903-200018-00 AKD Near Servo Drive Installation Manual

903-200018-00 Руководство по установке сервоприводов вблизи AKD

Technicaldescriptionanddata

The AKD-N Family of Digital Drives

Standard features 3to 12A EtherCAT,I/O, Local STO 3to 12A EtherCAT,I/O, Local Fieldbus 3to 12A EtherCAT,I/O, Local STO Supply voltage range 55 VDCto800VDC Motion bus onboard. SFD,HIPERFACEDSL,Comcoder,EnDat2.1&2.2,BiSS,HIPERFACE,1Vp-pSin Cosencoders, incremental encoders support onboard. Safe Torque Off (STO) according to IEC 62061 SIL 2onboard. Usewith synchronous servomotors, linear motors, and induction machines. Power section Connection to AKD-C orMKD-Cpowersupplies. DCpowersupply, voltage range 55 VDCto800VDC. Output stage IGBT module with floating current measurement. Integrated safety Appropriate insulation/creepage distances and electrical isolation for safe electrical sep aration, per IEC 61800-5-1, between the power input/motor connections and the signal electronics. Temperature monitoring of the drive and motor. Motor overloadprotection: foldback mechanism SIL 2safe torque off in accordance with IEC 62061 Operation and parameter setting Using the setup software WorkBench for system setup via TCP/IP connected to X18 of the power supply. Full digital control Digital current controller (670 ns) Adjustable digital velocity controller (62.5 µs) Software option position controller (250 µs)

CableRequirements

 Forinformationonthechemical,mechanical,andelectricalcharacteristicsofthecables

 pleaserefertotheaccessoriesmanualorcontactcustomersupport.

 UseKollmorgenhybrid,motor,andfeedbackcablesonly.Youwill losesystemwarranty,if

 youusehybrid,motororfeedbackcablesfromamanufacturerotherthanKollmorgen.

Cable length definition

AKD-Cofferstwoseparatestringstoconnectupto8AKD-Ntoeachofthem.Maximum total cable length for each string is 100 m. For system topology information refer to Cabl

Regen circuit

TheAKD-Chasaninternalregenresistor, MKD-C does not offer an internal resistor. An external regen resistor can be connected to X14 on both power supplies. External regen resistors are described in the regional AKD Accessories Manual.

Functional description

Whentheamountofreturned energy builds the bus capacitor voltage up enough the power supply activates the brake chopper to start dumping the returned energy in the regen res istor. 90% of the combined power of all the coupled drives is always available for peak and continuous power.

Switch-off on over voltage

Thedrive that has the lowest switch-off threshold (resulting from tolerances) reports an over-voltage fault if the DC bus threshold is exceeded. The drive power stage is disabled and the load coasts to a stop with the fault message “F501 Bus Over voltage". The fault relay contact (AKD-C: X15/5-6, MKD-C: X15A/1-2) is opened due to this fault

Technical data

Technical data are listed in the installation manuals for AKD-C / MKD-C

LED Codes

Thebuilt-in LED indicates the status of the drive after the 24 V supply for AKD-C is switched on. If the AKD-C service connection to the PC or to the PAC doesn't work, then the LEDisthe only waytoget information.

There is a danger of serious personal injury or death by electrical shock or electrical arcing. The built-in LED does not indicate the real voltage level. Always measurethe voltage in the DC buslink at connector X14 at AKD-C respectively X23atMKD-Cand wait until the voltage is below 50 V before handling any component in the decentral servo system

TheLEDdelivers information with three colors (red, green, yellow) and blink frequency. Specialist can analyze the blink frequency, more information to that can be found in the WorkBenchonline help

Switch-On and Switch-Off Behavior

Behavior of “holding brake” function

Drives with an enabled holding brake function have a special timing for switching on and off the output stage. Events that remove the DRV.ACTIVE signal trigger the holding brake to apply. As with all electronic circuits, the general rule applies that there is a possibility of the internal holding brake module failing. Functional safety, for example with hanging load (vertical axes), requires an additional mechanical brake which must be safely operated, for example by a safety control. If velocity drops below threshold CS.VTHRESH or timeout occurs during a stop procedure, the brake is applied. Set parameter MOTOR.BRAKEIMMto1withvertical axes, to apply the motor holding brake immediately after faults or Hardware Disable

Safety function STO

With the functional safe function STO, the drive can be secured on standstill using its internal electronics so that even when power is being supplied, the drive shaft is protected against unintentional restart. The chapter “Safe Torque Off (STO)” describes how to use the STOfunction

Switch-on behavior in standard operation

Thediagram belowillustrates the correct functional sequence for switching the drive on.

Switch-off behavior

TheAKD-C/MKD-C24Vsupplymustremainconstant.HardwareEnableinputdisables all AKD-N powerstages immediately. Configured Digital Inputs and fieldbus commands can beusedtoperformcontrolled stops

Thecontrol 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.

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