KOLLMORGEN 903-200003-00 AKD Installation Manual

KOLLMORGEN 903-200003-00 AKD Installation Manual 

UseasDirected

Drives arecomponents that arebuilt intoelectrical plants or machines andcanonly beoperatedas integral com ponents of theseplants ormachines. Themanufacturerof themachineusedwithadrivemust generatearisk assessment forthemachineandtakeappropriatemeasures toensurethat unforeseenmovements cannot cause personnel injury or property damage. Cabinet and wiring Drives must only beoperatedinaclosedcontrol cabinet suitablefortheambient conditions => p. 30. Ventilation or cooling may benecessary tokeepthetemperaturewithinthecabinet below 40°C. Useonly copperconductors forwiring. Theconductorcross-sections canbederivedfrom thestandardIEC 60204(alternatively for AWG cross-sections: NEC Table310-16, 75°C column). 

 Power supply Drives in theAKD series canbesuppliedas follows: AKD-xzzz06: 1or3phaseindustrial supply networks (not morethan200kA symmetrical ratedcurrent at 120V and240V). l AKD-xzzz07: 3phaseindustrial supply networks (not morethan200kA symmetrical ratedcurrent at 240V, 400V and480V). Connectiontoothervoltagetypes of supply networks is possiblewithanadditional isolatingtransformer(=> p. 84). Periodic overvoltages betweenphases (L1, L2, L3)andthehousingof thedrivemust not exceed1000V peak. 

In accordancewithIEC 61800, voltagespikes (< 50µs)betweenphases must not exceed1000V. Voltagespikes 50µs)betweenaphaseandthehousingmust not exceed2000V.

EMCfiltermeasures forAKD-xzzz06must beimplementedby theuser. Motor voltage rating TheAKDfamily of drives is exclusively intendedfordrivingsuitable synchronous servomotors withclosed-loop control of torque, speed, and/or position. The rated voltage of the motors must beat least as highas theDC bus link voltage divided by 2producedby thedrive. Safe torque off Review thesection"Useas Directed" intheSTOchapter beforeusingthis safety function(according to ISO13849category 3).

Prohibited Use

Otherusethanthat describedinchapter“Useas directed”is not intendedandcanleadtopersonnel injuries and equipment damage. Thedrivemay not beusedwithamachinethat does not comply withappropriatenational directives or standards. The useof thedriveinthefollowing environments is alsoprohibited: l potentially explosive areas l environments withcorrosiveand/orelectrically conductive acids, alkaline solutions, oils, vapors, dusts l ships oroffshoreapplications.

Safe Torque Off (STO)

 Anadditional digital input (STO) releases the poweroutput stageof thedriveas longas a24V signal is appliedto

 this input. If the STO input goes open-circuit, then powerwill nolongerbesuppliedtothemotor, andthedrivewill

 lose all torque and coast toastop.

 TheSTOsafety concept is certifiedby theIFA (Institut fürArbeitsschutz derDeutschenGesetzlichenUnfall

versicherung). The safety circuit concept for realizing the safety function "Safe Torque Off" in the drive is suited

 for SIL2 accordingtoEN 61800-5-2andPLdaccordingtoISO13849-1.

 Thesubsystems (AKD drives)aretotally describedforsafety technics withthecharacteristic data:

Dynamic Braking

 Dynamic brakingis amethodtoslow downaservosystemby dissipatingthemechanical energy drivenby the

 motorback EMF. TheAKD has abuilt inadvanced(patent pending)dynamic brakingmodewhichoperates fully

 in hardware. Whenactivated, thedriveshorts themotorterminals inphasewiththeback EMF (qaxis)but con

tinues to operate thenon-force producing current loop (d-axis) with 0 current. This forces all of the dynamic brak

ing current to bestoppingcurrent andinsures thefastest stopping/ampof motorterminal current.

 l Whencurrent is not beinglimited, themechanical energy is beingdissipatedinthemotorresistance.

 l Whencurrent is beinglimited, energy is returnedtothedrivebus capacitors.

 l Thedrivealsolimits themaximumdynamic brakingmotorterminal current viatheDRV.DBILIMIT param

eter to insure that the drive, motor, and customerloaddonot seeexcessivecurrents/forces.

 Whetherandhow theAKD uses dynamic brakingdepends onthedisablemode(DRV.DISMODE).

Regen Circuit

 Whentheamount of returnedenergy builds thebus capacitorvoltageupenoughthedriveactivates theregencir

cuit to start dumping thereturned energy intheregenresistor(also called regenerative orbraker resistor). This

 resistor could be internal or connected external to the drive, depending ondrive model anddrivewiring.

 AKD-x00306 to AKD-x00606

 Nointernal regen resistor. Depending ontheapplication requirements, anexternal resistor can beconnected.

 AKD-x01206to AKD-x02406and AKD-xzzz07

 Withinternal resistorplus thecapability toconnect anexternal resistordepending onthe applicationrequirements.

Functional description 

 Whentheamount of returnedenergy builds thebus capacitorvoltageupenoughthedriveactivates thebrake choppertostart dumpingthereturnedenergy intheregenresistor. 1. Individual drives, not coupled through the DC bus link circuit (+DC,-DC) Whentheenergy fedback fromthemotorhas anaverageorpeak powerthat exceeds thepreset level forthe regen powerrating, thedrive generates thewarning"n521RegenOverpower”. Afterthewarningis issued, if the powerincreases past thefault level, theregencircuit will switch off. Withtheregencircuit switchedoff, the drive internal DC bus link voltageis supervised. Thedrivereports anover voltage fault if the DC bus thresholdis exceeded. Thedrivepowerstageis disabledandtheloadcoasts toastop with thefault message“F501Bus Overvoltage" (=> p. 137). TheFault contact (terminals X8/9-10)is opened(=> p. 117)duetothis fault. 2. Several drives coupled through the DC bus link (+DC,-DC) Usingthebuilt-in regen circuit, several drives of the same series canbeoperatedfrom acommonDC-bus link (=> p. 90), without any additional measures. 90% of thecombinedpowerof all thecoupleddrives is always avail able for peak andcontinuous power. Theswitch-off onovervoltagetakes placeas describedunder1. (above)for the drive that has thelowest switch-off threshold (resulting from tolerances).