KOLLMORGEN  S70102-NANANA  SERVO DRIVE

KOLLMORGEN  S70102-NANANA  SERVO DRIVE

Switch-off behavior using the DRV.DIS command

Theenable/disable button in WorkBenchissues adrv.dis commandinternally tothedrive. SeeAKD UserGuide

for configuring inputs and software commands. Sometimes this enablesignal is called”SoftwareEnable” (SW

Enable).

DRV.DISMODE

DRV.DISMODEcontrols thebehaviorof thedrv.dis commandissuedthroughWorkBench,

terminal, or fieldbus. Consult the AKD UserGuideforconfiguring.

Disable axis immediately, if velocity drops below threshold CS.VTHRESH ortimeout occurs

brake is applied. Category 0stopaccordingtoIEC 60204(=> p. 52).​

Usecontrolled stoptodisabledrive, if velocity drops below threshold CS.VTHRESH ortime

out occurs brakeis applied. Category 1stopaccordingtoIEC 60204(=> p. 52).

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

This is acategory 2stopaccordingtoIEC 60204(=> p. 52).

Adigital input can beconfigured tobring themotortoacontrolledstopandthendisablethedriveandapply the

holding brake.(if present). See the AKD UserGuideforinformationonconfiguringDigital Inputs.If velocity drops below threshold CS.VTHRESH ortimeout occurs brakeis applied(=> p. 93).

6.15.2.3 Switch-off behavior using HW Enable input (uncontrolled stop)

This is acategory 0stopaccordingtoIEC 60204(=> p. 52).

Thehardwareenableinput disables thepowerstageimmediately

Switch-off behavior in the event of a fault

Thebehaviorof thedrivealways depends onthefault typeandthesettingof anumberof different parameters

(DRV.DISMODE, VBUS.UVFTHRESH,CS.VTHRESH,andothers; seetheAKD UserGuideorWorkBench

help for moredetails).See the Drive Fault andWarningMessages andRemedies sectionof theAKD UserGuide

for a table describing the specific behavior of each fault.

Thefollwing pages show examples forthepossiblefault behaviors.

Switch-off behavior for faults that cause an immediate power stage disable

AKDInstallation | 6  Technical descriptionanddata

Switch-off behavior for faults that cause dynamic braking

This is acategory 0stopaccordingtoIEC 60204(=> p. 52).

Stop: Standards

Thestopfunctionshuts downthemachineinnormal operation. Thefollowingstopfunctions aredefinedby IEC

60204:

l Category 0:

Shut-downby immediateswitching-off theenergy supply tothedrivemachinery (this is anuncontrolled

shut-down).

l Category 1:

Acontrolled shut-down, whereby theenergy supply tothedrivemachinery is maintainedtoperform the

shut-down, andtheenergy supply is only interruptedwhentheshut-downhas beencompleted.

l Category 2:

Acontrolled shut-down, whereby theenergy supply tothedrivemachinery is maintained.

Emergency Stop: Standards

Theemergency stopfunctionis usedforthefastest possibleshutdownof themachineinadangerous situation.

Theemergency stopfunctioncanbetriggeredby theactions of asingleperson. It must befully functional and

available at all times. The user must understandinstantly how tooperatethis mechanism (without consultingref

erences orinstructions).

Theemergency stopfunctionis definedby IEC 60204.

In addition to the requirements for stop, the emergency stopmust fulfil thefollowing requirements:

l Emergency stopmust havepriority overall otherfunctions andcontrols inall operatingsituations.

l Theenergy supply toany drivemachinery that couldcausedangerous situations must beswitchedoff as

fast as possible, without causing any furtherhazards (suchas by usingmechanical latchingdevices that

donot require anexternal supply of energy orby counter-current brakinginStopCategory 1).

l Thereset must not initiatearestart.

If necessary, provision must bemadefortheadditional connectionof emergency stopdevices (seeIEC 60204.

“Requirements foremergency stopdevices”). Theemergency stopmust beeffectiveas astopof eitherCat

egory 0orCategory 1. Theemergency stopcategory must bedeterminedby arisk evaluationof themachine.

Category 0

Only hard-wired, electromechanical components may beusedfortheCategory 0Emergency Stopfunction. It

must not betriggeredusingswitchinglogic (hardwareorsoftware), by transferring commands viaacom

munication network, orviaadatalink.

Thedrivemust beshut downusinganelectromechanical circuit. If theconnectedservomotorhas anintegrated

brake, this brake must always becontrolledby anelectromechanical circuit as well.

Category 1

WiththeCategory 1emergency stopfunction, thefinal powersupply switch-off must beensuredby usingelec

tromechanical components. Additional external emergency stopequipment may beconnected. Themotoris

stoppedby interrupting the mains supply andusingcontrolledelectronic braking. The24V supply forthedrive

must remainconstant. Theissueof whichcircuit shouldbeusedhighly depends ontherequirements of theappli

cation at hand.

In most servomotors, abrakehas only thefunctionof aholdingbrake. Toensureanemergency stopfunction,

the braking torque that is required must bechecked. If theholdingbrakefulfills the dynamic requirements, it must

betakenintoaccount that this application will cause increased wear.