Diagnostic view in WorkBench 141
10.3.3.6 Fault Reaction / Failure Messages 142
10.4 Settings 143
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10.5 Safety Faults,Safety Warnings 144
10.5.1 Drive LCD Display 144
10.5.2 Drive Safety Faults 145
10.5.3 Drive Safety Warnings 145
10.5.4 Troubleshooting safety functionality 145
10.6 Functional Safety Parameter Reference 146
10.6.1 Safety Parameters, sorted alphanumeric 147
10.6.1.1 AXIS#.SAFE.STO.A 147
Des c ription 14 7Con tex t 14 7Ve rsions 14 7Gen e ralInformation 14 7
10.6.1.2 AXIS#.SAFE.STO.B 147
Des c ription 14 7Con tex t 14 7Ve rsions 14 7Gen e ralInformation 14 7
10.6.1.3 AXIS#.SAFE.STO.ACTIVE 148
Des c ription 14 8Con tex t 14 8Ve rsions 14 8Gen e ralInformation 14 8
10.6.1.4 AXIS#.SAFE.STO.REPORTFAULT 148
Des c ription 14 8Con tex t 14 8Ve rsions 14 8Gen e ralInformation 14 8
11 Approvals 149
11.1 Conformance with UL/cUL 150
11.2 Conformance with European Directives 151
11.3 Conformance with RoHS 152
11.4 Conformance with REACH 152
11.5 Functional Safety approval 152
11.6 Conformance with EAC 152
12 Index 153
13 Record of document revisions 155
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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
AKD2G-S Installation Manual, Safety 1 | 2 General
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AKD2G-S Installation Manual, Safety 1 | 2 General
2.1 About this Installation Manual
This document, the AKD®2G Installation Manual ("Instructions Manual" according to EC
Machinery Directive 2006/42/EU), describes the AKD®2G series of digital drives and
includes information needed to safely install an AKD2G.
This document is valid for AKD2G single axis drive or dual axis drive with 110V to 240V or
240V to 480V mains voltage.
Ouput stages: 3 A or 6 A or 12 A rated current
Programmability options: Base drive or Position Indexer drive
Connectivity options: analog, CANopen, EtherCAT, PROFINET, EtherNet/IP
I/O options: Extended I/O (X22), Feedback&EEO (X23)
Functional Safety Option: FS1 with STO; SIL2 PLd
A digital version of this manual (pdf format) is available on the DVD included with your drive.
AKD2G information for use consist of:
Safety Notes: multi-language document with safety information, part of product delivery
in Europe, printed on paper DIN A5.
Installation Manual: This document, describes the AKD2G series of digital drives and
includes information needed to safely install an AKD2G.
WorkBench Online Help: describes how to use your drive in common applications. It also
provides tips for maximizing your system performance with the AKD2G. The Online Help
includes the Parameter and Command Reference Guide which provides information for
the parameters and commands used to program the AKD2G.
CAN-BUS Communication: describes how to use your drive in CANopen applications.
EtherCAT Communication: describes how to use your drive in EtherCAT applications.
PROFINET Communication: describes how to use your drive in PROFINET applications
(available 2021).
EtherNet/IP Communication: describes how to use your drive in EtherNet/IP applications
(available 2021).
Accessories Manual: provides information for accessories like cables and regen res-
istors used with AKD2G. Regional variants of this manual exist.
All documents can be downloaded from the Kollmorgen website www.kollmorgen.com.
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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