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:technik@kollmorgen.comTel.:+49(0)203-9979-0Fax:+49(0)203-9979-155

North AmericaInternet:www.kollmorgen.comE-Mail:support@kollmorgen.comTel.:+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.