903-200018-00 AKD Near Servo Drive Installation Manual

TheparameterDRV.DISMODEmustbesetto2toimplementthedifferentstopcat egories. Consult the WorkBench Online Help for configuring the parameter.

Serious injury could result when a suspended load is not properly blocked. Functional safety, e.g. with hanging load (vertical axes), requires an additional mechanical brake which must besafely operated, for example by a safety control. Addasafemechanical blocking (for instance, a motor-holding brake). Set parameter MOTOR.BRAKEIMMto1withverticalaxes, to apply the motor holding brake immediately after faults or Hardware Disable.

Switch-off behavior using a digital input (controlled stop)

This is a category 2 stop according to IEC 60204. A digital input can be configured to bring the motor to a controlled stop and then disable the drive and apply the holding brake (if present). See the WorkBench Online Help for information on configuring Digital Inputs.

Switch-off behavior using the DRV.DIS command

Theenable/disable button in WorkBench issues a drv.dis command internally to the drive. SeeWorkBenchOnlineHelpforconfiguring inputs and software commands. Sometimes this enable signal is called "Software Enable" (SW-Enable).

Switch-off behavior using HW Enable input on AKD-C (uncontrolled stop)

This is a category 0 stop according to IEC 60204. The hardware enable input disables the AKD-Npowerstageimmediately.

If velocity drops below threshold CS.VTHRESH or timeout occurs the motor holding brake is applied. Set parameter MOTOR.BRAKEIMMto1withvertical axes, to apply the motor holding brake immediately after Hardware Disable

Switch-off behavior in the event of a fault

Thebehavior of the drive always depends on the fault type and the setting of a number of different parameters (DRV.DISMODE, VBUS.UVFTHRESH, CS.VTHRESH,andothers; see the WorkBenchOnline Help for moredetails).See the Drive Fault and Warning Mes sages andRemediessection of the WorkBenchOnline Help for a table describing the spe cific behavior

Switch-off behavior for faults that cause an immediate power stage disable

This is a category 0 stop according to IEC 60204

Switch-off behavior for faults that cause dynamic braking

This is a category 0 stop according to IEC 60204.

Switch-off behavior for faults that cause a controlled stop

This is a category 1 stop according to IEC 60204.

Safe Torque Off (STO)

TheSTOfunctionality of AKD-N with option "DB" or "DF" or "DG" is controlled by the AKD CorMKD-Csmartpowersupplyviathespecific string, where the AKD-N is connected to. This STOtopology is called "Global STO" or "String STO". AKD-Ndrives with option "DS" or "DT" offer an additional connector X6 with a digital STO Enable input. This STO functionality is called "Local STO". These drive variants cannot be safety controlled by the global STO functionality.

Global STO, control via AKD-C

Connector X16 ontheAKD-Coffersaccess to all STO signals of the decentral drive system powered bythis AKD-C.ThereisoneSTO-Enableinput andoneSTO-Statusoutput for each DCPowerstring. Theglobal STOfunction is described in the AKD-C Installation Manual. Application examples can be found in the Decentralized System Project Guide. TheglobalSTOfunctionusesthefollowingdevices:AKD-C,AKD-Nwithoutoption "DS/DT", Kollmorgen hybrid connection cable. In case of using an AKD-Nwithoption "DS" or "DT" (local STO input), the global STO Enable signal will have not influence to this specific drive. The local STO-Status of this drive nevertheless is monitored in the string STO-Status

Global STO, control via MKD-C

Connector X16A/B ontheMKD-Coffersaccesstoall STOsignals of the decentral drive system powered bythis MKD-C.ThereisoneSTOinputandoneSTO-Statusoutputfor every DCPowerstring. Theglobal STOfunction is described in the MKD-C Installation Manual. TheglobalSTOfunctionusesthefollowingdevices:MKD-C,AKD-Nwithoutoption"DS" or "DT", Kollmorgen hybrid connection string cable. In case of using AKD-Nwith option "DS" or "DT" (local STO input), the global STO signal will have no influence to these specific drives. In case of using more than 8AKD-NwithHardwareRevisonAorBinonestring,youmust connect a signal buffer to the STO signal. Maximumdevicenumberperstring: Hardware Revision A or B: maximum8AKD-N Hardware Revision A or Bwith signal buffer: maximum 14 AKD-N Hardware Revision C: maximum14AKD-N

Local STO, control via digital input on AKD-N-DS/DT

Option DS and DT ontheAKD-Nofferlocal STO-Enable functionality. There is one STO-Enable input on X6andoneSTO-Statusoutput onX3forthedrive. The STO-Status outputs on X3 are available only with AKD-N drives with option DS or DT