X2 Connector
903-200000-00 AKD™ Quick Start
Before You Begin
Hardware Installation
Safety Precautions
Minimum Wiring for Drive Operation
Before you install the drive, review the safety instructions included in the AKD Installation
Manual. Failure to follow these safety instructions may result in personnel injury or
damage to equipment. The AKD Installation Manual is available on the CD included with
the drive and also on the Kollmorgen website: www.kollmorgen.com.
Figure 1 summarizes the minimum wiring needed to operate the drive. For reference,
detailed wiring diagrams are included at the end of this Quick Start guide.
Steps 1 through 8 of this guide provide detailed information for each connection
shown below:
Required Tools and Equipment
•
•
•
•
•
Edition: Revision B, October 2011
Valid for Hardware Revision: C, Patents Pending
Part Number 903-200000-00
Two M4 hexagon socket cap screws (DIN 912)
3 mm T-handle Allen key
No. 2 Phillips head screwdriver
Small slotted screwdriver
Microsoft Windows 2000, XP, Vista, or Windows 7 equipped PC with an available Ethernet port for connecting the drive. Windows screenshots in this guide show the
XP environment.
Installing the Drive
First, install the drive hardware by following the steps detailed in this guide:
Keep all manuals as a product component during the life span of the product.
Pass all manuals to future users / owners of the product.
Need Help?
Kollmorgen is committed to quality customer service. If you have trouble with the drive
Quick Start setup, please contact Kollmorgen customer support:
Step 1 Secure the Drive and Connect the Protective Earth (PE)
Step 2 Connect Logic Power and STO (X1 Connector)
Step 3 Connect Motor Power (X2 Connector)
Step 4 Connect Feedback (X10 Connector)
Step 5 Connect I/O (X7 and X8 Connectors)
Step 6 Connect AC Input Power (X3 and X4 Connectors)
Step 7 Connect Drive Communication (X11)
Step 8 Confirm Connections
After you install the drive hardware, you can install WorkBench from the CD or website
and configure the drive through your PC as follows:
Kollmorgen Customer Support
Europe
Internet: www.kollmorgen.com
E-Mail: technik@kollmorgen.com
Tel.: +49(0)203 - 99 79 - 0
Fax:+49(0)203 - 99 79 - 155 Figure 1. Minimum Wiring for Drive Operation
Step 9 Install and Start WorkBench
Step 10 Set Drive IP Address in WorkBench
Step 11 Enable the Drive Using the Setup Wizard
North America
Internet: www.kollmorgen.com
E-Mail: support@kollmorgen.com
Tel.: +1 - 540 - 633 - 3545
Fax: +1 - 540 - 639 - 4162
©2011 Kollmorgen Corporation. All rights reserved. October edition. Specifications are subject to change without
notice. It is the responsibility of the product user to determine the suitability of this product for a specific application.
Step 1: Secure the Drive and Connect the Protective Earth
Tools: • Two M4 hexagon socket cap screws (DIN 912)
• 3 mm T-handle Allen key
• No. 2 Phillips head screwdriver
Bolt the AKD to a conductive metal plate. See the AKD Installation Manual for
dimensions and mounting information for your specific drive model.
Please note the following when connecting logic power supply:
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•
•
•
Input current of up to 1 A is required. If the brake relay is used, current of up to 3 A must be supplied.
Check your motor holding brake amperage requirements in order to size the 24 Vdc power supply.
If STO is not needed, then pin 3 must be connected directly with +24 Vdc. The STO is then bypassed and cannot be used.
Consult the installation manual for the proper wiring and use of STO.
Connect the protective earth (PE) to any ground screw on the drive grounding lug
shown in Figure 2.
Step 3: Connect Motor Power (X2 Connector)
Wire the motor power cable to the X2 mating connector according to Figures 4, 5, and 6
as appropriate.
Grounding Lug
Figure 2. Protective Earth (PE) Connection
Step 2: Connect Logic Power and STO (X1 Connector)
Safe Torque Off (STO) is a restart lock safety feature that protects personnel by
preventing an unintentional system restart. To use this feature, the STO pin must be
connected to the output of a security control or a safety relay. The safety relay must
comply with the requirements of the SIL 2 according to IEC 61800-5-2, PL d according to ISO 13849-1, or category 3 according to EN-954.
Signal
Description
1
+24 Vdc
Logic power
2
24 V GND
Supply GND
3
STO
STO enable
Signal
Description
1
-Br
Motor holding brake, negative
2
+Br
Motor holding brake, positive
3
PE
Protective earth (motor housing)
4
U
Motor phase U
5
V
Motor phase V
6
W
Motor phase W
Please note the following when connecting motor power:
• Refer to the wiring diagram included with your cable before connecting motor power.
• Some drive models do not have brake leads.
• Wire gauge required varies with drive amperage.
Step 4: Connect Feedback (X10 Connector)
Connect the feedback from the motor to the X10 connector according to Figure 7. Standard Kollmorgen motor feedbacks are plug-and-play and require no parameter
setting for motor recognition and commutation to occur.
Figure 4. Connector X2, AKD- xxxx06
Connect logic supply and safe torque off (STO) as shown in Figure 3.
Pin
Pin
Figure 6. Motor Power Wiring Details, Cable length <= 25 m
Pin
Signal
Description
1
-Br
Motor holding brake, negative
2
+Br
Motor holding brake, positive
3
PE
Protective earth (motor housing)
4
U
Motor phase U
5
V
Motor phase V
6
W
Motor phase W
6
1
Figure 5. Connector X2, AKD-xxxx07
11
15
5
10
Figure 7. Feedback connection
Figure 3. Logic Supply Pin Configuration
Step 5: Connect I/O (X7 and X8 Connectors)
Step 6: Connect AC Input Power (X3 and X4 Connectors)
Connect required I/O according to the configuration shown in Figure 8. All pins are
configurable; factory presets are shown in the pin configuration table.
Connect AC input power for your AKD model as shown in Figures 9 and 10. Do not apply
power until all hardware connections are made.
Pin
Signal
Description
AKD-x00306 to AKD-x00606 (X3)
Figure 8. I/O connection pin configuration
Connector Pin
Signal
Recommended Function
Specials
X7
1
Digital Common X7
Common line for
X7 pins 2,3,4,9
N/A
X7
2
Digital Input 7
Programmable
X7
3
Digital Input 4
X7
4
Digital Input 3
X7
5
X7
6
X7
7
X7
4
L1
Line 1
5
L2
Line 2
6
L3
Line 3
7
PE
Protective Earth
AKD-x01206 (X3)
5
L1
Line 1
N/A
6
L2
Line 2
Programmable
N/A
7
L3
Line 3
Programmable
N/A
8
PE
Protective Earth
Digital Output 2-
Programmable
N/A
Digital Output 2+
Programmable
N/A
AKD-x02406 (X4)
AKD-x02406 & AKD-xxxx07 (X4)
Digital Output 1-
Programmable
N/A
1
L1
Line 1
8
Digital Output 1+
Programmable
N/A
X7
9
Digital Input 2
Reference Point
High speed
2
L2
Line 2
X7
10
Digital Input 1
Home Switch
High speed
3
L3
Line 3
4
PE
Protective Earth
X8
1
Fault Relay Output
Fault Relay Output
N/A
X8
2
Fault Relay Output
Fault Relay Output
N/A
X8
3
Digital Common X8
Common line for
X8 pins 4, 5, 6
N/A
X8
4
Digital Input 8
Hardware enable
Not
programmable
X8
5
Digital Input 6
Programmable
N/A
X8
6
Digital Input 5
Programmable
N/A
X8
7
Analog Ground
Analog GND
N/A
X8
8
Analog Output +
Actual velocity voltage
N/A
X8
9
Analog Input -
X8
10
Analog Input +
Velocity set point
Figure 9. Input power pin configurations
N/A
•
•
Single-phase operation is available on AKD-x00306, AKD-x00606, and
AKD-x01206 models. For a single phase AC line, connect L1 and L2, with L3 left open circuited. The PE is connected in the same manner as 3-phase operation.
A pre-installed jumper is included if the unit has internal braking resistor.
For external braking resistor use, please consult the installation manual.
Step 7: Connect Drive Communication (X11)
1. Assign an IP Address
To establish communication between the PC and the drive, you must first set the
drive IP address using either static or dynamic IP addressing.
• Dynamic IP addressing (DHCP and Auto-IP):
If the S1 and S2 switch are both set at 0, then the drive is in Dynamic Host Configuration
Protocol (DHCP) mode. The drive will acquire its IP address from an external DHCP
server if one is present in the network.
If a DHCP server is not present, then the drive will assume an automatic private IP
address of the form 169.254.0.xx. If your PC is directly connected to the drive and
set to obtain an IP address automatically in the TCP/IP settings, then a connection is
established between the devices using compatible automatically generated addresses.
This connection can require as long as a minute to complete.
• Static IP addressing:
The S1 and S2 rotary switches on the front panel of the drive correspond to the IP
address setting of the drive.
Figure 11. Rotary switches for static IP addressing
N/A
Digital common lines for X7 and X8 are not common to each other.
Connect the DCOMx line to the 0V of the I/O supply when using “source” type sensors with
digital inputs. Connect the DCOMx line to the 24 V of the I/O supply when using “sink” type
sensors with digital inputs.
Please note the following when connecting AC input power:
IP address = 192.168.0.S1S2
Figure 10. AC Input power wiring diagram
For example, if S1 is set to 3 and S2 is set to 5, then the IP address is 192.168.0.35.
Step 7: Connect Drive Communication (continued)
• Changing the IP address:
If the drive is not powered on, then you can change the IP address using the rotary
switches, and the change takes effect upon drive restart. You can also change the
IP address while the drive is powered on. If you move the rotary switches while 24 V
logic power is supplied to the drive, then you must unplug the network cable from
the drive for three seconds or longer. This action will reset the address and the new
address will take effect when the cable is plugged in again.
Step 7: Connect Drive Communication (continued)
Step 7: Connect Drive Communication (continued)
3. In the network connection window, scroll to Internet Protocol (TCP/IP) and then select Properties. Configure the TCP/IP properties as shown below and click OK.
X11 Connection
Router
PC Running WorkBench
2. Connect the Drive to the Network
After you have assigned the drive IP address, you have two connection options:
direct connection or hub/switch/router connection.
AKD Drive
Figure 14. Option B: Connection to a Router
Option A: Direct Connection
1. Connect the AKD directly to the PC using a standard Ethernet (straight) patch cable. You can also use a crossover cable, since the drive detects the cable type automatically. Use static IP addressing for a direct connection. Service Port (TCP/IP)
X11 Connection
Step 8: Confirm Connections
4. Check the AKD address setting and make sure that S1 and S2 are set to a nonzero value (static IP connection).
After completing Steps 1 through 7, you can turn on logic power to the drive through
the X1 connector (bus voltage is not needed for communications).
The connection is now configured to establish a point-to-point direct connection between
the AKD and the PC using WorkBench. You can now skip to Step 8.
After power is supplied, the drive displays a sequence of LED flashes:
1. –
2. [ ]
3. I-P
4. Drive IP address, flashed sequentially (for example, 192.168.0.5).
5. Drive status (opmode “o0” [current mode],”o1” [velocity mode], or ”o2”
[position mode]) or fault code if the drive is in a fault condition.
Option B: Network device connection
1. Set the rotary switches on the drive to zero. PC Running AKD WorkBench
AKD Drive
Figure 12. Option A: Direct Connection
2. Set the PC IP address. In Windows, select Start>Control Panel>Network Connections. Choose the correct network connection for the port over which you will connect to the AKD.
2. Connect the drive and the PC to the network. The network must include a DHCP
server (usually standard in corporate networks). If the network does not have a DHCP
server, you can connect using a stand-alone router with a built-in DHCP server. In either
case, both the PC and the drive acquire IP addresses automatically.
Corporate Network
Confirm that the link LEDs on the drive (green LED on the RJ45 connector) and on
your PC are both illuminated. If both LEDs are illuminated, then you have a working
electrical connection.
X11 Connection
LED is green if drive is connected
through a network device
Select connection
Hub or Switch
PC Running WorkBench
AKD Drive
Figure 13. Option B: Hub or Switch Connection to a Corporate Network
Step 8: Confirm Connections (continued)
Figure 15. Active connection LED
Step 10: Set Drive IP Address in WorkBench (continued)
Step 9: Install and Start WorkBench (continued)
While the PC is connecting, your taskbar will show the following acquiring icon:
Acquiring drive connection.
Wait for this icon to change to the limited functionality icon (this process can take up
to one minute). Drive connection complete.
If multiple drives are detected, a drive can be uniquely identified using one of the
following methods:
1. The MAC address of the drive. This is printed on the sticker on the side of the drive.
2. The name of the drive. The drive name is set using WorkBench. A new drive
defaults to “No_Name.”
3. Blinking the display. Select a drive and click Blink to force the display on
the front of the drive to blink on and off for 20 seconds.
2. Enter the drive IP address. Once the IP address has been determined,
manually enter the drive IP address into the Specify Address box in
WorkBench as shown below. Then click Next to connect.
Manually specify IP address
If you can connect to the drive at this point, then skip Step 10.
Although Windows displays this limited functionality icon for the drive connection, the
PC can communicate fully with the drive. Using WorkBench, you can now configure
the drive through this connection.
Step 10: Set Drive IP Address in WorkBench
If WorkBench does not automatically show your drive, then you can set the IP address
manually in WorkBench as follows:
Software Setup
Step 9: Install and Start WorkBench
WorkBench is included on the CD that came with your drive. To install WorkBench, insert
the CD and select one of the two versions of WorkBench: Full Setup.exe or Setup.exe. Full
Setup.exe contains the Microsoft .NET framework needed to run WorkBench. Setup.exe
does not include Microsoft .NET framework. WorkBench is also available on the Kollmorgen
Web site: www.kollmorgen.com.
1. Display the IP address. You can show the drive IP address on the drive
display by pressing button B1 shown in Figure 16. The display shows the
digits and dots of the IP address in sequence (for example, 192.168.1.5).
You can also display the IP address by disconnecting and then reconnecting
the Ethernet cable.
Press B1 to display
IP address
Once installation is complete, click the WorkBench icon to start the program. WorkBench
will show a list of all the drives that it can find on your local network. Select the drive you
wish to configure and then click Next.
If WorkBench does not automatically show the drive, then go to Step 10.
Once a connection to the drive has been established, the AKD Overview screen appears.
Your drive appears in the navigation area on the left of the screen. Right click on your
drive name and select Setup Wizard from the drop-down menu. The Setup Wizard
guides you through the initial drive configuration.
After completing the Setup Wizard, your drive should be enabled. If the drive is not
enabled, check the following:
1. The hardware enable (HW) must be in the enabled state (pin 4 on X8
connector, see Step 5).
2. The software enable (SW) must be in the enabled state. Activate using
the Enable/Disable button on the upper toolbar on WorkBench or in the
Overview screen.
3. No faults may be present (click Clear Fault button on the upper tool bar to
clear any faults).
The status of the HW enable, SW enable, and Faults is displayed in the lower toolbar of
the WorkBench software. The drive is connected if the lower right corner shows Online.
You can now use the Settings to complete advanced configuration of your drive.
List of drives
List of IP and MAC
addresses
Step 11: Enable the Drive Using the Setup Wizard
Figure 16. IP address display button B1
Save (saves all parameters to NV memory)
Blink drive display
Clear Fault (only active if the drive
is disabled)
Enable/Disable drive
Drive active, HW enable, SW enable,
and Fault status
Wiring Diagram, 3A and 6A
AKD-x00306 to x00606
Wiring Diagram, 12A
AKD-x01206
Wiring Diagram, 24A
AKD-x02406
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