903-200000-00 akd™ quick start before you begin …cga/akd/903-200000-00 akd_quick_start_en rev...
TRANSCRIPT
Before You Begin
Safety Precautions
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.
Required Tools and Equipment
• TwoM4hexagonsocketcapscrews(DIN912)• 3mmT-handleAllenkey• No.2Phillipsheadscrewdriver• Smallslottedscrewdriver• MicrosoftWindows2000,XP,Vista,orWindows7equippedPCwithanavailable Ethernetportforconnectingthedrive.Windowsscreenshotsinthisguideshowthe XPenvironment.
Installing the Drive
First, install the drive hardware by following the steps detailed in this guide:
Step1 SecuretheDriveandConnecttheProtectiveEarth(PE)Step2 ConnectLogicPowerandSTO(X1Connector)Step3 ConnectMotorPower(X2Connector)Step4 ConnectFeedback(X10Connector)Step5 ConnectI/O(X7andX8Connectors)Step6 ConnectACInputPower(X3andX4Connectors)Step7 ConnectDriveCommunication(X11)Step8 ConfirmConnections
Afteryouinstallthedrivehardware,youcaninstallWorkBenchfromtheCDorwebsiteandconfigurethedrivethroughyourPCasfollows:
Step9 InstallandStartWorkBenchStep10 SetDriveIPAddressinWorkBenchStep11 EnabletheDriveUsingtheSetupWizard
©2011KollmorgenCorporation.Allrightsreserved.Octoberedition.Specificationsaresubjecttochangewithoutnotice.Itistheresponsibilityoftheproductusertodeterminethesuitabilityofthisproductforaspecificapplication.
Pleasenotethefollowingwhenconnectinglogicpowersupply:
• Inputcurrentofupto1Aisrequired.Ifthebrakerelayisused,currentofupto3A must be supplied. • Checkyourmotorholdingbrakeamperagerequirementsinordertosizethe24Vdc power supply. • IfSTOisnotneeded,thenpin3mustbeconnecteddirectlywith+24Vdc.TheSTOis then bypassed and cannot be used.• ConsulttheinstallationmanualfortheproperwiringanduseofSTO.
Step 3: Connect Motor Power (X2 Connector)
WirethemotorpowercabletotheX2matingconnectoraccordingtoFigures4,5,and6as appropriate.
Figure 4. Connector X2, AKD- xxxx06
Figure 5. Connector X2, AKD-xxxx07
Pin Signal Description1 -Br Motorholdingbrake,negative2 +Br Motorholdingbrake,positive3 PE Protectiveearth(motorhousing)4 U MotorphaseU5 V MotorphaseV6 W MotorphaseW
Pin Signal Description1 -Br Motorholdingbrake,negative2 +Br Motorholdingbrake,positive3 PE Protectiveearth(motorhousing)4 U MotorphaseU5 V MotorphaseV6 W MotorphaseW
Hardware Installation
Minimum Wiring for Drive Operation
Figure1summarizestheminimumwiringneededtooperatethedrive.Forreference,detailedwiringdiagramsareincludedattheendofthisQuickStartguide.
Steps1through8ofthisguideprovidedetailedinformationforeachconnectionshown below:
Figure 1. Minimum Wiring for Drive Operation
Step 1: Secure the Drive and Connect the Protective Earth
Tools: •TwoM4hexagonsocketcapscrews(DIN912) •3mmT-handleAllenkey •No.2Phillipsheadscrewdriver
BolttheAKDtoaconductivemetalplate.SeetheAKD Installation Manual for dimensionsandmountinginformationforyourspecificdrivemodel.
Connecttheprotectiveearth(PE)toanygroundscrewonthedrivegroundinglugshowninFigure2.
Figure 2. Protective Earth (PE) Connection
Step 2: Connect Logic Power and STO (X1 Connector)
SafeTorqueOff(STO)isarestartlocksafetyfeaturethatprotectspersonnelbypreventinganunintentionalsystemrestart.Tousethisfeature,theSTOpinmustbeconnected to the output of a security control or a safety relay. The safety relay must complywiththerequirementsoftheSIL2accordingtoIEC61800-5-2,PLdaccord-ingtoISO13849-1,orcategory3accordingtoEN-954.
Connectlogicsupplyandsafetorqueoff(STO)asshowninFigure3.
Figure 3. Logic Supply Pin Configuration
Pin Signal Description1 +24Vdc Logicpower2 24VGND SupplyGND3 STO STOenable
GroundingLug
Figure 6. Motor Power Wiring Details, Cable length <= 25 m
Pleasenotethefollowingwhenconnectingmotorpower:
• Refertothewiringdiagramincludedwithyourcablebeforeconnectingmotorpower.• Somedrivemodelsdonothavebrakeleads.• Wiregaugerequiredvarieswithdriveamperage.
Step 4: Connect Feedback (X10 Connector)
ConnectthefeedbackfromthemotortotheX10connectoraccordingtoFigure7.StandardKollmorgenmotorfeedbacksareplug-and-playandrequirenoparametersetting for motor recognition and commutation to occur.
Figure 7. Feedback connection
10
1
6
11
5 15
Step 6: Connect AC Input Power (X3 and X4 Connectors)
ConnectACinputpowerforyourAKDmodelasshowninFigures9and10.Donotapplypower until all hardware connections are made.
Figure 9. Input power pin configurations
Figure 10. AC Input power wiring diagram
Pin Signal DescriptionAKD-x00306toAKD-x00606(X3)4 L1 Line15 L2 Line26 L3 Line37 PE ProtectiveEarthAKD-x01206(X3)5 L1 Line16 L2 Line27 L3 Line38 PE ProtectiveEarthAKD-x02406(X4)AKD-x02406&AKD-xxxx07(X4)
1 L1 Line12 L2 Line23 L3 Line34 PE ProtectiveEarth
PleasenotethefollowingwhenconnectingACinputpower:
• Single-phaseoperationisavailableonAKD-x00306,AKD-x00606,and AKD-x01206models.ForasinglephaseACline,connectL1andL2,withL3left opencircuited.ThePEisconnectedinthesamemanneras3-phaseoperation.• Apre-installedjumperisincludediftheunithasinternalbrakingresistor. Forexternalbrakingresistoruse,pleaseconsulttheinstallationmanual.
Step 7: Connect Drive Communication (X11)
1. Assign an IP AddressToestablishcommunicationbetweenthePCandthedrive,youmustfirstsetthedriveIPaddressusingeitherstaticordynamicIPaddressing.
• Dynamic IP addressing (DHCP and Auto-IP):
IftheS1andS2switcharebothsetat0,thenthedriveisinDynamicHostConfigurationProtocol(DHCP)mode.ThedrivewillacquireitsIPaddressfromanexternalDHCPserver if one is present in the network.
IfaDHCPserverisnotpresent,thenthedrivewillassumeanautomaticprivateIPaddressoftheform169.254.0.xx.IfyourPCisdirectlyconnectedtothedriveandsettoobtainanIPaddressautomaticallyintheTCP/IPsettings,thenaconnectionisestablished between the devices using compatible automatically generated addresses. This connection can require as long as a minute to complete.
• Static IP addressing: TheS1andS2rotaryswitchesonthefrontpanelofthedrivecorrespondtotheIP address setting of the drive.
Figure 11. Rotary switches for static IP addressing
IPaddress=192.168.0.S1S2
Forexample,ifS1issetto3andS2issetto5,thentheIPaddressis192.168.0.35.
903-200000-00 AKD™ Quick Start
Edition:RevisionB,October2011ValidforHardwareRevision:C,PatentsPendingPartNumber903-200000-00
Keep all manuals as a product component during the life span of the product. Passallmanualstofutureusers/ownersoftheproduct.
Need Help?
Kollmorgeniscommittedtoqualitycustomerservice.IfyouhavetroublewiththedriveQuickStartsetup,pleasecontactKollmorgencustomersupport:
Kollmorgen Customer Support
EuropeInternet:www.kollmorgen.comE-Mail:[email protected].:+49(0)203-9979-0Fax:+49(0)203-9979-155
North AmericaInternet:www.kollmorgen.comE-Mail:[email protected].:+1-540-633-3545Fax:+1-540-639-4162
Step 5: Connect I/O (X7 and X8 Connectors) ConnectrequiredI/OaccordingtotheconfigurationshowninFigure8.Allpinsareconfigurable;factorypresetsareshowninthepinconfigurationtable.
Figure 8. I/O connection pin configuration
Connector Pin Signal RecommendedFunction SpecialsX7 1 DigitalCommonX7 Common line for
X7pins2,3,4,9N/A
X7 2 DigitalInput7 Programmable N/AX7 3 DigitalInput4 Programmable N/AX7 4 DigitalInput3 Programmable N/AX7 5 DigitalOutput2- Programmable N/AX7 6 DigitalOutput2+ Programmable N/AX7 7 DigitalOutput1- Programmable N/AX7 8 DigitalOutput1+ Programmable N/AX7 9 DigitalInput2 ReferencePoint HighspeedX7 10 DigitalInput1 HomeSwitch Highspeed
X8 1 FaultRelayOutput FaultRelayOutput N/AX8 2 FaultRelayOutput FaultRelayOutput N/AX8 3 DigitalCommonX8 Common line for
X8pins4,5,6N/A
X8 4 DigitalInput8 Hardwareenable Notprogrammable
X8 5 DigitalInput6 Programmable N/AX8 6 DigitalInput5 Programmable N/AX8 7 AnalogGround AnalogGND N/AX8 8 AnalogOutput+ Actualvelocityvoltage N/AX8 9 AnalogInput- N/AX8 10 AnalogInput+ N/A
DigitalcommonlinesforX7andX8arenotcommontoeachother.ConnecttheDCOMxlinetothe0VoftheI/Osupplywhenusing“source”typesensorswithdigitalinputs.ConnecttheDCOMxlinetothe24VoftheI/Osupplywhenusing“sink”typesensors with digital inputs.
Velocitysetpoint
Step 9: Install and Start WorkBench (continued)
Ifmultipledrivesaredetected,adrivecanbeuniquelyidentifiedusingoneofthefollowing methods: 1.TheMACaddressofthedrive.Thisisprintedonthestickeronthesideof the drive. 2.Thenameofthedrive.ThedrivenameissetusingWorkBench.Anewdrive defaultsto“No_Name.” 3.Blinkingthedisplay.SelectadriveandclickBlink to force the display on thefrontofthedrivetoblinkonandofffor20seconds.
Ifyoucanconnecttothedriveatthispoint,thenskipStep10.
Step 10: Set Drive IP Address in WorkBench
IfWorkBenchdoesnotautomaticallyshowyourdrive,thenyoucansettheIPaddressmanuallyinWorkBenchasfollows:
1.DisplaytheIPaddress.YoucanshowthedriveIPaddressonthedrive displaybypressingbuttonB1showninFigure16.Thedisplayshowsthe digitsanddotsoftheIPaddressinsequence(forexample,192.168.1.5). YoucanalsodisplaytheIPaddressbydisconnectingandthenreconnecting the Ethernet cable.
Figure 16. IP address display button B1
PressB1todisplayIPaddress
Step 7: Connect Drive Communication (continued)
• Changing the IP address:
Ifthedriveisnotpoweredon,thenyoucanchangetheIPaddressusingtherotaryswitches,andthechangetakeseffectupondriverestart.YoucanalsochangetheIPaddresswhilethedriveispoweredon.Ifyoumovetherotaryswitcheswhile24V 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.
2. Connect the Drive to the NetworkAfteryouhaveassignedthedriveIPaddress,youhavetwoconnectionoptions: directconnectionorhub/switch/routerconnection.
Option A: Direct Connection
1.ConnecttheAKDdirectlytothePCusingastandardEthernet(straight)patch cable.Youcanalsouseacrossovercable,sincethedrivedetectsthecabletype automatically.UsestaticIPaddressingforadirectconnection.
Figure 12. Option A: Direct Connection
2.SetthePCIPaddress.InWindows,selectStart>Control Panel>Network Connections. Choose the correct network connection for the port over which you willconnecttotheAKD.
AKDDrive
ServicePort(TCP/IP)X11Connection
Selectconnection
PCRunningAKDWorkBench
Step 7: Connect Drive Communication (continued)
Figure 14. Option B: Connection to a Router
Step 8: Confirm Connections
AftercompletingSteps1through7,youcanturnonlogicpowertothedrivethroughtheX1connector(busvoltageisnotneededforcommunications).
Afterpowerissupplied,thedrivedisplaysasequenceofLEDflashes:
1.–2.[]3.I-P4.DriveIPaddress,flashedsequentially(forexample,192.168.0.5).5.Drivestatus(opmode“o0”[currentmode],”o1”[velocitymode],or”o2” [positionmode])orfaultcodeifthedriveisinafaultcondition.
ConfirmthatthelinkLEDsonthedrive(greenLEDontheRJ45connector)andonyourPCarebothilluminated.IfbothLEDsareilluminated,thenyouhaveaworkingelectrical connection.
Figure 15. Active connection LED
LEDisgreenifdriveisconnectedthrough a network device
PCRunningWorkBench AKDDrive
Router
X11Connection
Step 7: Connect Drive Communication (continued)
3.Inthenetworkconnectionwindow,scrolltoInternetProtocol(TCP/IP)andthen select Properties.ConfiguretheTCP/IPpropertiesasshownbelowandclickOK.
4.ChecktheAKDaddresssettingandmakesurethatS1andS2aresettoanonzero value(staticIPconnection).
Theconnectionisnowconfiguredtoestablishapoint-to-pointdirectconnectionbetweentheAKDandthePCusingWorkBench.YoucannowskiptoStep8.
Option B: Network device connection
1.Settherotaryswitchesonthedrivetozero.
2.ConnectthedriveandthePCtothenetwork.ThenetworkmustincludeaDHCPserver(usuallystandardincorporatenetworks).IfthenetworkdoesnothaveaDHCPserver,youcanconnectusingastand-alonerouterwithabuilt-inDHCPserver.Ineithercase,boththePCandthedriveacquireIPaddressesautomatically.
Figure 13. Option B: Hub or Switch Connection to a Corporate Network
PCRunningWorkBench AKDDrive
HuborSwitch
CorporateNetwork X11Connection
Wiring Diagram, 12A
AKD-x01206
Wiring Diagram, 24A
AKD-x02406
Wiring Diagram, 3A and 6A
AKD-x00306tox00606
Step 10: Set Drive IP Address in WorkBench (continued)
2.EnterthedriveIPaddress.OncetheIPaddresshasbeendetermined, manuallyenterthedriveIPaddressintotheSpecify Addressboxin WorkBenchasshownbelow.ThenclickNext to connect.
Step 11: Enable the Drive Using the Setup Wizard
Onceaconnectiontothedrivehasbeenestablished,the AKD Overview screen appears. Yourdriveappearsinthenavigationareaontheleftofthescreen.Rightclickonyourdrive name and select Setup Wizardfromthedrop-downmenu.TheSetupWizardguidesyouthroughtheinitialdriveconfiguration.
AftercompletingtheSetupWizard,yourdriveshouldbeenabled.Ifthedriveisnotenabled, check the following: 1.Thehardwareenable(HW)mustbeintheenabledstate(pin4onX8 connector,seeStep5). 2.Thesoftwareenable(SW)mustbeintheenabledstate.Activateusing the Enable/DisablebuttonontheuppertoolbaronWorkBenchorinthe Overview screen. 3.Nofaultsmaybepresent(clickClear Fault button on the upper tool bar to clearanyfaults).
ThestatusoftheHWenable,SWenable,andFaultsisdisplayedinthelowertoolbaroftheWorkBenchsoftware.ThedriveisconnectedifthelowerrightcornershowsOnline. YoucannowusetheSettingstocompleteadvancedconfigurationofyourdrive.
ManuallyspecifyIPaddress
Save(savesallparameterstoNVmemory)
Clear Fault(onlyactiveifthedrive isdisabled)
Enable/Disable drive
Driveactive,HWenable,SWenable, and Fault status
Step 8: Confirm Connections (continued) WhilethePCisconnecting,yourtaskbarwillshowthefollowingacquiringicon:
Waitforthisicontochangetothelimitedfunctionalityicon(thisprocesscantakeuptooneminute).
AlthoughWindowsdisplaysthislimitedfunctionalityiconforthedriveconnection,thePCcancommunicatefullywiththedrive.UsingWorkBench,youcannowconfigurethe drive through this connection.
Software Setup
Step 9: Install and Start WorkBench
WorkBenchisincludedontheCDthatcamewithyourdrive.ToinstallWorkBench,inserttheCDandselectoneofthetwoversionsofWorkBench:Full Setup.exe or Setup.exe. Full Setup.execontainstheMicrosoft.NETframeworkneededtorunWorkBench.Setup.exe doesnotincludeMicrosoft.NETframework.WorkBenchisalsoavailableontheKollmorgenWebsite:www.kollmorgen.com.
Onceinstallationiscomplete,clicktheWorkBenchicontostarttheprogram.WorkBenchwillshowalistofallthedrivesthatitcanfindonyourlocalnetwork.SelectthedriveyouwishtoconfigureandthenclickNext.
IfWorkBenchdoesnotautomaticallyshowthedrive,thengotoStep10.
Listofdrives
ListofIPandMACaddresses
Blink drive display
Drive connection complete.
Acquiringdriveconnection.