Kollmorgen AKD-N Servo Drive Installation Manual (1)

8/17/2019 Kollmorgen AKD-N Servo Drive Installation Manual (1)

1/72

AKD ® Near Servo DriveInstallation Manual

Edition: E, December 2015Valid for AKD-N, Hardware Revision BPart Number 903-200018-00Original Document

Keep all manuals asa productcomponent during the life span of theproduct. Pass allmanuals tofuture usersandowners of theproduct.


2/72

Record of document revisions

Revision Remarks... Tablewith lifecycle information of this document see(➜ # 71)C, 12/2014 Patents updated, typos corrected, HR changed acc. to export controlD, 06/2015 STO certified, UL listed, EAC certified, RoHS/REACH statements added

E, 12/2015

Connection diagram DF/DS updated, topology example extended, "Package supplied" exten-ded, motor brake current updated, order codeheat conducting film changed, KSM notes

removed, STO application examples corrected, input power in kVA, output power in kW, LVD2014/35/EG, EMCD 2014/30/EG

Hardware Revision (HR)

AKD-N AKD-C Firmware/

WorkBenchExport

Classification Remarks

A A from 1.11 3A225 AKD-C andAKD-N start revisions

B A from 1.13 - AKD-N Hardware Revision for export classification

tracebility purposes

Trademarks

AKD is a registered trademark of Kollmorgen CorporationEnDat is a registered trademark of Dr. Johannes Heidenhain GmbHEtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbHHIPERFACE is a registeredtrademark of Max Stegmann GmbHWindows is a registered trademark of Microsoft Corporation

Current patents

US Patent 5.162.798 (used in control card R/D)US Patent 5.646.496 (used in control cardR/D and 1 Vp-pfeedback interface)US Patent 6.118.241 (used in control card simple dynamic braking)US Patent 8.154.228(Dynamic BrakingForElectric Motors)US Patent 8.214.063 (Auto-tune of a Control System Basedon Frequency Response)US Patent 8.566.415 (SafeTorque Off overnetwork wiring)

Patents referring to fieldbus functions are listed in the matching fieldbus manual.

Technical changes which improve the performance of the device may be made without prior notice!

This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be repro-duced in any form (by photocopying, microfilm or any othermethod) or stored, processed, copied or distributedby electronic means without the written permission of Kollmorgen.

2 Kollmorgen | kdn.kollmorgen.com | December 2015


3/72

1 Table of Contents

1 Table of Contents 32 General 7

2.1 About this Manual 82.2 Using the PDF Format 82.3 Notes for the Printed Edition (paper version) 82.4 Symbols Used 92.5 Abbreviations Used 9

3 Safety 103.1 You should payattention to this 113.2 Use as Directed 133.3 Prohibited Use 133.4 Handling 14

3.4.1 Packaging 14

3.4.2 Transport 143.4.3 Storage 143.4.4 Maintenance and cleaning 143.4.5 Uninstalling 153.4.6 Repair and disposal 15

4 Approvals 164.1 Conformance with EC Low Voltage and EMC Directives 174.2 Conformance with EC MachineryDirective, Functional Safety 174.3 Conformance with UL/cUL 18

4.3.1 UL Markings / MarquagesUL 184.4 Conformance with EAC 194.5 Conformance with RoHS 19

4.6 Conformance with REACH 195 Package 20

5.1 Package Supplied 215.2 Nameplate 215.3 Part Number Scheme 22

6 Technical description and data 236.1 The AKD-N Family of Digital Drives 246.2 Mechanical Data 256.3 Electrical Data 256.4 Performance Data 256.5 Ambient Conditions, Ventilation, and Mounting Position 266.6 Inputs/Outputs 266.7 Connectors 276.8 Cable Requirements 276.9 Cable length definition 286.10 Dynamic Braking 296.11 Regen circuit 29

6.11.1 Functional description 296.11.2 Technical data 29

6.12 LED Codes 306.13 Switch-On and Switch-Off Behavior 31

6.13.1 Switch-on behavior in standard operation 316.13.2 Switch-off behavior 32

6.13.2.1 Switch-off behavior using a digital input (controlled stop) 326.13.2.2 Switch-off behavior using the DRV.DIS command 33

AKD-N Installation | Table of Contents

Kollmorgen | kdn.kollmorgen.com | December 2015 3


4/72

6.13.2.3 Switch-off behavior using H W Enable input on AKD-C ( uncontrolled stop) 346.13.2.4 Switch-off behavior in the event of a fault 35

6.14 Safe Torque Off (STO) 386.14.1 Global STO, control via AKD-C 386.14.2 LocalSTO, controlvia digital input on AKD-N-DS 386.14.3 Safety characteristic data 386.14.4 Use as directed 396.14.5 Prohibited use 396.14.6 Response Time 396.14.7 Enclosure, wiring 396.14.8 LocalSTO safety instructions 406.14.9 Technicaldata and pinout local STO 416.14.10 Functional description localSTO 42

6.14.10.1 Signaldiagram (sequence) 426.14.11 Functional test 43

6.14.11.1 Global STO 436.14.11.2 Local STO 43

6.14.11.3 Local STO application example 446.14.12 OSSD test pulses 447 Mechanical Installation 45

7.1 Important Notes 467.2 Temperature Management 467.3 Mechanical Drawings 47

7.3.1 Dimensions AKD-N, preferred mounting 477.3.2 Dimensions AKD-N with optional heat sink, preferred mounting 48

8 Electrical Installation 498.1 Important Notes 508.2 Guide to Electrical Installation 508.3 System Topology of a Decentralized Servo System 51

8.3.1 System limits 518.3.2 Example 51

8.4 Wiring 528.5 Connection Overview 53

8.5.1 Connector assignment AKD-Nzzz07-DB 538.5.2 Connector assignment AKD-Nzzz07-DF/DS 538.5.3 Connection diagram AKD-Nzzz07-DB 548.5.4 Connection diagram AKD-Nzzz07-DF/DS 55

8.6 Hybrid Connection (X1, X2) 568.7 I/O Connection (X3) 56

8.7.1 Digital Inputs 578.7.2 DigitalOutput 58

8.8 Motor Power Connection (X4) 598.8.1 Connector X4 AKD-Nzzz07-DB/DS/DF, hybrid, single line 598.8.2 Connector X4 AKD-Nzzz07-DF/DS, dual line 59

8.9 Motor Brake Connection (X4) 608.10 Motor Feedback Connection (X4, X5) 61

8.10.1 Connector X4 AKD-Nzzz07-DB/DS/DF, hybrid, single line 618.10.2 Connector X5 AKD-Nzzz07-DF/DS, dual line 62

8.11 Optional Connector (X6) 638.11.1 Pinout AKD-Nzzz07-DF 638.11.2 Pinout AKD-Nzzz07-DS 63

9 Setup 64

9.1 Important Notes 659.2 Setup software WorkBench 66




5/72

9.3 Initial System Test 679.3.1 Unpacking, mounting, and wiring 679.3.2 Set IP address 679.3.3 Confirm connections 679.3.4 Install and start WorkBench 689.3.5 Enable the drive using the setup wizard 68

9.4 Fault and Warning Messages 6810 Index 6911 Record of document revisions 71




6/72

--- / ---

AKD-N Installation |



7/72

2 General

2.1 About this Manual 82.2 Using the PDF Format 82.3 Notes for the Printed Edition (paper version) 82.4 Symbols Used 92.5 Abbreviations Used 9

AKD-N Installation | 2 General



8/72


2.1 About this ManualThis manual, AKD-N Installation Manual ("Instructions Manual" according to EC MachineryDirective 2006/42/EC), describes the AKD-N series of digital drives and includes informationneeded to safely install an AKD-N. A digital versionof this manual (pdf format) is available ontheDVD included with your drive. Manual updates canbedownloadedfrom the Kollmorgenwebsite (www.kollmorgen.com). Additional documents include the following:

AKD-C Installation Manual : describes the AKD-C series of intelligent power supply for Kollmorgendecentralized drive system and includes informationneededfor safe assem-bling, installationand system setup.WorkBench Online Help : describes how to use your drive in common applications. It alsoprovides tips for maximizingyoursystem performance. TheOnline Help includes theParameter and Command Reference Guide which provides documentation for the para-meters and commands usedto program the drive.EtherCAT Communication : describes how touseyour system in EtherCAT applications.

Accessories Manual .It provides documentation for accessories like cables and regen res-istors usedwith AKD-C andAKD-N. Regional variants of this manual exist.

2.2 Using the PDF FormatThis document includes several features for ease of navigationCross References Table of contents and index include active cross references.Table of contents andindex

Lines are active cross references. Click onthe line and theappro-priate page is accessed.

Page/chapter numbersin the text

Page/chapternumbers with cross references areactive links.

2.3 Notes for the Printed Edition (paper version) A printedversion of the manual is enclosed with eachproduct. For environmental reasons, the document was reduced in size and prin-ted on DIN A5.Should you experience difficulties reading the font size of thescaled-down printed version, you can print and use the PDF ver-sion inDINA4 format 1:1. You can find the PDF version on the CD-ROMDVDaccompanying the product and on the Kollmorgen web-

site.



9/72

2.4 Symbols Used

Symbol Indication

DANGERIndicates a hazardous situation which, if not avoided, willresult indeath or serious injury.

WARNINGIndicates a hazardous situation which, if not avoided, couldresult indeath or serious injury.

CAUTIONIndicates a hazardous situation which, if not avoided, couldresult in minoror moderate injury.

Indicates situations which, if not avoided, could result inproperty damage.

This symbol indicates important notes.

Warning of a danger (general). The type of danger is specifiedby the text next to the symbol.

Warning of danger from electricity and its effects.

Warning of danger from hot surface.

Warning of suspended loads.

2.5 Abbreviations Used

Abbreviation Meaning(➜ #53) "seepage53" in this documentCE Communité EuropéenneEMC Electromagnetic compatibilityLED Light-emitting diodeOSSD Output signals SwitchingDevicePC Personal computer PE Protective earthPELV Protective extra low voltagePLC Programmable logic controlPWM Pulse-width modulationRAM Random access memory (volatile memory)ROD Incremental encoder (A quadB)Rth Specific thermal resistanceSELV Safety Extra Low VoltageSTO Safe torque off VAC Volts, alternating currentVDC Volts, direct current




10/72

AKD-N Installation | 3 Safety

3 Safety

3.1 You should pay attention to this 113.2 Use as Directed 13

3.3 Prohibited Use 133.4 Handling 14



11/72

3.1 You should pay attention to thisThis sectionhelps youto recognizeand avoid dangers to people and objects.

Read the documentation!

Readthe available documentation before installation and commissioning. Improper handlingof thedrive can cause harm to people ordamage to property. The operator of systems using

the AKD-N must require that all personnel who work with thedrive readand understand themanual before usingthe drive.

Check Hardware Revision!

Check theHardwareRevision Number of the product (see product label). This number is thelink between yourproduct and the manual. The product Hardware Revision Number mustmatch theHardware Revision Number on thecoverpageof the manual.Pay attention to the technical data!

Adhere to the technical data and the specifications on connection conditions (ratingplate anddocumentation). If permissiblevoltage values or current values areexceeded, the drives canbe damaged.

Perform a risk assessment!Themanufacturer of the machine must generate a risk assessment for the machine, andtake appropriate measures to ensure that unforeseenmovements cannot cause injury or dam-age to any person or property. Additional requirements on specialist staff may also resultfrom the risk assessment.Automatic Restart!

The drive might restart automatically after power on, voltagedipor interruptionof the supplyvoltage, depending on the parameter setting.Risk of death or serious injury for humans working in the machine.If the parameterDRV.ENDEFAULT is set to 1, thenplacea warningsign to the machine(Warning: Automatic Restart at Power On) and ensure, that power on is not possible, whilehumans are in a dangerous zone of the machine. In case of usinganundervoltage protectiondevice, youmust observe EN 60204-1:2006 chapter 7.5 .

Specialist staff required!

Only properly qualifiedpersonnel arepermitted to perform such tasks as transport,assembly, setup and maintenance. Qualified specialist staff are persons who arefamiliar with the transport, installation, assembly, commissioning and operationof drives and whobringtheir relevant minimum qualifications to bear on their duties:

Transport: only by personnel with knowledge of handling electrostatically sensitive com-ponents.Unpacking: only by electrically qualified personnel.

Installation: only by electrically qualified personnel.Basic tests / Setup: only by qualified personnel with knowledgeof electrical engineeringand drive technology

Thequalifiedpersonnel must know and observe ISO 12100 / IEC 60364 / IEC 60664 andnational accident prevention regulations.Observe electrostatically sensitive components!

Thedrives contain electrostatically sensitive components which may be damagedby incor-rect handling. Electrostatically discharge yourbody before touching the drive. Avoid contactwith highly insulatingmaterials (artificial fabrics, plastic film etc.). Place thedrive ona con-ductive surface.




12/72


Hot surface!

Drives may have hot surfaces during operation. The housingcan reach temperatures above80°C. Risk of minor burns! Measure the temperature, andwait until the housinghas cooleddown below 40°C before touching it.

Earthing!

It is vital that youensure that thedrive is safely earthedto thePE (protective earth) systemin the maschine. Risk of electric shock. Without low-resistance earthing no personal pro-tection can beguaranteed.

Leakage Current!

Since the leakagecurrent to PE is more than 3.5 mA, in compliance with IEC61800-5-1 thePE connectionmust eitherbedoubledora connecting cable with a cross-section >10mm²must be used. Deviating measures according to regional standards might be possible.

High voltages!

The equipment produces high electric voltages up to 900 V. Do not open or touch the equip-

ment during operation. Keep all covers closed. The built-in LED does not safely indicate thereal voltage level.During operation, drives may have uncovered live sections, according to their level of enclos-ure protection. Wait at least seven minutes after disconnecting the drive from themain sup-ply power before touching potentially live sections of the equipment (such as contacts) or removing any connections.Capacitors can have dangerous voltages present up to seven minutes after switchingoff thesupply power. Always measure the voltage in theDC bus link at connector X14at AKD-Cand wait until the voltage is below 50 V before handlingcomponents.Never undoany electrical connections to thedrive while it is live. There is a danger of elec-trical arcing with damage to contacts and personal injury.

Reinforced InsulationThermal sensors, motorholding brakes and feedback systems built into the connected motor must have reinforcedinsulation (according to IEC61800-5-1)against system componentswith power voltage, according to the required application test voltage. All Kollmorgen com-ponents meet these requirements.Never modify the drive!

It is not allowedto modify the drive without permissionby the manufacturer. Opening thehousing causes loss of warranty.



13/72

3.2 Use as DirectedTheAKD-N family of drives is exclusively intendedfor driving suitable synchronous ser-vomotors with closed-loop control of torque, speed, and/orposition.Drives are components that are built into electrical plants or machines andcan only be oper-atedas integral components of these plants or machines. The manufacturer of the machinemust generate a risk assessment for the machine.When thedrives are built into machines or plant, the drive must not beused until it has beenestablished that themachine or plant fulfills the requirements of the regional directives.Kollmorgen Decentralized Drive System

AKD-N series drives must only beoperated in a motion system with components from Koll-morgen. Required additional Kollmorgen components are the intelligent power supply AKD-C, CCx series of hybridcables, motor power and feedback cables, servomotors.Assembling

AKD-N drives must only beoperated in environments suitable for the ambient conditionsdefinedon(➜ # 26). Optional finned heat sink may benecessary to keepthe drive flangetemperature below 85 °C.

Wiring

Use only KollmorgenCCx series of hybrid cables for connectingAKD-N and AKD-Cdevices.Power supply

AKD-N series drives must be powered by AKD-C intelligent power supplies with DC voltagefrom 55 VDC up to 800 VDC.Motor voltage rating

The ratedvoltageof themotors must be at least as highas theDC bus link voltage dividedby √2 produced by the drive (UnMotor >=UDC/√2).

Safe torque off Review the section "Use as Directed" in theSTO chapter (➜ # 38) before using this safetyfunction(SIL2, PLd, category 3according to ISO 13849).The24 VDC supply unit for local STO supply must accord to PELV/SELV (EN 60204-1)requirements.

3.3 Prohibited UseOtheruse than that described in chapter “Use as directed” is not intendedand can lead to per-sonnel injuries andequipment damage.The device may not be used

with a machine that does not comply with appropriate national directives or standards,for drivingelevators,in applications with continuous, operational short circuits to the motor power contacts.

The use of the device in the followingenvironments is also prohibited:potentially explosive areasenvironments with corrosive and/orelectrically conductive acids, alkalinesolutions, oils,vapors, dustsships or offshore applications

Wiring thesystem with hybridcables from other manufacturers than Kollmorgen is notallowed. Changing Kollmorgen cables or connectors is not allowed.




14/72


3.4 Handling

3.4.1 PackagingThe AKD-N packaging consists of recyclablecardboardwith inserts and a label on theout-side of the box.

Model Package Dimensions(mm) HxWxL

Total Weight(kg)

AKD-N00307 120 x 295x 370 3.2 AKD-N00607 120 x 295x 370 3.2

3.4.2 TransportTransport the AKD-N inaccordance with IEC 61800-2 as follows:

Transport only by qualified personnel in the manufacturer’s original recyclable packaging. Avoid shocks while transporting.Store at or below maximum stacking height of 8 cartons

Transport only within specifiedtemperature ranges: -25 to +70 °C, max. rate of change20K/hour, class 2K3.Transport only within specifiedhumidity: maximum 95% relative humidity, nocon-densation, class 2K3.

Thedrives contain electrostatically sensitive components that canbedamaged by incorrecthandling. Electrostatically discharge yourself before touching the drive. Avoid contact withhighly insulatingmaterials, such as artificial fabrics and plastic films. Place thedrive onaconductive surface.If thepackagingis damaged, check theunit for visible damage. Inform the shipper and themanufacturer of any damage to the package or product.

3.4.3 StorageStore theAKD-N in accordance with IEC 61800-2 as follows:

Storeonly in the manufacturer’s original recyclable packaging.Store at or below maximum stacking height of 8 cartonsStore only within specifiedtemperature ranges: -25 to +55°C, max.rateof change 20K/hour, class 1K4.Storage only withinspecifiedhumidity: 5 to 95% relative humidity, no condensation, class1K3.

3.4.4 Maintenance and cleaningThedrive does not require maintenance. Opening the drive voids the warranty.The inside of the unit can only becleaned by themanufacturer. Toclean the drive exterior:

Casing: Cleanwith isopropanol or similar cleaning solution.Cooling fins: Clean with a dry brush.



15/72

3.4.5 UninstallingIf a drive must be uninstalled (such as for replacement), remove the drive as follows:1. Switchoff themain switch of the switchgear cabinet and the fuses that supply thesys-

tem.

WARNINGContacts can still have dangerous voltage present up to seven minutesafter switching off mains voltage. Risk of electrical shock! Wait at leastseven minutes after disconnecting the drive from the main supply power before touching potentially live sections of the equipment (e.g. contacts)or undoing any connections. Always measure the voltage in the DC buslink at connector X14 at AKD-C and wait until the voltage is below 50 Vbefore handling components.

2. Remove theconnectors. Disconnect the potential earth connection last.3. Check temperature.

CAUTIONDuring operation, the heat sink of the drive may reach temperaturesabove 80 °C (176 °F). Risk of minor burns. Before touching the device,check the temperature and wait until it has cooled below 40 °C (104 °F).

4. Uninstall. Remove theAKD-N.

3.4.6 Repair and disposalOnly themanufacturer can repair thedrive. Opening thedevice voids thewarranty. Uninstallthe drive as described in(➜ # 15), then send the drive in theoriginal packagingto theman-ufacturer (see tablebelow). Transport costs are the responsibility of the senders.In accordance with the WEEE-2002/96/EC-Guidelines and similar, the manufacturer accepts returns of old devices and accessories for professional disposal. Transport costsare the responsibility of the sender. Send the devices to the manufacturer addresses shownin thetable below.USA EuropeKollmorgen201 West Rock RoadRadford, VA 24141

KOLLMORGEN EuropeGmbHPempelfurtstr. 1D-40880 Ratingen




16/72

AKD-N Installation | 4 Approvals

4 Approvals

4.1 Conformance with EC Low Voltage and EMC Directives 174.2 Conformance with EC Machinery Directive, Functional Safety 17

4.3 Conformance with UL/cUL 184.4 Conformance with EAC 194.5 Conformance with RoHS 194.6 Conformance with REACH 19



17/72

4.1 Conformance with EC Low Voltage and EMC DirectivesCE Declarations of Conformity can befound on the Kollmorgen website.Conformance with the EC EMC Directive 2004/108/EC and the Low Voltage Directive2006/95/EC is mandatory for the supply of drives within the European Community.The drives have been tested by anauthorized testing laboratory in a defined configuration,

using the system components that are describedin this documentation. Any divergence fromthe configurationand installationdescribed in this documentationmeans that theuser will beresponsible for carrying out new measurements to ensureconformance with regulatoryrequirements.Kollmorgen declares the conformity of the product series AKD-Nzzz07 with the following dir-ectives:

EC Directive 2006/42/EC, Machinery DirectiveUsed harmonizedstandard EN13849-1 (2008)EC Directive 2014/35/EC, Low Voltage DirectiveUsed harmonizedstandard EN61800-5-1 (2007)EC Directive 2014/30/EC, EMC Directive

Used harmonizedstandard EN 61800-3(2004)TheAKD-Nzzz07 meet the noise immunity requirements to the 2nd environmental category(industrial environment). For noise emissiontheAKD-Nzzz07 meet the requirement to aproduct of the Category C2 (motor cable up to 5 m).These devices can cause high-frequency interferences in non industrial environments andmay require measures for interference suppression (such as additional external EMC filters).

4.2 Conformance with EC Machinery Directive, Functional SafetyConformance with the EC Machinery Directive 2006/42/EC is mandatory for the supply of safety components within the European Community. TheSTO safety implementation on the AKD-N is certified by TÜV. Thesafety circuit implementation usedfor the safety function"Safe TorqueOff" in the drives is suited forSIL 2 according to IEC 62061and PLd / CAT3accordingto ISO 13849-1.

Safe Torque Off (STO) string type (global)

Structure STO ISO13849-1

IEC62061

PFH[1/h]

SFF[%]

TM[Years]

AKD-C + 1 x AKD-N global PL d, CAT 3 SIL 2 2.9E-08 97.08 20 AKD-C + 8 x AKD-N global PL d, CAT 3 SIL 2 2.9E-08 99.44 20See AKD-C Installation Manual for detailed information.

Safe Torque Off (STO) single drive type (local)


IEC62061

PFH[1/h]

SFF[%]

TM[Years]

1 x AKD-N-DS local PL d, CAT 3 SIL 2 2.9E-08 97.12 20




18/72


4.3 Conformance with UL/cULThis drive is listed under UL (Underwriters Laboratories Inc.) file number E217428 .USL (United States Standards - Listed): Indicates Investigated to United States Standard for Power Con-versionEquipment, UL 508C.CNL (Canadian National Standards - Listed): Indicates investigation to Canadian Standardfor Industrial Con-

trol Equipment, CAN/CSA - C22.2, No. 14-13.

4.3.1 UL Markings / Marquages UL

English FrançaisThis product is suitable for useona circuit cap-able of delivering not more than42,000rmssymmetrical amperes, 480V maximum.

Ce produit est conçu pour une utilisation sur uncir-cuit capable de fournir 42.000ampères symétriques(rms) maximum pour 480 V maximum.

AKD-C are intended to be usedin a pollutiondegree 2 environment.

AKD-C sont prévus pour une utilisation dans unenvironnement de pollution de niveau 2.

Maximum surrounding air temperature 40°C. La température maximale de l'air ambiant de 40°C. AKD-C : Use 60/75°C copper wire only. AKD-C: Utilisez seulement un fil cuivre 60/75°C.For useona solidly grounded "wye" sourceonly.

Pour une utilisation sur une source "wye" enétoilesolidement à la terre.

For use in Canada:Transient surge suppressionshall be installedonthe line sideof this equipment and shall berated 277 V (phase to ground), 480 V (phase tophase), suitable for overvoltage category III,and shall provide protectionfor a rated impulsewithstandvoltagepeak of 2 kV.

Pour utilisation au Canada:Suppression de surtension transitoire doit êtreinstallé sur le côtéde la lignede ce matériel et doit être évalué277 V (phase à terre) , 480 V (entre

phases) , adapté à la catégorie de surtension III , et doit fournir une protection pour un choc nominale sup-

porter la tension de crête de 2 kV.

The following fuse types are recommendedfor branch circuit protection for AKD-C01007-CBXX:Les types de fusibles suivants sont recommandés pour protection de secteur pour AKD-C01007-CBXX:Model/Modèle

Class/Classe

Voltage Rating/Niveau de tension

Max. Fuse&SCC Rating/Niveau maximum & SCC

Nonrenewable Cartridge fuse RK5, CC, J 600 VAC 20 A, 200 kASiemens AG 3RV1742-5CD10 CB 480Y/277 VAC 20 A, 65kA

The following table illustrates the torque requirements for the fieldwiring connectors :Le tableau suivant indique les spécifications de couple pour les connecteurs de câblage sur site:Model/ Modèle Torque/ Couple serrage , LB IN (Nm) Wire size/ Section de fil , AWG (mm²) AKD-C X12 6.2 - 7.1 (0.7 - 0.8) 12 - 8 (4 - 10) AKD-C X20A 6.2 - 7.1 (0.7 - 0.8) 12 - 8 (4 - 10)

AKD-C X21A 6.2 - 7.1 (0.7 - 0.8) 12 - 8 (4 - 10) AKD-C X14 6.2 - 7.1 (0.7 - 0.8) 12 - 8 (4 - 10) AKD-C X13 1.8 - 2.2 (0.2 - 0.25) 14 - 12(2.5 - 4) AKD-C X15 1.8 - 2.2 (0.2 - 0.25) 20 - 18(0.5 - 0.8) AKD-C X16 1.8 - 2.2 (0.2 - 0.25) 20 - 18(0.5 - 0.8)

Split gage of AKD-N screwed connectors: max. 2.8 mm.Legage desplit des connecteurs vissé d'AKD-N: 2,8 mm max.Cold plate for AKD-N: at 40°C surrounding air temperature and 680 VDC supply voltage:Plaque froide pour AKD-N: à température ambiante 40°C et tension d'alimentation 680 VDC:- AKD-N00307: 240 mm x 240 mm x 10 mm (LxWxT, Aluminum, uncoated)- AKD-N00607: 500 mm x 500 mm x 10 mm (LxWxT, Aluminum, uncoated)



19/72

4.4 Conformance with EACEAC is theabbreviationfor Eurasian Conformity. The mark is used in thestates of the Eur-asian Customs Union(Russia, Belarus, Kazakhstan)similar to the European CE mark.Kollmorgen declares, that the AKD has passed all required conformity procedures in a mem-ber state of theEurasianCustoms Union, and that theAKD meets all technical requirementsrequested in the member states of the Eurasian Customs Union:

Low voltage (TP TC 020/2011)Electromagnetic Compatibility (TP TC 004/2011)

Contact:Intelligence Automatics LLC. , Bakuninskaya Str. d 14, Building 1, RU-105005 Moskau

4.5 Conformance with RoHSDirective 2011/65/EC of the European Union onthe restriction of the useof certain haz-ardous substances in electrical andelectronic equipment (RoHS) became operative as fromthe 3rd of January, 2013. Followingsubstances namely are involvedLead(Pb), Cadmium (Cd), Hexavalent chromium (CrVI), Polybrominated biphenyls (PBB),Polybrominated diphenyl ethers (PBDE), Mercury (Hg)The AKD is manufactured in conformancewith RoHS.

4.6 Conformance with REACHEU Regulation no. 1907/2006 deals with the registration, evaluation, authorization and restric-tionof chemical substances 1 (abbreviated to "REACH"). AKD does not contain any substances (CMR substances, PBTsubstances, vPvB sub-stances andsimilar hazardous substances stipulatedin individual cases based onscientificcriteria) above 0.1mass percent perproduct that are includedonthe candidate list.




20/72

AKD-N Installation | 5 Package

5 Package

5.1 Package Supplied 215.2 Nameplate 21

5.3 Part Number Scheme 22



21/72

5.1 Package SuppliedWhen a drive from theAKD-N series is ordered, the following items are included in the drivepackage:

AKD-NPrinted copy of AKD-N InstallationManual DVD containing the setup software, WorkBench, and all product documentation in digitalformat.Two connector covers M12 (for unused X3 and X6)

The matingconnectors are not included in thepackage.The M23 connector cover for protectingX2 of the last AKD-N in a string is part of delivery of the AKD-C package.Accessories Sold Separately

Accessories must be ordered separately if required; refer to your regional accessoriesmanual:

Heatsink 40 mm or 50 mmHeat conducting filmMotor cable, feedback cableHybrid cable for connection to next AKD-NCable for digital I/O connectionCable for local STO connection (AKD-N-DS only)Cable for tertiary fieldbus (AKD-N-DF only)Connector AKD-N-JUMP-X5 forAKD-N-DS/DF with SFD3/DSL

Spare parts

Spare parts aredescribedin the regional accessories manual:Mountingclamps setSealing plug set for connectors

5.2 NameplateThe nameplate depicted below is attached to thesideof the drive, sample data entries are for a 3 A type.




22/72


5.3 Part Number SchemeUse for part numberscheme for product identificationonly, not for the order process,because not all combinations of features are possible, always.

Customization code includes languageversionof printed material and not safety relevantcustomer specials.



23/72

6 Technical description and data

6.1 The AKD-N Family of Digital Drives 246.2 Mechanical Data 25

6.3 Electrical Data 256.4 Performance Data 256.5 Ambient Conditions, Ventilation, and Mounting Position 266.6 Inputs/Outputs 266.7 Connectors 276.8 Cable Requirements 276.9 Cable length definition 286.10 Dynamic Braking 296.11 Regen circuit 296.12 LED Codes 306.13 Switch-On and Switch-Off Behavior 31

6.14 Safe Torque Off (STO) 38

AKD-N Installation | 6 Technical description and data



24/72


6.1 The AKD-N Family of Digital Drives

Available AKD-N versions

Variant (short) Description Current Connectivity

AKD-N-DB Hybrid DC power and fieldbus connection.Hybrid motor power and feedback connection. 3 to 6 A EtherCAT, I/O

AKD-N-DFHybrid DC power and fieldbus connection.Hybrid or dual line motor power and feedbackconnection. Local tertiary fieldbus interface.

3 t o 6 A EtherCAT, I/O,Local Fieldbus

AKD-N-DSHybrid DC power and fieldbus connection.Hybrid or dual line motor power and feedbackconnection. Local drive STO input.

3 t o 6 A EtherCAT, I/O,Local STO

Standard features

Supply voltagerange 55VDC to800 VDCMotion bus onboard.SFD, Hiperface DSL, Comcoder, ENDAT 2.1 & 2.2, BiSS, HIPERFACE, 1Vp-p Sin-Cosencoders, incremental encoders support onboard.SafeTorqueOff (STO) accordingto IEC 62061SIL 2 onboard.Use with synchronous servomotors, linear motors, and induction machines.

Power section

DCpower supply, voltagerange 55VDC to 800 VDC.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/motorconnections andthe signalelectronics.Temperature monitoring of the drive and motor.Motor overload protection: foldback mechanismSIL 2 safe torqueoff in accordance with IEC 62061

Operation and parameter setting

Using thesetupsoftwareWorkBenchfor system setupvia TCP/IP connected to X18 of the intelligent power supply AKD-C.

Full digital control

Digital current controller (670 ns) Adjustable digital velocity controller (62.5 µs)Software optionpositioncontroller (250µs)

Inputs/Outputs

3 programmabledigital inputs (➜ # 56)1 programmabledigital outputs (➜ # 56)

Variations

Drive variant "DF": Feedback Connector X5 and Local fieldbus port X6, (➜ # 63)Drive variant "DS": Feedback Connector X5 and Local STO input X6, (➜ # 63)



25/72

6.2 Mechanical Data

Mechanical data Units AKD-N00307

AKD-N00607

Weight kg 1.6Height mm 75

Width mm 130Length, housing mm 201Length, with connectorsand mountingclamps

mm 247

6.3 Electrical Data

Electrical data Units AKD-N00307 AKD-N00607Rated supply voltage V= 560 to 680Standby supply voltage V= 55Rated input power for c ontinuous operation kVA 1.5 3Rated input current A 2.8 5.5Permitted switch on/off frequency 1/h 30Continuous output current ( ± 3%):

Optimum cooling situation(cold plate size definitionfulfilled)

Arms 31) 62)

Free convection cooling, unmounted Arms 1.8 1.7Continuous output power:

Optimum cooling situation(cold plate size definitionfulfilled)

kW 1.3 2.6

Free convection cooling, unmounted kW 0.8 0.7

Peak output current (for 5 s, ± 3%) Arms 9 18Peak output power kW 2,6 5,2Motor inductance min. mH 6.3 3.2Motor inductance max. mH 600 300Thermal dissipation, output stage disable W max. 6 max. 6Thermal dissipation at rated current W 37 71Efficiency factor % 97 97Technical data for regenc ircuit — (➜ # 29)Motor holding brake current A max. 1 max. 1.5

1) cold plate: (LxWxT) 240x240x10, surrounding temperature: 40°C, supply voltage: 680V2) cold plate: (LxWxT) 500x500x10, surrounding temperature: 40°C, supply voltage: 680V

6.4 Performance Data

Performance Data Units AKDN00307

AKD-N00607

Switching frequency of output stage kHz 10 8Voltage rise speed dU/dt kV/µs 7.2Bandwidth of current controller kHz 2.5Bandwidth of velocity controller (scalable) Hz 0 to 750Bandwidth of position controller (scalable) Hz 1 to 250




26/72


6.5 Ambient Conditions, Ventilation, and Mounting Position

Storage (➜ # 14)Transport (➜ # 14)Ambient temperaturein operation

-10 °C to +40°C under rated conditions+40°C to +55°C with continuous current derating4 % per Kelvin

Humidity in operation Relative humidity 5 to 95%, nocondensation, class 3K4Site altitude Up to 1000meters abovemeansea level without restriction

1,000 to max. 2,000 meters abovemeansea level with currentderating 1.5%/100 m

Pollution level Pollution level 3 as per IEC 60664-1Vibrations Class 3M5according to IEC 60721-3-2Environmental area IP65/IP67 accordingto IEC 60529, UL Type 4xMounting position All orientations allowed, observe preferredposition, (➜ # 47)Cold plate size Aluminum coldplate minimum size:

AKD-N00307: 350x350x10 mm AKD-N00607: 500x500x10 mmThe drive operates to full ratings, if themountingsurface for thecoldplate is between-10°C and +85°C and theambient air tem-perature is between-10°C and +40°C.

Ventilation Free airconvection

6.6 Inputs/Outputs

Interface Electrical DataDigital inputs (X3) as per IEC61131-2type 1

ON: 15 VDC to 30 VDC, 2mA to 15 mAOFF: -3 VDC to 5 VDC, < 1 mAgalvanic isolation for 30VDC2 high speedinputs: update rate 2 µs1 standard input: update rate 250 µs

Digital outputs (X3) as per IEC61131-2 type 1max. 30VDC, 100mAshort circuit proof galvanic isolation for 30VDCUpdaterate 250 µs

STO input (option DS) ON: 18 VDC to 30 VDC, 50 mA to 100 mAOFF: 0 VDC to12 VDC, < 50 mAgalvanic isolation for 60VDC

STO outputs (X3, option DS) as per IEC61131-2type 1max. 30VDC, 100mAshort circuit proof galvanic isolation for 30VDCUpdaterate 62.5 µs



27/72

6.7 ConnectorsGiven voltageand current data are the lowest values allowed by ULand CE.Connector Type Max. Cross Section Current Voltage*Hybrid IN, X1 HybridConnector

(male), 7 poles4 x 0.34mm², 22 awg3 x 2.5 mm², 14awg

0.5A18 A

30 V850 V

Hybrid OUT, X2 Hybrid Connector (female), 7poles 4 x 0.34mm², 22 awg3 x 2.5 mm², 14awg 0.5A18 A 30 V850 VDigital I/O, X3 Connector (female),

8 poles8 x 0.34 mm², 22 awg 2 A 30 V

Motor, X4 Connector (female),8 poles

4 x 2.5 mm², 14awg4 x 1.0 mm², 18awg

15 A10 A

630 V30 V

Feedback X5 Connector (male),17 poles

17 x 0.75 mm², 20 awg 3.6 A 63 V

STO/Fieldbus, X6 Connector (female),4 poles

4 x 0.34 mm², 22 awg 1 A 50 V

* Rated voltagewith pollutionlevel 2, use Kollmorgencables only.

6.8 Cable RequirementsFor information on the chemical, mechanical, and electrical characteristics of the cablesplease refer to the accessories manual or contact customer support.Use Kollmorgen hybrid, motor, andfeedback cables only. You will loss system warranty, if you usehybrid, motor or feedback cables from a manufacturer other than Kollmorgen.

Cable from Cable type Cable to Crosssection

AKD-C X20/X21 CCNCN1-0251) AKD-N X1, hybrid 3 x 2.5 mm²4 x 0.25 mm²

AKD-N X2 CCNNN1-0251) AKD-N X1, hybrid 3 x 2.5 mm²4 x 0.25 mm²

AKD-N X3 Phoenix SAC-8P-M12MS2)

Digital I/O 8 x 0.25 mm²

AKD-N-DB/DS/DF X4 CCJNA1-0151) MotorPowerwith brake andHiperface DSL feedback,hybrid

4 x 1.5 mm²2 x 0.75 mm²2 x 0.34 mm²

AKD-N-DS/DF X4 CM0NA1-0151) Motor Power without brake 4 x 1.5 mm² AKD-N-DS/DF X4 CM1NA1-0151) Motor Power withbrake 4 x 1.5mm²

2 x 0.75 mm²

AKD-N-DS/DF X5 CFSNA1-0021)

Motor Feedback SFD 4 x 2 x 0.25 mm² AKD-N-DS/DF X5 CFCNA1-0021) Motor Feedback Comcoder 7 x 2 x 0.25 mm² AKD-N-DS/DF X5 CFENA1-0021) MotorFeedback EnDat/BiSS 7 x 2 x 0.25 mm² AKD-N-DS/DF X5 CFHNA1-0021) Motor Feedback Hiperface 7 x 2 x 0.25 mm² AKD-N-DF X6 Phoenix NBC-

MSD/5,0-93E2)Tertiary Fieldbus 2x 2x 0.14mm²

AKD-N-DS X6 Phoenix SAC-4P-M12MS2)

Single DriveSTO switch 4 x 0.34 mm²

1) Followed by length coding. Contact your Kollmorgen sales representative.2) Example, similar cables areavailable from other distributors.




28/72


6.9 Cable length definition AKD-C offers two separatestrings to connect up to 8 AKD-N to each of them. Maximumtotal cable length for each string is 100m. For system topology information refer to(➜ # 51)CableType

Cable usage Available Length (m) Max.Length (m)

CCNCN1 AKD-C to AKD-N, hybrid 3, 6, 12, 24, 36 40CCNNN1 AKD-N to AKD-N, hybrid 0.25, 0.5, ... , 2.0(steps 0.25m)2.5, 3.0, ... , 25 (steps 0.5m)

25

CCJNA1 AKD-N to Motor, hybrid 0.2, 0.3, ... , 1.0 (steps 0.1m)1.25, 1.5, ... , 2.0 (steps 0.25m)2.5, 3.0, ... , 5.0 (steps 0.5m)

5CMxNA1 AKD-N to Motor, Power CFyNA1 AKD-N to Motor, Feedbacksingle line X13 +24 V/GND, X15 Digital I/Os, X16 STO Signals 30



29/72

6.10 Dynamic BrakingDynamic braking is a method to slow down a servo system by dissipating themechanicalenergy drivenby the motor back EMF. The AKD-N has a built in advanced dynamic brakingmode which operates fully in hardware. Whenactivated, the drive shorts themotor terminalsin phasewith theback EMF (qaxis) but continues to operate thenon-force producing currentloop (d-axis) with 0 current. This forces all of the dynamic brakingcurrent to bestopping cur-rent and insures the fastest stopping/amp of motor terminal current.

Whencurrent is not being limited, the mechanical energy is being dissipated in the motor resistance.Whencurrent is being limited, energy is returned to the drive bus capacitors.The drive alsolimits the maximum dynamic brakingmotor terminal current via theDRV.DBILIMIT parameter to insure that the drive, motor, andcustomer loaddonot seeexcessive currents/forces.

Whether and how the AKD-N uses dynamic braking depends on (DRV.DISMODE ).

6.11 Regen circuit

Whenthe amount of returned energy builds the bus capacitor voltage up enough the AKD-Cactivates the regen circuit to start dumping the returned energy in the regen resistor (alsocalled regenerative or brake resistor). The AKD-C has an internal regenresistor is resistor,anadditional external onecanbeconnected to X14.External regenresistors are describedin the regional AKD Accessories Manual .

6.11.1 Functional descriptionWhenthe amount of returned energy builds the bus capacitor voltage up enough the AKD-Cactivates thebrakechopper to start dumping the returned energy in the regen resistor at the AKD-C (internally or connected to terminal X14).90% of thecombined power of all the coupled drives is always available for peak andcon-tinuous power.Switch-off on over voltage

Thedrive that has the lowest switch-off threshold (resulting from tolerances) reports anover-voltagefault if the DC bus threshold is exceeded. The drive power stage is disabledand theload coasts to a stop with the fault message“F501 Bus Over voltage". The AKD-C fault relaycontact (terminals X15/5-6) is opened due to this fault.

6.11.2 Technical dataTechnical data are listed in the AKD -C Installation Manual .




30/72


6.12 LED CodesThe built-inLED indicates thestatus of the drive after the 24V supply for AKD-C is switchedon. If theAKD-C service connection to the PC or to the PAC doesn't work, then the LED isthe only way to get information.

DANGERThe built-in LED does not safely indicate the real voltage level.If connectors are unplugged or contacts are touched, there is a danger of electrical arcing with damage to contacts and serious personal injury. Always measure the voltage in the DC bus link at connector X14 at AKD-C and wait until the voltage is below 50 V before handling any componentin the decentral servo system.TheLED delivers information with three colors (red, green, yellow) and blink frequency. Spe-cialist cananalyze theblink frequency, more information to that can befound in theWorkBench online help.Basic informationColor RemarksGreen Enabled and runningblink green/orange Enabled and running with warningblink orange Safe bus voltagebl ink red/orange/green Fault



31/72

6.13 Switch-On and Switch-Off Behavior

Behavior of “holding brake” function

Drives with anenabledholdingbrakefunctionhavea special timing forswitching onand off the output stage. Events that remove the DRV.ACTIVE signal trigger the holdingbrake toapply. As with all electronic circuits, thegeneral 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 mech-anical brake which must be safely operated, for example by asafety control.If velocity drops below thresholdCS.VTHRESH or timeout occurs during a stop procedure,the brake is applied. Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply themotor holding brake immediately after faults or Hardware Disable.Safety function STO

With the functional safe function STO, thedrive can besecuredon standstill usingitsinternal electronics so that evenwhenpower is beingsupplied, the drive shaft is protectedagainst unintentional restart. Thechapter “Safe Torque Off (STO)” describes how to use theSTO function(➜ # 38).

6.13.1 Switch-on behavior in standard operationThe diagram below illustrates thecorrect functional sequence for switching the drive on.




32/72


6.13.2 Switch-off behavior TheAKD-C 24 V supply must remain constant. Hardware Enable input disables all AKD-Npower stages immediately. Configured Digital Inputs and fieldbus commands canbe usedtoperform controlledstops.Thecontrol functions Stop, Emergency Stop and Emergency Off are definedby IEC 60204.Notes for safety aspects of these functions can befound in ISO 13849 and IEC 62061.The parameter DRV.DISMODE must be set to 2 to implement the different stopcategories.Consult the AKD -N User Guide for configuring the parameter.

WARNINGWith vertical load the load could fall. Serious injury could result when theload is not properly blocked. Functional safety, e.g. with hanging load (ver-tical axes), requires an additional mechanical brake which must be safelyoperated, for example by a safety control.Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply themotor holding brake immediately after faults or Hardware Disable.

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

This is a category 2 stop accordingto IEC 60204. A digital input can beconfigured to bringthe motor to a controlled stop and thendisable thedrive and apply the holding brake (if present). See the AKD-N User Guide for information on configuring Digital Inputs.

If velocity drops below thresholdCS.VTHRESH or timeout occurs brake is applied.



33/72

6.13.2.2 Switch-off behavior using the DRV.DIS command

The enable/disable button in WorkBench issues adrv.dis command internally to the drive.See AKD-N User Guide for configuring inputs and software commands. Sometimes thisenable signal is called"Software Enable" (SW-Enable).DRV.DISMODE

0Disableaxis immediately, if velocity drops below thresholdCS.VTHRESH or timeout occurs brake is applied. Category 0 stopaccording to IEC 60204(➜ # 38).

DRV.DISMODE2

Use controlled stop to disable drive, if velocity drops below thresholdCS.VTHRESH or timeout occurs brake is applied. Category 1 stopaccording to IEC 60204(➜ # 38).

If velocity drops below thresholdCS.VTHRESH or timeout occurs brake is applied.




34/72


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

This is a category 0 stop according to IEC 60204. Thehardware enable input disables the AKD-N power stage immediately.

If velocity drops below thresholdCS.VTHRESH or timeout occurs the motor holdingbrake isapplied. Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply themotor hold-ingbrake immediately after HardwareDisable.



35/72

6.13.2.4 Switch-off behavior in the event of a fault

The behavior of the drive always depends onthe fault typeand the setting of a number of dif-ferent parameters (DRV.DISMODE, VBUS.UVFTHRESH, CS.VTHRESH, andothers; seethe AKD-N User Guide or WorkBench help for more details).See theDrive Fault and Warning Messages and Remedies section of the AKD-N User Guide for a table describing thespe-cific behaviorof each fault. The follwing pages show examples for the possible fault beha-viors.Switch-off behavior for faults that cause an immediate power stage disable

This is a category 0 stop according to IEC 60204.

If velocity drops below thresholdCS.VTHRESH or timeout occurs the motor holdingbrake isapplied. Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply themotor hold-ingbrake immediately after faults.




36/72


Switch-off behavior for faults that cause dynamic braking

This is a category 0 stop accordingto IEC 60204.

If velocity drops below thresholdCS.VTHRESH or timeout occurs brake is applied .



37/72

Switch-off behavior for faults that cause a controlled stop

This is a category 1 stop according to IEC 60204.

If velocity drops below thresholdCS.VTHRESH or timeout occurs brake is applied .




38/72


6.14 Safe Torque Off (STO)The STOfunctionality of AKD-N with option"DB" or "DF" is controlled by the AKD-C smartpower supply via thespecific string, where theAKD-N is connected to. This STO topology iscalled "Global STO " or "String STO ". AKD-N drives with option "DS" offer an additional connector X6 with a digital STO-Enableinput. This STOfunctionality is called"Local STO". These drive variants cannot be safetycontrolled by the global STOfunctionality.

6.14.1 Global STO, control via AKD-CConnector X16onthe AKD-C offers access to all STO (Safe TorqueOff) signals of thedecentral drive system powered by this AKD-C . Thereis one STO-Enable input and oneSTO-Status output for each DC Power string.The global STOfunction is described in the AKD-C Installation Manual.The global STO function uses the followingdevices: AKD-C, AKD-N without option"DS",Kollmorgen hybrid connection cable.In case of usinganAKD-N with option"DS" (local STO input), the global STO-Enable signalwill have not influence to this specific drive. Thelocal STO-Status of this drive neverthelessis monitored in thestring STO-Status.

6.14.2 Local STO, control via digital input on AKD-N-DSOption "DS" on the AKD-N offers local STO-Enable functionality. Thereis one STO-Enableinput on X6 and one STO-Status output on X3 for thedrive. The STO-Status outputs onX3are availableonly with AKD-N drives with option"DS".

6.14.3 Safety characteristic dataThe systems are describedwith the followingcharacteristics:


IEC62061

PFH[1/h]

SFF[%]

TM[Years]

AKD-C + 1 x AKD-N global PL d, CAT 3 SIL 2 2.9E-08 97.08 20 AKD-C + 8 x AKD-N global PL d, CAT 3 SIL 2 2.9E-08 99.44 20

1 x AKD-N-DS local PL d, CAT 3 SIL 2 2.9E-08 97.12 20 A very unlikely but possibleevent can happen, if within a very short time 2 not adjacentIGBTs will havea short circuit. In such case a movement of maximum anangleof 120° (elec-trical) canhappen. This effect can only happen if thedrive is in the functionSTO. If the totalfailure rate of the IGBT is 120fit normally for such short circuit 60 fit will bevalid(50:50model). By such event 2 specific IGBTs have to fail at same time. Thecalculationshows aprobability of 1.5 * 10-15 per hour (without common cause failure). Even if the STO functionwill be issued for a whole year, this event will only happen every 100 Billion years.



39/72

6.14.4 Use as directedThe STO function is exclusively intended to provide a functional safe torque off of the drive.To achievethis functional safety, thewiring of thesafety circuits must meet the safetyrequirements of IEC 60204, ISO 12100 and ISO 13849.If the local STO function is in use, then theinput STO must be connectedto theexit of asafety control or a safety relay, which at least meets the requirements of PLd, CAT 3 accord-ing to ISO 13849.The24 VDC supply unit for local STO supply must accord to PELV/SELV (EN 60204-1)requirements.

6.14.5 Prohibited useThe STOfunctionmust not beusedif the drive is to bemadeinactive for thefollowing reas-ons:

Cleaning, maintenance and repair operations, long inoperative periods. In such cases, theentiresystem shouldbedisconnected from thesupply and secured (main switch).Emergency-Off situations. In anEmergency-Off situation, the maincontactor is switched

off (by theEmergency-Off button).Wiring thesystem with hybridcables from other manufacturers than Kollmorgen is notallowed.Changing cables or connectors is not allowed.Do not use STOStatus signals for functional safety.

6.14.6 Response Time

Global STO

Thedelay from fallingedgeat global STO Enable input until energy supply to the motors isinterrupted, depends onthe number of connected AKD-N to the string. Maximum reactiontime is 10 ms. The moreAKD-N are connectedto the string, the shorter is the reaction time.

Local STO

Thedelay from fallingedgeat local STO Enable input until energy supply to the motor is inter-rupted is maximum 10ms.

6.14.7 Enclosure, wiringObserve the required ambient conditions as describedin chapter (➜ # 26). The AKD-N canbe usedin an environment that meets IP67.Thecables must belaid durably (firmly), protected from outside damage (for example, by lay-ingthecable in a duct), placed in different sheathedcables, or protected individually bygrounding connection.Wiring must meet the requirements of the standard IEC 60204-1.Maximum cable length for safety relevant I/Os andfor the24V supply is 30 m.




40/72


6.14.8 Local STO safety instructions

WARNINGThe drive cannot hold a vertical load when STO is active. Serious injurycould result when load is not properly blocked. Drives with a suspendedload must have an additional safe mechanical blocking (for instance, by amotor-holding brake).The drives have not to be used for driving elevators.

CAUTIONIn case of a specific double fault within a very short time (see (➜ # 38) asingle movement of maximum an angle of 120° (electrical) can happen.This effect can only happen if the drive is in the function STO.Even if the STO function will be issued for a whole year, this event willonly happen every 100 Billion years.

CAUTIONThe drive might restart automatically after power on, voltage dip or inter-ruption of the supply voltage, depending on the parameter setting.Risk of death or serious injury for humans working in the machine.If the parameter DRV.ENDEFAULT is set to 1, then place a warning signto the machine (Warning: Automatic Restart at Power On) and ensure, thatpower on is not possible, while humans are in a dangerous zone of themachine. In case of using an undervoltage protection device, you mustobserve EN 60204-1:2006 chapter 7.5 .

CAUTIONThe STO function does not provide an electrical separation from thepower output. There is a danger of electrical shock and personnel injury. If access to the motor power terminals is necessary, the drive must be dis-connected from AKD-C considering the DC Bus discharging time.If the safety function STO is automatically activatedby a control system, then make surethat the output of the control is monitored for possible malfunction. The monitoring can beused to prevent a faulty output from unintentionally activating theSTO function. Since thelocal STO function is a single-channel system, erroneous engaging will not be recognized.It is not possible to perform a controlled brake if the drive controlled STO-Enable is off. If con-trolled braking before theuseof theSTO function is necessary, the drive must be braked andthe input STO must be separated time-delayed from +24V .TheSTO Status signals are informal andnot relevant for functional safety.



41/72

6.14.9 Technical data and pinout local STOThelocal STO input is not compatible with IEC 61131-2.STO-Enable input Input does not match IEC61131-2

ON: 18VDC to30 VDC, 100 mAOFF: 0 VDC to12 VDC, < 50 mAGalvanic isolationfor 250 VDCTolerated OSSD pulse duration0.3ms

STO-Status outputs As per IEC61131-2 type 1Max. 30 VDC, 100 mAGalvanic isolationfor 250 VDC

24 VDC Power supply PELV/SELV acc. to EN 60204-1Output 24VDC +/-10%

Wiring diagram local STO-Enable

M12, A-coded X6 Pinout Description

1 STO-Enable +2 STO-Enable -3 n.c.4 n.c.

Wiring diagram local STO-Status

M12, A-coded X3 Pinout Description1,2 see (➜ # 58)

3 STO Status -

4 STO Status +

5,6,7,8 see (➜ # 58)




42/72


6.14.10 Functional description local STOWith AKD-N with option DS, anadditional digital input (STO) releases the power outputstage of the drive as long as a24V signal is applied to this input. Whenthe local STO func-tion(Safe TorqueOff) is not needed, thenthe input STO must be connected directly to +24VDC. Thefunction is then bypassed and cannot be used.The global STO signal will have noinfluence to this drive. The local STO input on theAKD-Nhas no influence to the global STO as well.

LocalSTO-Enable

StringHW Enable

LocalSTO-Status

Safety acc.to SIL2

Drive canproduce Torque

0 V no high yes no0 V yes high yes no

+24 V no low no no+24 V yes low no yes

WhenSTO functionis engaged during operationby separating input STO-Enable from 24 V,theconnected motor slows down without control.Use the following functional sequence when the STOfunction is used:1. Brake thedrive in a controlled manner (speed setpoint = 0 V).2. When speed= 0 rpm, disablethe drive (enable= 0V).3. If a suspended load is present, block thedrive mechanically.4. Activate the STOfunction.It is not possible to perform a controlled brake if the drive STO-Enable is off.If controlledbraking prior to theuseof theSTO function is necessary, thedrive must bebraked first and the input STO must beseparated from +24V time-delayed.

6.14.10.1 Signal diagram (sequence)

The diagrambelow shows how to useSTO function fora safedrive stop and fault free oper-ation of the drive. This sequence is valid for local andglobal STO functionality.1. Brake thedrive in a controlled manner (speed setpoint = 0V).2. Whenspeed = 0 rpm, disable the drive (Enable = 0 V).3. Activate the STOfunction(local STO-Enable = 0V)4. For restart youmust reset the safety device.



43/72

6.14.11 Functional testYoumust test the safe torque off function after initial start of the drive, after each interferenceinto thewiring of thedrive, or after exchangeof oneorseveral components of the drive.

6.14.11.1 Global STO

First Method:1. Stopdrives in thestring with setpoint 0 V. Keep drives enabled.

DANGER: Do not enter hazardous area!2. Activate the global STO functionfor example by openingprotective screen of thestring,

where the drives areconnected (voltage at AKD-C X16/6 or X16/8 0V).3. TheAKD-C fault contact opens, the corresponding string STO-Status message (X16/1 or

X16/2) changes the voltagelevel, thedrives lose torque and slow downto zero speedwithout control.

Second Method:

1. Stop all drives in the string with setpoint 0 V, disable the string.2. Activate the global STO function, for example, by openingprotective screen(voltage at

AKD-C X16/6 or X16/8 0V)3. The correspondingstring STO-Status message (X16/1or X16/2) changes the voltagelevel, the string cannot be enabled.

6.14.11.2 Local STO

First Method:

1. Stop the drive with setpoint 0 V. Keep drive enabled.DANGER: Do not enter hazardous area!

2. Activate the local STO function for example by opening protective screenof thedrive,(voltage at AKD-N X6/1 0V).

3. The drive lose toque and slows downto zero speed without control.Second Method:

1. Stop the drive with setpoint 0V, disable drive.2. Activate the STOfunction, for example, by openingprotective screen (voltage at AKD-N

X6/1 0V)3. The drive cannot beenabled.




44/72


6.14.11.3 Local STO application example

Thesample application below shows door guarding and emergency stop, controlled by asafety control to switch the local STO-Enable input of anAKD-N-DS driveaccording to SIL2,PLd.Kollmorgen KSM modules cannot be used.

6.14.12 OSSD test pulsesSafety controllers usually check their outputs periodically during the normal operation. Thesetest procedures create pulses to the AKD-N-DS STO-Enable input.

Test pulses withT1 < 300µs and T2 > 200ms will not have any influence to thesafety rel-evant STOfunction. Test pulses, which are outside of this specification, will switch theSTOfunction, but will not create a dangerous situation.



45/72

7 Mechanical Installation

7.1 Important Notes 467.2 Temperature Management 46

7.3 Mechanical Drawings 47

AKD-N Installation | 7 Mechanical Installation



46/72


7.1 Important Notes

CAUTIONThere is a danger of electrical shock by high EMC level which could result

in injury, if the drive (or the motor) is not properly EMC-grounded.CAUTION AKD-N Drives may have hot surfaces during operation. The housing canreach temperatures above 80°C. Risk of minor burns! Measure the tem-perature, and wait until the housing has cooled down below 40°C beforetouching it.Ensure free space of minimum 50 mm to all sides of the drive.Protect the drive from impermissible stresses. In particular, donot let any componentsbecome bent or any insulation distances altered during transport and handling. Avoid contact

with electronic components and contacts.The drive will switch itself off in case of overheating. Ensure that the mountingspacematches the requirements (➜ # 26).Do not mount devices that produce magnetic fields directly beside the drive. Strongmagneticfields can directly affect internal components. Install devices which produce magnetic fieldwith distance to thedrives and/or shield the magnetic fields. An optimized thermal strategy is mandatory for AKD-N performance. Observe the inform-ation given in chapter (➜ # 46)

7.2 Temperature Management

Thepossible continuous output current and output powerdepends on the cooling situationfor theAKD-N. Fora detailed calculation of temperaturebehaviorof the decentralizeddrive sys-tem based on the special machinery architecture, please contact the Kollmorgen customer support.Optimum cooling situation to reach rated power:

Cold plate requirements with 40°C surrounding temperature at 680VDC supply voltage: AKD-N 3 A : 350mm x 350mm x 10 mm AKD-N 6 A : 500mm x 500mm x 10 mm

Fora rough overview the three level rating below may help.1. Optimum cooling situation

Cold plate size definition fulfilled, no additional heat sink required2. Medium cooling situation

Example: 65% coolingplate availableUse the optional small heat sink (40 mm height) to reachoptimum situation

3. Bad cooling situationExample: 50% coolingplate availableUse the optional big heat sink (50 mm height) to reachoptimum situation.

Theheat sink variants are describedin the regional accessories manual.



47/72

7.3 Mechanical Drawings

7.3.1 Dimensions AKD-N, preferred mountingMaterial:

Fourmounting clamps (part of delivery)

FourM5 hexagon socket screws to ISO 4762, use 4 mm T-handle AllenkeyHeat conducting film (ordercode 849-373001-04)Ensure free spaceof minimum 50mm to all sides of the AKD-N.




48/72


7.3.2 Dimensions AKD-N with optional heat sink, preferred mountingMaterial:

Fourmounting clamps (part of delivery)FourM5hexagon socket screws to ISO 4762, use 4 mm T-handle AllenkeyFour M4x16 hexagonsocket screws to ISO 4762(part of delivery), use3 mm T-handle Allen keyHeat conducting film (order code849-373001-04)Heat sink 40 mm (option, see regional Accessories Manual)Heat sink 50 mm (option, see regional Accessories Manual)

Ensure free space of minimum 50mm to all sides of the AKD-N.



49/72

8 Electrical Installation

8.1 Important Notes 508.2 Guide to Electrical Installation 50

8.3 System Topology of a Decentralized Servo System 518.4 Wiring 528.5 Connection Overview 538.6 Hybrid Connection (X1, X2) 568.7 I/O Connection (X3) 568.8 Motor Power Connection (X4) 598.9 Motor Brake Connection (X4) 608.10 Motor Feedback Connection (X4, X5) 618.11 Optional Connector (X6) 63

AKD-N Installation | 8 Electrical Installation



50/72


8.1 Important Notes

DANGERNever remove electrical connections to the drive while it is live. There is a

danger of electrical arcing with damage to contacts and serious personalinjury. Capacitors can still have dangerous voltages present up to 7minutes after switching off the supply power. Always measure the voltagein the DC bus link at connector X14 at AKD-C and wait until the voltage isbelow 50 V before handling components. Control and power connectionscan still be live, even if the motor is not rotating.The built-in LED does not indicate the real voltage level.

CAUTIONSince the leakage current to PE is more than 3.5 mA, in compliance with

IEC 61800-5-1 the PE connection must either be doubled or a connectingcable with a cross-section >10 mm² must be used. There is a danger of electrical shock with possible personal injury. Deviating measures accord-ing to regional standards might be possible.WrongDC Bus link voltage, unsuitablemotor or wrongwiring will damage the drive. Checkthecombination of drive and motor. Compare the ratedvoltageand current of the units. Imple-ment thewiring accordingto theconnectiondiagrams: (➜ # 53).It is permissible to use thesetup software to alter the settings of thedrive. Any otheralter-ations will invalidate the warranty.

8.2 Guide to Electrical InstallationInstall the drive electrical system as follows:1. Select cables (➜ # 27).)inaccordance with theplannedsystem topology (➜ # 51).2. Install grounding (PE)and ground thedrive.

Ground themountingplate, motor housing and CNC-GND of thecontrol system.3. Wire the drive:The connectors areclose to each other onthe drive. To ensure simple handling, observe theconnector mounting sequence: X2 - X1 - X4 - X5 - X3 - X6

Connect thehybridpower cable between AKD-C X20orX21and AKD-N X1, max.length 40 m.Connect the hybridpower cables between theAKD-N drives X1/X2, max. length 25m.Dual line connection:Connect the motor cable to X4, max. length 5 m.Connect the feedback device to X5 , max. length 5 m.Single line connection:Connect the hybridmotor cable to X4, max. length5 m.

4. Check the wiring against the plannedsystem topology diagrams (➜ # 51).



51/72

8.3 System Topology of a Decentralized Servo System

8.3.1 System limitsString length: maximum 100 m total cable lengthper stringNumber of AKD-N: maximum 8 per string

Sum of output current of string 1 and string 2: 17A, calculatecoincidencefactor of the axesStandby Power: Standby power is limited to 260 W at 24V for both strings. This

power must supply all AKD-N ( 8 W each) and the remainingpower canbeused for motorholding brakes.

8.3.2 Example




52/72


8.4 Wiring

DANGERThere is a danger of electrical arcing which can cause serious personnelinjury. Only install and wire the equipment when it is not live, that is, when

neither the electrical supply nor the 24 V auxiliary voltage nor the supplyvoltages of any other connected equipment is switched on.Make sure that the cabinet is safely disconnected (for instance, with alock-out and warning signs). The individual voltages are switched on for the first time during setup.The built-in LED does not safely indicate the real voltage level. Alwaysmeasure the voltage in the DC bus link at connector X14 at AKD-C andwait until the voltage is below 50 V before handling any component in thedecentral servo system.

Only professional staff who arequalifiedin electrical engineeringare allowed to install thedrive. Wires withcolor green with one or more yellow stripes must not be used other than for protective earth (PE)wiring.

The groundsymbol, which youwill find in all the wiring diagrams, indicates that you musttake care to provide anelectrically conductive connection with the largest feasible surfaceareabetween theunit indicatedand themountingplate in thecontrol cabinet. This connectionis for theeffective groundingof HF interference, and must not beconfused with the PE-sym-bol (PE = protective earth, safety measure as perIEC 60204).Use the following connectiondiagrams:

Overview AKD-N variant DB (➜ # 54)Overview AKD-N variant DS/DF (➜ # 55)DC power and Fieldbus connection (➜ # 56)Digital inputs and outputs (➜ # 56)Motor Power (➜ # 59)Motor Brake (➜ # 60)Motor Feedback (➜ # 61)Tertiary motion bus interface (➜ # 63)Local STO (➜ # 63)



53/72

8.5 Connection Overview

8.5.1 Connector assignment AKD-Nzzz07-DB

8.5.2 Connector assignment AKD-Nzzz07-DF/DS




54/72


8.5.3 Connection diagram AKD-Nzzz07-DB



55/72

8.5.4 Connection diagram AKD-Nzzz07-DF/DS




56/72


8.6 Hybrid Connection (X1, X2)

Connector X1 (Hybrid In) Connector X2 (Hybrid Out)

Pinout

Pin Usage X1 Usage X2 A not connected not connectedB - DC_ST - DC_ST

C +DC_ST +DC_STPE PE PE1 Receive - Transmit -2 Transmit - Receive -3 Receive + Transmit+4 Transmit + Receive +

8.7 I/O Connection (X3)

M12, A-coded X3 Description Abbreviation Function1 Digital Input 1 DIGITAL-IN 1 Programmable2 Digital Input 2 DIGITAL-IN 2 Programmable3* STO-Status - STO-Status - local STO-Status4* STO-Status + STO-Status + local STO-Status5 Digital Input 3 DIGITAL-IN 3 Programmable6 Digital Common DCOM3 Common line

for pins 1, 2, 57 Digital Output 1- DIGITAL-OUT1- Programmable8 Digital Output 1+ DIGITAL-OUT1+ Programmable

* STO-Status signals are available for AKD-N with option"DS" only.

The DCOM3 line should beconnectedto the0V of the I/O supply when using sensors of type"Source" with digital inputs.The DCOM3 line should beconnectedto the24V of theI/O supply when using sensors of type "Sink" with digital inputs.



57/72

8.7.1 Digital InputsThe drive provides 3 digital inputs. Thesecan beused to initiate pre-programmed functionsthat arestoredin the drive. A list of these pre-programmed functions is included in theWorkBench. If an input is programmed, it must besaved to the drive. By default,all inputs arenot programmed (off). For more informationrefer to the setup software.Depending onthe selected function, the inputs are high or low active. The inputs can beusedwith switched +24V (source type) orswitched GND (sink type). Digital input filtercanbesetin WorkBench to change sensitivity of the inputs (seeOnline Help).Wiring diagram:

Digital Inputs 1 and 2

These inputs are particularly fast and are therefore suitablefor latch functions, for example.Technical characteristics:

Floating, reference common line is DCOM3Sink or Source type sensors possibleHigh: 15 to 30 V / 2 to 15 mA , Low: -3 to +5 V /


58/72


8.7.2 Digital OutputThedrive supplies one programmable digital output and the permanent STO-Status output for drives with "DS" option. For the programmableoutput choose the required function in thesetup software. Messages from pre-programmed functions stored in thedrive canbeoutputhere. A list of these pre-programmed functions canbefound in thesetup software. If anout-put is to beassigned to a pre-programmed function, then theparameter set must be saved inthe drive. By default,the output is not programmed (off). For more information refer to thesetup software.Technical characteristics:

STO-Status signal is available for AKD-N with option "DS" only.24 V , 20 VDC to 30 VDC All digital outputs are floating, max.100 mACanbewired as active low or active high (see examples below)Update rate: 250 µs

Wiringdiagram:



59/72


60/72


8.9 Motor Brake Connection (X4) A 24 V holding brake in the motor can becontrolled directly by the drive. Thebrake onlyworks with sufficient 24 V voltage level. Check voltagedrop, measure thevoltageat brakeinput and check brake function(brake and nobrake). Maximum current for themotor brake is1 A with AKD-N00307 and 1.5 A with AKD-N00607.The stand-by power supply from AKD-C limits the number of brakes in the system. Observetheprojecting hints for system topology and limits in theProjecting Guide .

CAUTIONThis function does not ensure functional safety. Functional safety requiresand additional, external mechanical brake, operated by a safety controller.Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply thebrake immediately after faults or Hardware Disable.The brake function must beenabledand configured with parameter using WorkBench, for details refer to the online help.

Singleline hybridcable and dual line motor power cable use two lines for motor holdingbrakeconnection.

Single Line Dual Line

X4 Signal Description A +BR Motor holding brake, positive

B -BR Motor holding brake, negative

C, D ... Single Line: Feedback (➜ # 61)Dual Line: unused

1,2,3,4 ... Motorpower (➜ # 59)



61/72

8.10 Motor Feedback Connection (X4, X5)Every closed servo system normally requires at least onefeedback device for sendingactualvalues from the motor to thedrive. Dependingon the type of feedback device used, inform-ation will befed back to thedrive using digital or analog means. AKD-N supports the most common types of feedback device. Feedback functions areassigned with parameters in WorkBench, the setup software. Scaling and othersettings arealsoperformedin WorkBench. For a detaileddescriptionof the parameters, please refer tothe WorkBench online help.Motors with single line connection(motor power lines, motor holdingbrake lines and motor feedback lines combined in one hybridcable)can beconnected to X4 of the AKD-Nzzz07-DB, -DF or -DS variants.Motors with dual line connection(motor power lines and motor holdingbrake lines in onecable, motor feedback lines in a separate cable) can beconnectedto X4 andX5 of theAKD-Nzzz07-DF and -DS variants.

8.10.1 Connector X4 AKD-Nzzz07-DB/DS/DF, hybrid, single line

Support forSFD3 and Hiperface DSL feedback systems.

X4 Signal Description A,B ... Brake(➜ # 60)

C COM- Feedback, negative

D COM+ Feedback, positive

1,2,3,4 ... Motor power (➜ # 59)

Maximum cable length 5 m

AKD-Nzzz07-DS/DF: Forsufficient voltage supply of the feedback system connected to X4,

a special connector must be plugged to X5 to connect pins 4 and 5. This special connector isavailablewith order codeAKD-N-JUMP-X5 .




62/72


63/72

8.11 Optional Connector (X6)

8.11.1 Pinout AKD-Nzzz07-DFThe additional connector X6 with AKD-N-DF device variants allows connection to fieldbusslave devices that are controlled by the system master.

M12, D-coded X6 Description1 Transmit +2 Receive+3 Transmit -4 Receive-

8.11.2 Pinout AKD-Nzzz07-DS An additional digital input (STO-Enable) releases thepower output stage of the drive as longas a 24 V signal is applied to this input. The local STO-Enable input is galvanically isolatedand need external 24 VDC supply (PELV/SELF).For detailleddescriptionof STO interface and functionality refer to(➜ # 38).

Wiring diagram local STO-Enable

M12, A-coded X6 Description1 STO-Enable +2 STO-Enable -3 n.c.

4 n.c.




64/72

AKD-N Installation | 9 Setup

9 Setup

9.1 Important Notes 659.2 Setup software WorkBench 66

9.3 Initial System Test 679.4 Fault and Warning Messages 68



65/72

9.1 Important NotesBefore testing and setup, the manufacturer of the machine must generate a risk assessmentfor the machine and take appropriate measures so that unforeseenmovements cannot causeinjury or damage to any person or property.Only professional personnel with extensive knowledge in the fields of electrical engineeringand drive technology are allowed to test andset up the drive.

DANGERThe equipment produces potentially lethal voltages up to 900 V. Risk of electrical shock.Check that all connection components that are live in operation are safelyprotected against bodily contact.Never remove the electrical connections to the drive while it is live.Capacitors can still have dangerous residual charges up to 7 minutesafter switching off the supply voltage.

WARNINGThe drive might restart automatically after power on, depending on theparameter setting. Risk of death or serious injury for humans working inthe machine. If parameter DRV.ENDEFAULT is set to 1, then place awarning sign to the machine (Warning: Automatic Restart at Power On)and ensure, that power on is not possible, while humans are in a dan-gerous zone of the machine.

CAUTION

The heat sink of the drive can reach temperatures up to 80°C in operation.Risk of light burns. Check the heat sink temperature before handling thedrive. Wait until the heat sink has cooled down to 40 °C before touching it.

Additional information on setting up the equipment:Programming parameters and control loop behavior are describedin the online help of thesetup software.Kollmorgencan provide training courses for the decentral drive system uponrequest.




66/72


9.2 Setup software WorkBench

The setup software WorkBench for AKD-N and AKD-C devices is intendedto beused for altering and saving the operating parameters for the decentral drive system. The attacheddevice canbeset upwith thehelp of this software, and during this procedure the drive canbecontrolled directly by the service functions.You canfind thesetupsoftware ontheaccompanying DVD and in the downloadareaof theKollmorgen website.Kollmorgen offers training and familiarizationcourses on request.Only professional personnel who have the relevant expertise(➜ # 11) are permitted to carryout online parameter setting for a drive that is running. Sets of data that have beenstoredondata media arenot safe against unintended alterationby other persons. Unexpected move

could be the result if youuseunchecked data. After loading a set of data you must thereforealways

Date post:	06-Jul-2018
Category:	Documents
Upload:	darinel88
View:	219 times
Download:	0 times

Kollmorgen AKD-N Servo Drive Installation Manual (1)

Documents