Kollmorgen AKD/S700 series servo drive

Capacitive Module (KCM): A high-end solution for energy recovery.

KCM-S (energy-saving type): stores braking energy for the next acceleration, reducing peak power consumption.

KCM-P (power down protection type): Provides the energy required for controlled shutdown of the drive in the event of a main power failure.

KCM-E (Extended): Increase the total energy storage capacity of the system.

Safety warning: The DC bus voltage can reach up to 900V. After power failure, it is necessary to confirm that the voltage is below 40V before operation. The module may self discharge for more than 1 hour.

Chapter 4: Motor Cables, Reactors, and Long Distance Transmission

The high-frequency PWM voltage output by the frequency converter will generate capacitive coupling current between the phase line and shielding layer of the motor cable.

1. The necessity of motor reactors:

When using shielded motor cables with a length exceeding 25 meters, motor reactors (such as 3YLN series) must be installed. Its function is to:

Reduce the current change rate (di/dt) to decrease the capacitive displacement current.

Suppress voltage reflection and overshoot at the motor end, and protect the motor insulation.

Reduce motor current ripple and improve operational stability. The reactor should be installed near the driver.

2. Balance of cable cross-section:

Using smaller cross-sections (such as 4x1.0mm ²) for long cables (>50m) can increase line resistance and help dampen LCR resonant circuits composed of drivers, reactors, cables, and motors.

But it is necessary to ensure that the current carrying capacity of the cable always meets the EN 60204 standard and takes into account voltage drop.

Chapter 5: Cable System: Wiring Standards and Specifications Production

Cables are the blood vessels for signal integrity and system safety.

1. Voltage level and wiring specifications:

Key standards: UL 508C, UL 508A, and NFPA 70 (NEC) section 300.3 (C) (1) stipulate that the insulation level of all wires in the same trunking, cable, or conduit must not be lower than the highest circuit voltage that any conductor in that space can withstand.

Practical significance: This means that "economical" feedback cables rated at 300V, if laid in parallel with power cables with voltages higher than 300V, are non compliant. At this time, a "performance type" cable rated at 600V should be selected or the two should be physically isolated.

2. Advantages of prefabricated cables:

Kollmorgen offers complete pre assembled cables, such as VP series power cables and VF/CF series feedback cables, with advantages including:

Compliant with CE/UL standards to ensure safety and EMC performance.

Accurately match the connector to avoid poor contact.

The shielding layer has been professionally terminated. The specifications cover different current levels (3/6A, 12A, 24A), whether brake lines are included, and various feedback types (incremental, EnDat, Resolver, Hiperface, etc.).

3. Key points for on-site cable production (taking S701-724 power cable as an example):

Peel off about 120mm of outer sheath, do not damage the shielding woven mesh.

Fold the shielding net backwards and secure it with a rubber sleeve or heat shrink tubing.

All wire cores (except for the yellow green PE wire) are truncated by about 20mm to make the PE wire the longest.

The shielding layer is fixed on the driver shielding cover with cable ties or hose clamps to achieve large-area contact.

After crimping the pins of the wire core, insert the connector according to the wiring diagram, and finally tighten the connector housing to ensure shielding connection.

Chapter 6: Communication and Feedback Interface Accessories

Stable and reliable communication is the foundation of distributed motion control.

1. CANopen bus:

Cable: A specialized twisted pair shielded cable with a characteristic impedance of 120 Ω is required. The transmission rate is related to the maximum cable length (e.g. 1Mbps corresponds to 25m, 100kbps corresponds to 1000m).

Terminal resistor: The AKD driver at the end of the bus must be equipped with a terminal resistor plug (P-AKD-CAN-TERM) to eliminate signal reflection.

Adapter: Provides RJ12 to Sub-D9 adapter for easy connection to standard CANopen controllers.

2. Production of feedback cables (using a Parser as an example):

Use shielded twisted pair cables (recommended to follow DIN 47100 color code), with a maximum length of 100 meters (for extra long cables, please consult technical support).

The welding of the 12 pin connector at the motor end must strictly follow the pin definitions, usually including R1/R2 (excitation), S1/S2 (sine), S3/S4 (cosine), and thermistor signals.

The shielding layer is connected in a 360 degree loop at the driver end through the Sub-D connector housing.

Chapter 7: Mechanical Installation and Safety Regulations

1. Safety first:

Qualifications: Transportation, installation, wiring, and debugging must be carried out by professionals with corresponding qualifications.

Power off operation: After the main power supply is disconnected, the dangerous voltage at the power terminals may remain for more than 10 minutes. Before operation, it is necessary to verify that the phase to ground and phase to phase voltages have disappeared.