Wiring

Only professional staff who are qualified in electrical engineering are allowed to install the drive. Wires with color green with one or more yellow stripes must not be used other than for protective earth (PE) wiring. When installing or replacing cables, use only standardized components, which comply to the cable and wire requirements (see "Cable and Wire Requirements").

General

High Voltage up to 900 V!

There is a danger of serious personal injury or death by electrical shock or electrical arcing.

  • 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 supply voltages of any other connected equipment is switched on.
  • Make sure that the cabinet is safely disconnected (for instance, with a lock-out and warning signs). The individual voltages are switched on for the first time during setup.

The chassis ground symbol, which is used in all the wiring diagrams, indicates that you must take care to provide an electrically conductive connection with the largest feasible surface area between the unit indicated and the mounting plate in the control cabinet. This connection is for the effective grounding of HF interference, and must not be confused with the PE-symbol (PE = protective earth, safety measure as per IEC 60204).

Mating connectors

  • Connectors X1, X2, X4, X5, X10T, X21, X22 are spring clamp connectors.
  • X3/X3T connector with screw terminals, tightening torque 0.5...0.6 Nm (4.4...5.3 in-lbs).
  • X3A/X3B connector with screw terminals, tightening torque 2 Nm (18 in-lbs).
  • Connectors X4, X5, X22 and X23 are optional.
#

Description

Type

Max. Cross
Section

X1/2

Motor, two wire feedback, holding brake

Connector, 4 pol. power

10 mm², 8 awg

Connector, 4 pol. signal

0.5 mm², 21 awg

X3/X3T

Mains power, regen resistor, DC-Bus

Connector or T-type, 8 pol.

6 mm², 10 awg

X3A/X3B

Mains power, regen resistor, DC-Bus

Connector, 4 pol. power

6 mm², 10 awg

X4

Second brake

Connector, 3 pol.

1.5 mm², 16 awg

X5

Second feedback, two wire

Connector, 3 pol.

1.5 mm², 16 awg

X10T

24V power supply

T-type connector , 2 pol.

2.5 mm², 14 awg

X11/12

EtherNet Fieldbus

RJ45

0,5 mm², 21 awg

X13/14

CAN In/Out

RJ25

0,5 mm², 21 awg

X20

Service Port

RJ45

0,5 mm², 21 awg

X21

I/O control signals

Connector, 2x11 pol.

1.5 mm², 16 awg

X22

I/O control signals

Connector, 2x10 pol.

1.5 mm², 16 awg

X23

Conventional feedback models

SubD 15pol. HD (female)

0,5 mm², 21 awg

 

Cable and Wire Requirements

Cable material

For information on the chemical, mechanical, and electrical characteristics of the cables please refer to the Kollmorgen 2G Cable Guide or contact customer support.

To reach the maximum permitted cable length, you must use cable material with the following capacitance requirements:
  • Motor power cable: less than 150 pF/m (phase core to shield capacitance)
  • Motor Feedback cable: less than 120 pF/m (signal core to shield capacitance)
  • Hybrid motor cable:
    - less than 120 pF/m (phase core/core capacitance)
    - less than 210 pF/m (phase core/shield capacitance)
    - less than 120 pF/m (signal core/core capacitance)
    - less than 210 pF/m (signal core/shield capacitance)
    - BUS Element: 45 pF/m @ 800kHz & charact. wave resistance 110±10Ω @ 10MHz

Cable length

Cables should not exceed the maximum lengths stated below. The recommended maximum cable length of motor cables depends on the used cable material and the feedback type. Cable functionality is only guaranteed up to the maximum length when using unmodified Kollmorgen engineered cables.

Motor cables (X1, X2, X4, X5, X23, X41)

Length of motor power cables, feedback cables and motor brake cables is equal.

AKM2G

AKM

Performance Line Cables

Performance Line Cables

Value Line Cables

Feedback

Max. Length [m]

Feedback

Max. Length [m]

Feedback

Max. Length [m]

SFD3

50

All

25

All

12

DSL

25

Endat 2.2

25

Resolver

50

I/O cables (X21, X22)

Maximum distance for unshielded I/O lines is 3 m inside the cabinet. If the I/O cable leaves the cabinet, it must be EMC shielded.

T-Connector wiring

If you use mating T-connectors for 24 VDC supply, mains voltage supply and DC-Bus link, you must prepare the connecting cables with wire end ferrules.

You can prepare cables with cross-section 2.5 mm² (up to to 6 mm²) with a uniform length of 170 mm, if the modules are lined up close together.

Use wire end ferrules with plastic collars, for example 2.5 mm² x 17 mm.

 

Cable cross sections and requirements

The tables below describe the recommended interface cross sections and cable requirements related to AKD2G in accordance with IEC 60204. For multi-axes systems, observe the specific operating conditions for your system.

Power Cables

  

Cross Section

Remarks

EU

US

Mains supply

1x3 A:
2x3 A:
1x6 A:
2x6 A:
1x12 A:
1x24 A:

1.5 mm²
1.5 mm²
1.5 mm²
2.5 mm²
2.5 mm²
6 mm²

14 awg
14 awg
14 awg
14 awg
14 awg
10 awg

600 V rated ,minimum 75°C

24 V supply

max.

2.5 mm²

14 awg

Single core Flexible Class 5

DC bus link,
Regen resistor

3/6 A:
12 A:
24 A:

1.5 mm²
2.5 mm²
6 mm²

14 awg
14 awg
10 awg

1000 V rated, min. 75°C,

shielded for lengths >0.20 m

I/O cables

Analog I/Os

min.

0.25 mm²

24 awg

shielded twisted pairs

Digital I/Os

 

0.5 mm²

20 awg

single core

Motor power cable (power) & motor combination cable (power & brake)

Cross Section [mm]

Current Carrying
Capacity

Remarks

Cable

Combi Cable

(4x1)

(4x1.0+(2x0.75))

0A < I0rms ≤ 10.1A

1000 V Rated, 80°C

Current carrying capacity
acc. to IEC 60204-1:2006
Table 6, Column B2

The brackets (...) show
the shielding.

(4x1.5)

(4x1.5+(2x0.75))

10.1A < I0rms ≤ 13.1A

(4x2.5)

(4x2.5+(2x1.0))

13.1A < I0rms ≤ 17.4A

(4x4)

(4x4.0+(2x1.0))

17.4A < I0rms ≤ 23A

(4x6)

(4x6.0+(2x1.0))

23A < I0rms ≤ 30A

Motor feedback cable

Type

Cross Section [mm]

Remarks

Resolver

(4x2x0.25)

300 V rated, 80°C

Shielded twisted pairs

The brackets (...) show
the shielding.

EnDat 2.1, BiSS B

(6x2x0.25)

HIPERFACE

(5x2x0.25)

EnDat 2.2, BiSS C

(5x2x0.25)

SFD

(3x2x0.25)

Comcoder

(8x2x0.25)

Motor hybrid cable

Type

Cross Section [mm]

Current Carrying
Capacity

Remarks

SFD3/DSL

(4x1.0+(2x0.34)+(2x0.75))

0A < I0rms ≤ 10.1A

1000 V rated, 80°C

Current carrying capacity acc. to IEC 60204-1:2006 Table 6, Column B2

4 power lines &
2 brake lines &
2 SFD3/DSL signal lines
or
6 EnDat 2.2 signal lines

SFD3/DSL

(4x1.5+(2x0.34)+(2x0.75))

10.1A < I0rms ≤ 13.1A

SFD3/DSL

(4x2.5+(2x0.34)+(2x1.0))

13.1A < I0rms ≤ 17.4A

SFD3/DSL

(4x4.0+(2x0.34)+(2x1.0))

17.4A < I0rms ≤ 23A

SFD3/DSL

(4x6.0+(2x0.34)+(2x1.0))

23A < I0rms ≤ 30A

Endat 2.2

(4x1.5+(2x0.75)+(2x2x0.14+2x0.25))

10.1A < I0rms ≤ 13.1A

Endat 2.2

(4x4.0+(2x1.0)+(2x2x0.14+2x0.25))

17.4A < I0rms ≤ 23A

Protective Earth Connection

Protective Earth connection of the system components is a safety measure per IEC 60204. Ensure the proper grounding of all components with the PE rail in the control cabinet as reference potential. Connect each ground individually with the intended grounding cable (neutral point connection).

The leakage current from AKD2G against PE is more than 3.5 mA. In accordance with EN 61800-5-1, the PE connection must therefore either be double implemented or a connection cable with >10 mm² cross-section used.

In order to keep the impedance as low as possible, we recommend a copper earthing strap for the PE connection on the PE block.

Wire the PE connections immediately after installing the devices as the first electrical connection. Now you insert all the other lines and connectors. For disassembly, release the PE connections as the last connection.

For the use of residual current protective devices (RCD), refer to (see "Residual current protective device (RCD)").