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
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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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2.3 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 res-
ult in death or serious injury.
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
State-of-the-art firewall EMC filter
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AKD2G-S Installation, Safety 1 | 2 General
2.4 Abbreviations Used
Abbreviations related to functional safety (➜# 125).
Abbreviation Meaning
(➜# 53) "see page 53" in this document
Ω Ohms
A#, AXIS# A# or AXIS# are placeholders for the axis number. Used with keywords or
signal names
AGND Analog ground
AMSL Above mean sea level
Axis Depends on context, either one AKD2G output stage or one load axis of
the full motion system.
CAT Category
CE Communité Européenne
COM Serial interface for a personal computer
DGND Digital ground
EEPROM Electrically erasable programmable memory
EEO Emulated Encoder Output
EMC Electromagnetic compatibility
EMF Electromagnetic force
F-SMA Fiber optic cable connector according to IEC 60874-2
FSoE Fail safe over EtherCAT
KAS Kollmorgen Automation Suite
KAS IDE Setup software (Kollmorgen Automation Suite Integrated Development
Environment)
KDN Kollmorgen Developer Network
LED Light-emitting diode
LSB Low significant byte (or bit)
MSB Main significant byte (or bit)
NI Zero pulse
OSSD Output Signal Switching Device
PC Personal computer
PE Protective earth
PELV Protective Extra Low Voltage
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
S1 Continuous operation
tbd To be discussed (in process)
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 61784 Industrial communication networks - Profiles,
Part 3-12 Functional safety fieldbuses
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 82079 Preparation of instructions for use - Structuring, content and presentation
UL 61800-5-1 Adjustable speed electrical power drive systems,
Safety Requirements – Electrical, Thermal, and Energy
IEC - International Electrotechnical Commission
ISO - International Organization for Standardization
UL - Underwriters Laboratories
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AKD2G-S Installation, Safety 1 | 3 Product Safety
3 Product Safety
3.1 You should pay attention to this 15
3.2 Shock-hazard Protection 17
3.3 Stop / Emergency Stop / Emergency Off 18
3.4 Warning note labels 20
3.5 Use as Directed 21
3.6 Prohibited Use 22
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3.1 You should pay attention to this
This section helps to recognize risks and avoid dangers to people and objects.
Specialist staff required!
Only properly qualified personnel are permitted to perform such tasks as transport, install-
ation and setup. Qualified specialist staff are persons with expertise in transport, installation,
assembly, commissioning and operation of electrotechnical equipment.
Transport, storage, unpacking: only by personnel with knowledge of handling elec-
trostatically sensitive components.
Mechanical installation: only by personnel with mechanical expertise.
Electrical installation: only by personnel with electrotechnical expertise.
Basic tests / setup: only by personnel with expertise in 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 devices can cause harm to people or damage to property. The operator of systems
using the drive system must ensure that all personnel who work with the drive read and under-
stand 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. The product Hardware Revision Number 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. If permissible
voltage values or current values are exceeded, the devices 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 AXIS#.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 .
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AKD2G-S Installation, Safety 1 | 3 Product Safety
Observe electrostatically sensitive components!
The devices contain electrostatically sensitive components which may be damaged by incor-
rect handling. Electrostatically discharge your body before touching the device. Avoid con-
tact with highly insulating materials (artificial fabrics, plastic film etc.). Place the device on a
conductive surface.
Hot surface!
Drives may have hot surfaces during operation. The housing can reach temperatures above
80°C. Risk of minor burns! Measure the temperature, and wait until the housing 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 900 V. Lethal danger exists at live parts
of the device. Do not open or touch the equipment during operation. Keep all covers and cab-
inet doors closed. Built-in protection measures such as insulation or shielding may not be
removed. Work on the electrical installation may only be performed 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 5 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!
Beta drives: Safety functionality is not approved nor certified. Do not use this functionality in
applications with functional safety request.
The assessment of the safety functions 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 hardware without permission by the manufacturer. Open-
ing the housing causes loss of warranty.
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3.2 Shock-hazard Protection
3.2.1 Leakage current
Leakage current via the PE conductor results from the combination of equipment and cable
leakage currents. The leakage current frequency pattern includes a number of frequencies,
whereby the residual-current circuit breakers definitively evaluate the 50 Hz current. For this
reason, the leakage current cannot be measured using a conventional multimeter. Contact
our application department for help to calculate the leakage current in your application.
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. Use the PE terminal and the PE connection screws in order to fulfill this
requirement.
The following measures can be used to minimize leakage currents:
Reduce the length of the engine cable.
Use low capacitance motor cables (➜# 52).
3.2.2 Residual current protective device (RCD)
In conformity with IEC 60364-4-41 – Regulations for installation and IEC 60204 – Electrical
equipment of machinery, residual current protective devices (RCDs) can be used provided
the requisite regulations are complied with. The AKD2G is a 3-phase system with a B6
bridge. Therefore, RCDs which are sensitive to all currents must be used in order to detect
any DC fault current.
Rated residual currents in the RCDs:
10 to 30 mA Protection against "indirect contact" (personal fire protection) for stationary
and mobile equipment, as well as for "direct contact".
50 to 300 mA Protection against "indirect contact" (personal fire protection) for stationary
equipment
Recommendation: In order to protect against direct contact (with motor cables shorter than
5 m) Kollmorgen recommends that each drive be protected individually using a 30 mA RCD
which is sensitive to all currents.
If you use a selective RCD, the more intelligent evaluation process will prevent spurious trip-
ping of the RCD.
3.2.3 Isolating transformers
When protection against indirect contact is absolutely essential despite a higher leakage cur-
rent, or when an alternative form of shock-hazard protection is sought, the AKD2G can also
be operated via an isolating transformer. A ground-leakage monitor can be used to monitor for
short circuits.
Keep the length of wiring between the transformer and the drive as short as possible.
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AKD2G-S Installation, Safety 1 | 3 Product Safety
3.3 Stop / Emergency Stop / Emergency Off
The control functions Stop, Emergency Stop and Emergency Off are defined by IEC 60204.
Notes for safety aspects of these functions can be found in ISO 13849 and IEC 62061.
The parameter AXIS#.DISMODE must be set to implement the different stop categories.
Consult the WorkBench Online Help for configuring the parameter.
No functional safety!
Serious injury could result when the load is not properly blocked. With vertical load the load
could fall.
Functional safety, e.g. with hanging load (vertical axes), requires an additional mech-
anical brake which must be safely operated, for example by a safety control.
Set parameter AXIS#.MOTOR.BRAKEIMM to 1 with vertical axes, to apply the motor
holding brake (➜# 82) immediately after faults or Hardware Disable.
3.3.1 Stop
The stop function shuts down the machine in normal operation. The stop function is defined
by IEC 60204.
The Stop Category must be determined by a risk evaluation of the machine.
Stop function must have priority over assigned start functions. The following stop categories
are defined:
Stop Category 0
Shut-down by immediate switching-off the energy supply to the drive machinery (this is an
uncontrolled shut-down). With the safety function STO (➜# 127) the drive can be stopped
using its internal electronics (IEC 62061 SIL2).
Stop Category 1
A controlled shut-down, whereby the energy supply to the drive machinery is maintained to
perform the shut-down, and the energy supply is only interrupted when the shut-down has
been completed.
Stop Category 2
A controlled shut-down, whereby the energy supply to the drive machinery is maintained.
Stop Category 0 and Stop Category 1 stops must be operable independently of the operating
mode, whereby a Category 0 stop must have priority.
If necessary, provision must be made for the connection of protective devices and lock-outs.
If applicable, the stop function must signal its status to the control logic. A reset of the stop
function must not create a hazardous situation.
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3.3.2 Emergency Stop
The Emergency Stop function is used for the fastest possible shutdown of the machine in a
dangerous situation. The Emergency Stop function is defined by IEC 60204. Principles of
emergency stop devices and functional aspects are defined in ISO 13850.
The Emergency Stop function will be triggered by the manual actions of a single person. It
must be fully functional and available at all times. The user must understand instantly how to
operate this mechanism (without consulting references or instructions).
The Stop Category for the Emergency Stop must be determined by a risk evaluation of the
machine.
In addition to the requirements for stop, the Emergency Stop must fulfil the following require-
ments:
Emergency Stop must have priority over all other functions and controls in all operating
modes.
The energy supply to any drive machinery that could cause dangerous situations must be
switched off as fast as possible, without causing any further hazards (Stop Category 0)
or must be controlled in such a way, that any movement that causes danger, is stopped
as fast as possible (Stop Category 1).
The reset must not initiate a restart.
3.3.3 Emergency Off
The Emergency Off function is used to switch-off the electrical power supply of the machine.
This is done to prevent users from any risk from electrical energy (for example electrical
impact). Functional aspects for Emergency Off are defined in IEC 60364-5-53.
The Emergency Off function will be triggered by the manual actions of a single person.
The result of a risk evaluation of the machine determines the necessity for an Emergency
Off function.
Emergency Off is done by switching off the supply energy by electro-mechanical switching
devices. This results in a category 0 stop. If this stop category is not possible in the applic-
ation, then the Emergency Off function must be replaced by other measures (for example by
protection against direct touching).
AKD2G-S Installation, Safety 1 | 3 Product Safety
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AKD2G-S Installation, Safety 1 | 3 Product Safety
3.4 Warning note labels
If a warning note label is damaged, it must be replaced immediately.
3.4.1 Notes placed on the product
AKD2G
Wait 5 minutes
after removing power
before servicing.
3.4.2 Adhesive label in the package
To meet UL, place the multi-language label on the drive or on the panel near the drive.
20 Kollmorgen | kdn.kollmorgen.com | Beta, December 2018