Kollmorgen AKD2G-S Series User manual

AKD®2G-Sxx with Functional Safety Option 1
STO - SIL2
Installation Manual
Manual Edition: -, Beta, December 2018
Safety Edition: S101, December 2018
Valid for AKD®2G-S Hardware Revision A
Part Number 907-200003-00
Original Document
For safe and proper use, follow
these instructions.
Keep them for future reference.
Beta Drives: Approvals (CE, Functional Safety, UL) are pending.

Record of Document Revisions
Revision Remarks
... Table with lifecycle information of this document (➜# 145)
Beta, 12/2018 Beta edition
Hardware Revision (HR)
AKD2G Firmware Workbench KAS IDE Remarks
A from 02-00-00-000 from 2.00.0.0000 from 3.01 Beta 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
Ethernet/IP is a registered trademark of ODVA, Inc.
Ethernet/IP Communication Stack: copyright (c) 2009, Rockwell Automation
HIPERFACE is a registered trademark of Max Stegmann GmbH
Windows is a registered trademark of Microsoft Corporation
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
2.5 Referred Standards 13
3 Product Safety 14
3.1 You should pay attention to this 15
3.2 Shock-hazard Protection 17
3.2.1 Leakage current 17
3.2.2 Residual current protective device (RCD) 17
3.2.3 Isolating transformers 17
3.3 Stop / Emergency Stop / Emergency Off 18
3.3.1 Stop 18
3.3.2 Emergency Stop 19
3.3.3 Emergency Off 19
3.4 Warning note labels 20
3.4.1 Notes placed on the product 20
3.4.2 Adhesive label in the package 20
3.5 Use as Directed 21
3.6 Prohibited Use 22
4 Product life cycle handling 23
4.1 Transport 24
4.2 Packaging 24
4.3 Storage 24
4.4 Installation, setup and normal operation 25
4.5 Decommissioning 25
4.6 Maintenance and cleaning 25
4.7 Disassembly 25
4.8 System Repair 26
4.9 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 AKD2G Family of Digital Drives 31
6.2 Ambient Conditions, Ventilation, and Mounting Position 33
6.3 Mechanical Data 33
6.4 Performance Data 34
6.5 Electrical data 35
6.5.1 Single axis variants (S) 35
6.5.1.1 Mains supply data, 1 phase AC, type AKD2G-Sxx- (S) 35
6.5.1.2 Mains supply data, 3 phase AC, type AKD2G-Sxx- (S) 35
6.5.1.3 Auxiliary voltage input data, 24V DC, type AKD2G-Sxx- (S) 35
6.5.1.4 Output data, type AKD2G-Sxx- (S) 36
6.5.2 Dual axis variants (D: I1=I2) 37
6.5.2.1 Mains supply data, 1 phase AC, type AKD2G-Sxx- (D) 37
6.5.2.2 Mains supply data, 3 phase AC, type AKD2G-Sxx- (D) 37
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6.5.2.3 Auxiliary voltage input data, 24V DC, type AKD2G-Sxx- (D) 37
6.5.2.4 Output data, type AKD2G-Sxx- (D) 38
6.6 LCD Display and Push-buttons (B1, B2) 39
6.7 SD Card Slot 41
6.8 ElectricalMotor Braking 42
6.8.1 Dynamic Braking 42
6.8.2 Rheostatic energy dissipation 42
6.8.2.1 Functional description 42
6.8.2.2 Technical data for AKD2G-Sxx-6V 43
6.8.2.3 Technical data for AKD2G-Sxx-7V 44
7 Mechanical Installation 45
7.1 Important Notes 46
7.2 Guide to Mechanical Installation 46
7.3 Dimensions 47
8 Electrical Installation 48
8.1 Important Notes 49
8.2 Guide to electrical installation 50
8.3 Wiring 51
8.3.1 General 51
8.3.2 Mating connectors 51
8.3.3 Cable and Wire Requirements 52
8.3.3.1 Cable material 52
8.3.3.2 Cable cross sections and requirements 53
8.3.4 Protective Earth connection 54
8.4 EMI Noise Reduction 55
8.4.1 Recommendations for EMI noise reduction 55
8.4.2 Shielding with external shielding busbar 56
8.4.2.1 Shielding Concept 56
8.4.2.2 Shielding Busbar 57
8.4.3 Shielding connection to the drive 58
8.4.3.1 Shielding Concept 58
8.4.3.2 Grounding plates and shield connection clamps 59
8.4.3.3 Motor connector X1/X2 with shielding connection 59
8.5 Connection Overview 60
8.5.1 Connector Position AKD2G-Sxx-6V 60
8.5.2 Connector Position AKD2G-Sxx-7V 61
8.5.3 Wiring overview, single axis drive 62
8.5.4 Wiring overview, dual axis drive 63
8.5.5 Connector pin assignments 64
8.5.5.1 X1 and X2: Motor, Brake, Feedback 1 64
8.5.5.2 X3: Mains, regen resistor, DC-Bus 64
8.5.5.3 X10: 24 VDC 65
8.5.5.4 X11, X12: Motion Bus 65
8.5.5.5 X13, X14: CAN bus (optional) 65
8.5.5.6 X20: Service 65
8.5.5.7 X21: I/O, Feedback 4 66
8.5.5.8 X22: I/O extended, EEO2, Feedback 5 67
8.5.5.9 X23: Feedback 3, EEO1, I/O 68
8.5.5.10 X41: SFA Feedback converter, EEO3/EEO4 (accessory) 69
8.6 Power and Logic Voltage Supply (X3/X10) 70
8.6.1 Mains power supply (X3) 70
8.6.1.1 Fusing 71
8.6.1.2 Wiring examples mains power supply 73
8.6.2 Auxiliary voltage power supply 24 VDC (X10) 75
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8.6.2.1 Fusing 75
8.6.2.2 Wiring example 24 VDC supply 75
8.7 DC Bus link (X3) 75
8.8 External Regen resistor (X3) 76
8.8.1 Fusing and Wiring 76
8.9 Motor Power, Brake and Feedback connection 77
8.9.1 Motor connectivity, some examples 77
8.9.2 Motor single cable connection 78
8.9.2.1 Motor Power, Brake and Feedback connectors X1, X2 78
8.9.2.2 Feedbackconnectors X21, X22, X23 79
8.9.3 Motor dual cable connection 80
8.9.3.1 Motor power and motor brake connectorsX1, X2 81
8.9.3.2 Feedbackconnectors X1, X2, X41, X21, X22, X23 81
8.9.4 Motor Holding Brake Connection 82
8.9.5 Feedback Connection 84
8.9.5.1 Feedback Connector X1, X2 85
8.9.5.2 Feedback Connector X21 86
8.9.5.3 Feedback Connector X22 87
8.9.5.4 Feedback Connector X23 88
8.9.5.5 Feedback Connector X41 (SFA, accessory) 89
8.10 Electronic Gearing, EEO, Master-Slave 90
8.10.1 Electronic Gearing 90
8.10.2 Emulated Encoder Output (EEO) 91
8.10.3 Master-Slave control 93
8.10.3.1 Master-Slave using X22 93
8.10.3.2 Master-Slave using optionalX23 or X41 93
8.11 Motion Bus Interface (X11/X12) 94
8.12 CAN-Bus Interface (X13/X14) 95
8.12.1 CAN-Bus Topology 95
8.12.2 CAN-Bus Wiring 96
8.12.3 Baud rate for CAN-Bus 97
8.12.4 Node Address for CAN-Bus 97
8.12.5 CAN-Bus Termination 97
8.13 Service Interface (X20) 98
8.13.1 Possible Network Configurations 98
8.14 I/O Connection (X21/X22/X23) 99
8.14.1 Pinout 99
8.14.2 Technical data 100
8.14.3 Analog Input 101
8.14.4 Analog Output 102
8.14.5 Digital Inputs 103
8.14.5.1 Digital-In 1 and 2 103
8.14.5.2 Digital-In 3 to 12 104
8.14.5.3 Digital-In/Out 1 and 2 105
8.14.5.4 Digital-In/Out 3 to 6 106
8.14.6 Digital Outputs 107
8.14.6.1 Digital-Out 1 to 6 107
8.14.6.2 Digital-Out 7 and 8 108
8.14.6.3 Digital-In/Out 1 and 2 109
8.14.6.4 Digital-In/Out 3 to 6 109
8.14.6.5 Digital-Out 9, Relay contacts 110
9 Setup 111
9.1 Important Notes 112
9.2 Guide to drive setup 113
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9.2.1 Initial Drive Test Procedure 113
9.2.1.1 Unpacking, mounting, and wiring the AKD2G 113
9.2.1.2 Minimum wiring for drive test without load, example 113
9.2.1.3 Confirm connections (example: directly to PC) 114
9.2.1.4 System integration 114
9.2.1.5 Install and start WorkBench 115
9.2.1.6 Setup the axis in WorkBench 115
9.2.1.7 Enable the axis (Hardware) 115
9.2.1.8 Move the motor axis 115
9.2.1.9 Tune the axis 115
9.2.2 Setup software WorkBench 116
9.2.2.1 Use as directed 116
9.2.2.2 Software description 117
9.2.2.3 Hardware requirements 117
9.2.2.4 Operating systems 117
9.2.2.5 Installation under Windows 7/8/10 118
9.3 Switch-On and Switch-Off Behavior 119
9.3.1 Switch-on behavior in standard operation 120
9.3.2 Switch-off behavior 120
9.4 Fault and Warning Messages 121
9.4.1 Fault and warning messages AKD2G 121
9.5 Troubleshooting the AKD2G 122
10 Functional Safety 123
10.1 General notes 124
10.2 Use as directed 124
10.3 Prohibited use 125
10.4 Abbreviations used for functional safety 125
10.5 Enclosure, wiring 126
10.6 Functional Safety Option 1 (I/O, SIL2 PLd) 127
10.6.1 Technical Data 127
10.6.2 Safety Properties Overview 128
10.6.3 STO (Safe Torque Off) 129
10.6.3.1 Description 129
10.6.3.1.1 Important Notes 129
10.6.3.1.2 Precondition before activation 129
10.6.3.1.3 Activation 129
10.6.3.1.4 Restart 130
10.6.3.1.5 Timing 131
10.6.3.2 Safety Diagnostic view in WorkBench 131
10.6.3.3 Fault Reaction / Failure Messages 132
10.6.4 Verification, Commissioning 132
10.6.4.1 Verification 132
10.6.4.2 Proof test 132
10.7 Safety Faults,Safety Warnings 133
10.7.1 Drive LCD Display 133
10.7.2 Drive Safety Faults 134
10.7.3 Drive Safety Warnings 134
10.7.4 Troubleshooting safety functionality 134
10.8 Functional Safety Keyword Reference Guide 135
10.8.1 AXISx.SAFE.STO Parameters 136
10.8.1.1 AXIS#.SAFE.STO.ACTIVE 136
10.8.1.1.1 Description 136
10.8.1.1.2 Context 136
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10.8.1.1.3 Versions 136
10.8.1.1.4 General Information 136
10.8.1.1.5 Variants Supported 136
10.8.1.2 AXIS#.SAFE.STO.A 137
10.8.1.2.1 Description 137
10.8.1.2.2 Context 137
10.8.1.2.3 Versions 137
10.8.1.2.4 General Information 137
10.8.1.2.5 Variants Supported 137
10.8.1.3 AXIS#.SAFE.STO.B 138
10.8.1.3.1 Description 138
10.8.1.3.2 Context 138
10.8.1.3.3 Versions 138
10.8.1.3.4 General Information 138
10.8.1.3.5 Variants Supported 138
10.8.1.4 AXIS#.SAFE.STO.REPORTFAULT 139
10.8.1.4.1 Description 139
10.8.1.4.2 Context 139
10.8.1.4.3 Versions 139
10.8.1.4.4 General Information 139
10.8.1.4.5 Variants Supported 139
11 Approvals 140
11.1 Conformance with UL/cUL 141
11.2 Conformance with CE 141
11.3 Conformance with RoHS 141
11.4 Conformance with REACH 141
11.5 Functional Safety approval 141
11.6 Conformance with EAC 141
12 Index 143
13 Record of document revisions 145
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AKD2G-S Installation, Safety 1 |
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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
AKD2G-S Installation, Safety 1 | 2 General
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AKD2G-S Installation, 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/EC), 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, Ethernet/IP
I/O options: Extended I/O (X22), Feedback&EEO (X23)
Functional Safety options: option 1 with STO (SIL2 PLd)
A digital version of this manual (pdf format) is available on the DVD included with your drive.
Additional documents:
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.
Ethernet/IP Communication: describes how to use your drive in Ethernet/IP applications.
Accessories Manual: provides information for accessories like cables and regen resistors
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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