Kollmorgen AKD-CC Installation Manual
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Kollmorgen AKD-CC Installation Manual

Akd series ethercat communication
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AKD
EtherCAT Communication
Edition: P, October 2017
Valid for firmware version 1.17
Part Number 903-200005-00
Original Documentation
Keep all manuals as a product component during the life span of the
product. Pass all manuals to future users and owners of the product.

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Summary of Contents for Kollmorgen AKD-CC

  • Page 1 ® EtherCAT Communication Edition: P, October 2017 Valid for firmware version 1.17 Part Number 903-200005-00 Original Documentation Keep all manuals as a product component during the life span of the product. Pass all manuals to future users and owners of the product.
  • Page 2 Printed in the United States of America 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 other method) or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen.

  • Page 3: Table Of Contents

    3.1 Important Instructions 3.2 EtherCAT Onboard 3.2.1 LED functions 3.2.2 Connection technology 3.2.3 Network Connection Example 3.3 EtherCAT activation with AKD-CC models 3.4 Guide to Setup 3.5 Important Configuration Parameters 3.6 Setting up Ethernet over EtherCAT (EoE) 3.6.1 EtherCAT Device Settings 3.6.2 Drive Settings...
  • Page 4 5.3.12 Object 1010h: Store Parameters (DS301) 5.3.13 Object 1011h: Restore Default Parameters DS301 5.3.14 Object 1012h: COB-ID of the Time Stamp (DS301) 5.3.15 Object 1014h: COB-ID for Emergency Message (DS301) 5.3.16 Object 1016h: Consumer Heartbeat Time Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 5 5.3.57 Object 6064h: position actual value (DS402) 5.3.58 Object 6065h: Following error window 5.3.59 Object 606Ch: Velocity actual value (DS402) 5.3.60 Object 6071h: Target torque (DS402) 5.3.61 Object 6073h: Max current (DS402) 5.3.62 Object 6077h: Torque actual value (DS402) Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 6 5.3.97 Object 60FCh: Position demand internal value (DS402) 5.3.98 Object 60FDh: Digital inputs (DS402) 5.3.99 Object 60FEh: Digital outputs (DS402) 5.3.100 Object 60FFh: Target velocity (DS402) 5.3.101 Object 6502h: Supported drive modes (DS402) 6 Record of Document Revisions 7 Index Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 7: General

    AKD EtherCAT | 2   General 2 General 2.1 About this Manual 2.2 Target Group 2.3 Symbols Used 2.4 Abbreviations Used Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 8: About This Manual

    AKD. Regional versions of this manual exist. Additionally, an EtherCAT XML file, entitled AKD EtherCAT Device Description, describes the drive SDO and PDO. This file is available on the Kollmorgen website (part of the firmware zip archive).

  • Page 9: Symbols Used

    Warning of a danger (general). The type of danger is specified by the text next to the symbol. Warning of danger from electricity and its effects. Warning of danger from suspended loads. Warning of danger from high temperature. Warning of danger from automatic start. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 10: Abbreviations Used

    Source Address: Source address of a message. Shielded Twisted Pair Transmission Control Protocol Transmit TXPDO Transmit PDO User Datagram Protocol: Non-secure multicast/broadcast frame. Unshielded Twisted Pair ZA ECAT Access mode EtherCAT ZA Drive Acces mode drive Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 11: Installation And Setup

    AKD EtherCAT | 3   Installation and Setup 3 Installation and Setup 3.1 Important Instructions 3.2 EtherCAT Onboard 3.3 EtherCAT activation with AKD-CC models 3.4 Guide to Setup 3.5 Important Configuration Parameters 3.6 Setting up Ethernet over EtherCAT (EoE) 3.7 Setup via TwinCAT NC/PTP System Manager 3.8 Setup WorkBench over TwinCAT...

  • Page 12: Important Instructions

    Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account. If the final limit speed of the motor must be altered, then all the parameters that were previously entered for position control and motion blocks must be adapted. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 13: Ethercat Onboard

    OFF = not running LED3 OUT port Link ON = active OFF = not active LED4 - 3.2.2 Connection technology You can connect to the EtherCAT network using RJ-45 connectors. 3.2.3 Network Connection Example Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 14: Ethercat Activation With Akd-Cc Models

    4. Power cycle the drive by switching the 24 V power supply off and then on again. The seven segment display shows Er (Error) in case that the DRV.TYPE instruction failed. In this case please power cycle the drive and contact the Kollmorgen customer support for fur- ther help.

  • Page 15: Guide To Setup

    This section of the setup is described in the in the online help of the setup software. 4. Save parameters. When the parameters have been optimized, save them in the drive. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 16: Important Configuration Parameters

    Workbench. Bit 3 1 DS402-state machine is not influenced, if the software-enable is taken away via Telnet. 0 DS402-state machine is influenced, if the software-enable is taken away via Telnet. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 17 0 Emergency messages over CANopen are triggered when a drive warning occurs. Bit 12 reserved Bit 13 1 Downloaded parameter file is stored automatically to nonvolatile memory. (EtherCAT 0 Downloaded parameter file is not stored automatically to nonvolatile only) memory. FBUS.PARAM06 to FBUS.PARAM10: Reserved. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 18: Setting Up Ethernet Over Ethercat (Eoe)

    After setting up the EtherCAT device, you must enable EoE for the drive. In TwinCAT there is an EoE page within the Drive’s Mailbox settings. If the EoE page is not displayed, add the drive to the EtherCAT network again, using the latest device description. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 19: Connecting To The Drive

    You can now connect to your drive as if it were connected over the service port. 3.6.4 Performance Concerns Since EoE is very demanding on EtherCAT Mailbox communication, all measures to improve Mailbox performance should be taken. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 20: Restrictions

    ECAT.LEGACYREV to 0. The drive will then report a different revision number and will be recognized by the master as a device capable of Ethernet over Ethercat. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 21: Setup Via Twincat Nc/Ptp System Manager

    TwinCAT system since TwinCAT analyzes all device description files during start-up. The following example explains the automatic EtherCAT network setup. The network setup can also be done manually; please refer to the TwinCAT manual for more details. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 22: Scan Devices

    TwinCAT must be able to find the EtherCAT network card. An EtherCAT slave must be con- nected to the network card; otherwise TwinCAT will find a real-time EtherNET card instead of the EtherCAT card. Press the OK button. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 23: Scan For Boxes

    TwinCAT check the configuration and use finally the button in order to step into run-mode. Confirm afterwards that TwinCAT is allowed to jump into run-mode. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 24: Enable The Axis And Move The Axis

    The following setting enables the drive and allows command values in both directions. Afterwards the motor should move in positive or negative direction as soon as the clicks on the following yellow buttons within the Online window: Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 25: Setup Workbench Over Twincat

    TwinCAT master and WorkBench works together. Main steps in configuring a WorkBench over TwinCAT system are: TwinCAT and WorkBench configuration Connecting to a drive using WorkBench Configuring and enabling a drive Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 26: Twincat And Workbench Configuration

    Installation process for WorkBench is the same process as normal, except that it must be installed on the same machine as TwinCAT. Communication to the drive is done thru TwinCAT master and it's not possible to connect WorkBench to the master remotely. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 27: Connecting To A Drive Using Workbench

    The information provided for a drive are it's name, status, Net ID and Port number. After selecting a drive from the list, clicking on the "Connect" button will create a device in the left frame of WorkBenchand connect the device. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 28 Using TwinCAT System Manager, the drive name and port number can be found in the Gen- eral and EtherCAT tab respectively for the corresponding drive under the I/O Configuration → I/O Devices → Device [x] → Drive [x] node. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 29 WorkBench which is not be powered up or even connected in the EtherCAT network, or you have a drive powered up and connected to the TwinCAT network but not shown in the WorkBench list. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 30: Configuring And Enabling A Drive

    2. Press the Set button within the Enabling section. 3. In the pop-up dialog box, check the Controller checkbox to enable the drive (or un-check to disable the drive) and press on the OK button. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 31: Download A Parameterfile Over Twincat

    4. Chose “All Files (*.*)” as filetype to see the parameter files which end with “.akd”. 5. Select the file. 6. press open (6) to start the download. Downloading a parameter file over TwinCAT is support by all drives from firmware 01.12.000. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 32: Setup Via Kas Ide

    AKD EtherCAT | 3   Installation and Setup 3.9 Setup via KAS IDE If you are using a Kollmorgen Automation Suite (KAS) system, the AKD setup is completely integrated into the KAS Integrated Development Environment (IDE), as shown below: For further information on the setup for a KAS system, see the following sections in the KAS documentation: KAS IDE User Manual: See section 4.2.3 Add and Configure Drive.

  • Page 33: Ethercat Profile

    4.7 Supported Cyclical Setpoint and Actual Values 4.8 Supported Operation Modes 4.9 Adjusting EtherCAT Cycle Time 4.10 Maximum Cycle Times depending on operation mode 4.11 Synchronization 4.12 Latch Control Word and Latch Status Word 4.13 Mailbox Handling 4.14 EEProm Content Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 34: Slave Register

    1024** byte-length is specified in the device descrip- tion file) * ZA ECAT = Access mode EtherCAT * ZA Drive = Access mode drive ** depends on firmware version and revision number Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 35: Al Event (Interrupt Event) And Interrupt Enable

    (Pro Out Event) cess data (PDO, card's cyclical setpoints) Sync Manager 3 Event 0x205 Activation of input event process (Pro In Event) data (PDO, drive's cyclical actual values) 0x205 4 to 7 R/W Reserved Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 36: Al Event Request (Address 0X0220:0X0221)

    R/W Process data input (PDO, drive's cyclical actual values) Sync Manager 4 – Sync Manager 7 Event 0x221 4 to 7 R/W Reserved Sync Manager 8 – Sync Manager 15 Event 0x222 0 to 7 R/W Reserved Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 37: Phase Run-Up

    0x01: Init 0x02: PreOperational 0x03: Bootstrap Mode 0x04: Safe Operational 0x08: Operational Status change 0x130 0x00: Acknowledgement 0x01: Error, e.g. forbidden trans- ition Reserved 0x130 7 to 5 Applic. specific 0x130 15 to 8 W/O Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 38: Al Status Code (Address 0X0134:0X0135)

    The SnycManager 2 hardware interrupt will be enabled by the drive. (OS) 0x04 Deactivation of SyncManager 2 hardware interrupt. (OP) 0x02 Deactivation of SyncManager 2 hardware interrupt.. (OI) 0x01 Deactivation of SyncManager 2 hardware interrupt. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 39: Canopen Over Ethercat (Coe) State Machine

    Quick Stop Active The drive follows a quick stop ramp. Fault Reaction Active The drive responds to a fault with an emergency stop ramp. Fault A fault is pending, the drive is stopped and disabled. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 40: Commands In The Control Word

    Bit 9,10: These bits are reserved for the drive profile (DS402). Bit 13, 14, 15: These bits are manufacturer-specific, and reserved at present. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 41: State Machine Bits (Status Word)

    Bit 10: target_reached This is set when the drive has reached the target position. Bit 11: internal_limit_active This bit specifies that a movement was or is limited. In different modes, different warnings cause the bit to be set. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 42: Fixed Pdo Mappings

    / negative (4 bytes), status word (2 bytes), torque actual value (2 bytes), latch status (2 bytes), analog input value (2 bytes) 0x1B24 Position actual value (4 bytes), status word (2 bytes) Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 43 A read access to object 1702 sub 0 gives a value of 2, a read on subindex 1 gives 0x60ff0020, on subindex 2 0x60400010. The meaning of these numbers can be seen in the CANopen manual or the flexible-mapping example (➜ p. 46.). Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 44: Flexible Pdo Mappings

    The cyclically used data are visible in the PDO-assignment window for the Inputs and Out- puts of the Sync Managers. Default setting are the fixed PDOs 0x1701 and 0x1B01 (visible contents when selected in the PDO list). Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 45: Example: Flexible Pdo Mapping

    4 free-mappable PDOs (0x1600-0x1603) can be used instead. The maximum number of bytes for each of these PDOs is 8. ==========> After that the default mapping of e.g. the PDO 0x1600 can be extended: Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 46 0x6041 is the index of the DS402 status word 0x00 is the subindex of the DS402 status word 0x10 is the number of bits for this entry, i. e. 16 bits or 2 bytes. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 47 AKD EtherCAT | 4   EtherCAT Profile If this shall be used in the NC, the interpolation set point position has to be linked from the axis to the NC-axis. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 48 Now the NC-screen should show a position in the online window, which changes a bit in the last digits. After enabling the power stage with the All-button, the drive can be moved via the jog-buttons or via the functions in the function menu. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 49: Supported Cyclical Setpoint And Actual Values

    0x60B2 sub 0 INT16 Touch probe function 0x60B8 16 bit Position command value 0x60C1 sub 1 INT32 Interpolation data record in IP- mode Digital outputs 0x60FE sub 1 UINT32 Velocity command value 0x60FF sub 0 INT32 Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 50 0x60E4 sub 1 32 bit Motor I2t 0x3427 sub 3 32 bit Analog output value 0x3470 sub 2 16 bit Analog Input value 0x3470 sub 4 16 bit Manufacturer status register 0x1002 sub 0 32 bit Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 51: Supported Operation Modes

    Interface Cycle time AKD Position ≥ 0.25 ms (≥ 250 µs) Velocity ≥ 0.25 ms (≥ 250 µs) Torque ≥ 0.25 ms (≥ 250 µs) Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 52: Synchronization

    A SyncManager2 event is created when the EtherCAT Master sends a new package of command values to the drive while the network is in the Operational state. This occurs once per fieldbus cycle. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 53: Latch Control Word And Latch Status Word

    Acknowledge value external latch 2 (negative rise) 12-15 00010000 00000000 1zzz Zustand Digital Input 4 00100000 00000000 2zzz Zustand Digital Input 3 01000000 00000000 4zzz Zustand Digital Input 2 10000000 00000000 8zzz Zustand Digital Input 1 Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 54: Mailbox Handling

    5. The drive deletes all data in the internal mailbox output array so that a new mailbox access attempt can be made. 6. The drive copies the response telegram from the internal mailbox input array to the mail-in buffer of the EtherCAT interface. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 55: Mailbox Output

    Byte 13 Data with a write access Byte 14 Data with a write access Byte 15 Data with a write access (High Byte) The drive answers every telegram with an answer in the Mailbox Input buffer. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 56: Mailbox Input

    Byte 9 Low Byte of the CAN object number (Index) Byte 10 High Byte of the CAN object number (Index) Byte 11 Subindex according to CANopen Specification for Kollmorgen drive Byte 12 Data (Low Byte) Byte 13 Data error code Fehlercode according to...

  • Page 57: Example: Mailbox Access

    Byte 10 0x1C SDO-Object 0x1C12 Byte 11 0x01 Subindex 1 Byte 12 0x00 Data value 0x00000000 Byte 13 0x00 Data value 0x00000000 Byte 14 0x00 Data value 0x00000000 Byte 15 0x00 Data value 0x00000000 Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 58: Eeprom Content

    They are organized in categories. There are two manufacturer-specific categories imple- mented in the AKD: Category 0x0800: Holds a string with the model type in the format AKD-P00000-NxxC- 0000 Category 0x0801: Holds the firmware version in the format 0x_xx-xx-yyy Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 59: Appendix

    Power temperature sensor 2 low. 0x439B F243 Power temperature sensor 3 low. 0x5113 F512 5V0 under voltage. 0x5114 F505 1V2 under voltage. 0x5115 F507 2V5 under voltage. 0x5116 F509 3V3 under voltage. 0x5117 F514 +12V0 under voltage. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 60 Issue command timed out 0x6380 F532 Drive motor parameters setup incomplete. 0x6381 F120 Failed to set default parameters. 0x7180 F301 Motor overheat. 0x7182 F305 Motor Brake open circuit. 0x7183 F306 Motor Brake short circuit. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 61 Tamagawa encoder: communication transfer incomplete. 0x73A2 F456 Tamagawa encoder: communication CRC. 0x73A3 F457 Tamagawa encoder: communication start timeout. 0x73A4 F458 Tamagawa encoder: communication UART overrun. 0x73A5 F459 Tamagawa encoder: communication UART framing. 0x73A6 F460 Tamagawa encoder: over speed. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 62 Warning: Positive software position limit is exceeded. 0x8583 n108 Warning: Negative software position limit is exceeded. 0x8611 F439 Following error (user). 0x8685 F138 Instability during autotune. 0x8686 n151 Warning: Not enough distance to move; Motion Exception. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 63 Firmware and FPGA versions are not compatible. 0xFF11 F101 Firmware type mismatch. 0xFF12 n439 Warning: Following error (user). 0xFF13 n438 Warning: Following error (numeric). 0xFF14 n102 Warning: Operational FPGA is not a default FPGA. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 64 Warning: The FPGA is a laboratory FPGA. 0xFF16 n602 Warning: Safe torque off. 0xFF17 F132 Secondary feedback Z line break. 0xFF18 n603 Warning: OPMODE incompatible with CMDSOURCE. 0xFF19 n604 Warning: EMUEMODE incompatible with DRV.HANDWHEELSRC. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 65: Object Dictionary

    RAM to the NV. 1011h ARRAY Load parameters — 1011h highest sub-index — 1011h Loads default parameters to the RAM. DRV.RSTVAR 1012h COB—ID for the Time Stamp — 1014h COB—ID for the Emergency Object — Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 66 Mapping for n—th application object — 1603h RECORD RXPDO4 mapping parameter — 1603h highest sub-index — 1603h 1 to 8 Mapping for n—th application object — 1800h RECORD TXPDO1 communication parameter — 1800h highest sub-index — Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 67 Mapping for n—the application object — 1C12h ARRAY RxPDO assign — 1C12h highest sub-index — 1C13h 1 to 4 Subindex 001..004 — 1C13h ARRAY TxPDO assign — 1C13h highest sub-index — 1C13h 1 to 4 Subindex 001..004 — Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 68: Manufacturer Specific Sdos

    2015h Mask (Byte 4..7) — 2016h ARRAY Mask TxPDO Channel 3 — 2016h Mask (Byte 0..3) — 2016h Mask (Byte 4..7) — 2017h ARRAY Mask TxPDO Channel 4 — 2017h Mask (Byte 0..3) — Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 69 Calculation method for VL.ARTYPE1 BiQuad filter 1 3405h Calculation method for VL.ARTYPE2 BiQuad filter 2 3405h Calculation method for VL.ARTYPE3 BiQuad filter 3 3405h Calculation method for VL.ARTYPE4 BiQuad filter 4 3406h ARRAY VL BiQuad — Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 70 3407h Sets the velocity error VL.ERR 3412h INT8 Type of regen resistor REGEN.TYPE 3414h Returns and sets the regen REGEN.WATTEXT resistor fault level tem- perature. 3415h 1000:1 Thermal regen resistor time REGEN.TEXT constant Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 71 3444h 1000:1 Maximum current for dynamic DRV.DBILIMIT braking 3445h Emergency timeout for brak- DRV.DISTO 3450h Release or enable brake MOTOR.BRAKERLS 3451h Determines which drive para- MOTOR.AUTOSET meters are calculated auto- matically. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 72 Selects the feedback source CAP1.FBSOURCE for the capture engine 1. 3470h RECORD — 3470h highest sub-index — 3470h INT8 Sets the analog output mode. AOUT.MODE 3470h INT16 1000:1 yes Reads the analog output AOUT.VALUE value. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 73 ARRAY DOUTx.PARAM — 3475h highest sub-index — 3475h Lower 32-bit part of output DOUT1.PARAM parameter 1 3475h Lower 32-bit part of output DOUT2.PARAM parameter 2 3475h Higher 32-bit part of output DOUT1.PARAM parameter 1 Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 74 3496h highest sub-index — 3496h expected time distance FBUS.SYNCDIST between clearing the PLL counter and calling the PLL function 3496h actual time distance between FBUS.SYNCACT clearing the PLL counter and calling the PLL function Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 75 34A2h Sets limit switch 7 time PLS.T7 34A2h Sets limit switch 8 time PLS.T8 34A3h ARRAY PLS Configuration — 34A3h highest sub-index — 34A3h Enables the limit switches PLS.EN 34A3h Resets limit switches PLS.RESET Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 76 CMP0.WIDTHTYPE 7 34ADh ARRAY CMP0 modes — 34ADh highest sub-index — 34ADh Compare0 mode 0 CMP0.MODE 0 34ADh Compare0 mode 1 CMP0.MODE 1 34ADh Compare0 mode 2 CMP0.MODE 2 34ADh Compare0 mode 3 CMP0.MODE 3 Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 77 Compare1 setpoint 4 CMP1.SETPOINT 4 34BAh INT32 Compare1 setpoint 5 CMP1.SETPOINT 5 34BAh INT32 Compare1 setpoint 6 CMP1.SETPOINT 6 34BAh INT32 Compare1 setpoint 7 CMP1.SETPOINT 7 34BBh ARRAY CMP1 widths — 34BBh highest sub-index — Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 78 Acceleration ramp for hom- HOME.ACC ing/jog modes 3506h INT32 Action that hardware enable DRV.HWENMODE digital input will perform. 3509h INT32 1000:1 Analog input voltage AIN.VALUE 3522h INT32 Deceleration rate DRV.DEC, also see "6084h" (➜ p. 87) Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 79 Sets the motor phase. MOTOR.PHASE 359Dh Sets the number of motor MOTOR.POLES poles 35A3h Sets the maximum motor MOTOR.VMAX speed 35A4h INT32 1000:1 Maximum motor current IL.MIFOLD 35ABh 1000:1 Sets the motor inertia MOTOR.INERTIA Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 80 3656h Initial feedback position FB1.ORIGIN 3659h INT32 Type of acceleration setpoint UNIT.ACCROTARY for the system 365Bh INT32 Presetting for motion task that MT.NUM is processed later 365Fh INT32 Systemwide Definition of Velo- UNIT.VROTARY city/Speed Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 81 Analog current scale factor. AIN.ISCALE 5003h UINT32 Analog input offset. AIN.OFFSET 5009h UINT32 Analog current scale factor. AOUT.ISCALE 500Bh UINT32 Analog output offset. AOUT.OFFSET 5013h UINT32 Controls how often the excit- BODE.EXCITEGAP ation is updated. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 82 GEAR.OUT gearing ratio; active in opmode 2 (position) only. 50C5h UINT32 Homing direction HOME.DIR 50CBh UINT32 Homing mode HOME.MODE 50E2h UINT32 Current loops fieldbus injec- IL.KBUSFF ted feed-forward gain 50FBh UINT32 Motor pitch. MOTOR.PITCH Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 83 1 and 2 only. 51BAh UINT32 Bandwidth of the observer in VL.OBSBW 51BBh UINT32 Observer operating mode. VL.OBSMODE 51CBh UINT32 Filter mode for Digital In 1. DIN1.FILTER Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 84 Inverting the output voltage DIO9.INV of the IO, when in the output direction. 5259h UINT32 Fault Action for Fault 130. FAULT130.ACTION 525Ah UINT32 Fault Action for Fault 131. FAULT131.ACTION 525Bh UINT32 Fault Action for Fault 132. FAULT132.ACTION Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 85 FB1.INITPSAVED before the AKD was switched off (24 V) 5377h UINT32 Initial position comparison FB1.INITPWINDOW window 5379h UINT8 Result of initial position FB1.INITPSTATUS check 538Bh UINT16 DRV.EMUESTEPMODE () 538Ch UINT16 DRV.EMUESTEPSTATUS 538Dh UINT16 DRV.EMUESTEPVMAX Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 86: Profile Specific Sdos

    5.2.5 Profile specific SDOs Index Sub- Data Type Float Access PDO Description ASCII object index Scale map. 6040h yes Control word — 6041h yes Status word — 605Ah INT16 Quick stop option — code Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 87 Torque slope — 608Fh ARRAY Position encoder — resolution 608Fh highest sub-index — 608Fh Encoder incre- — ments 608Fh Motor revolutions 6091h ARRAY Gear ratio — 6091h highest sub-index — 6091h Motor revolution Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 88 INT32 yes* Interpolation target — position 60C1h yes Interpolation time — 60C1h INT32 yes Interpolation target — velocity 60C2h RECORD Interpolation time — period 60C2h highest sub-index FBUS. SAMPLEPERIOD 60C2h Interpolation time — units Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 89 60E8h 2nd additional gear DS402.2ADDPOSGEARMOTORREV ratio - motor shaft revolutions 60E8h 3rd additional gear DS402.3ADDPOSGEARMOTORREV ratio - motor shaft revolutions 60E9h ARRAY Additional feed con- — stant - feed 60E9h highest sub-index — Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 90: Object Descriptions

    60FEh yes Physical outputs 60FEh Bit mask 60FFh INT32 1000:1 yes* Target velocity VL.CMDU 6502h Supported drive — modes 5.3 Object descriptions The objects in this section are sorted by object number. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 91: Object 1000H: Device Type (Ds301)

    0. A read access delivers 0x00020192 at the moment. Index 1000h Name device type Object code Data type UNSIGNED32 Category mandatory Access PDO mapping not possible Value range UNSIGNED32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 92: Object 1001H: Error Register (Ds301)

    Bit Description Bit Description 0 generic error 4 communication error  (overrun, error state) 1 current 5 device profile specific 2 voltage 6 reserved (always 0) 3 temperature 7 manufacturer specific Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 93: Object 1002H: Manufacturer Status Register (Ds301)

    29 1 = digital input hardware enable set 14 1 = Power stage enabled 30 1 = Wake and Shake action is required 15 1 = Error state 31 Braking, 1 = set points not accepted Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 94: Object 1003H: Predefined Error Field (Ds301)

    PDO mapping not possible Value range 0 to 10 Default value Subindex 1 to 10 Description Standard error field (➜ p. 59) Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 95: Object 1005H: Cob-Id Of The Sync Message (Ds301)

    This object can be used to define the period (in µs) for the transmission of the SYNC tele- gram. Index 1006h Name Period of the communication cycle Object code Data type UNSIGNED32 Category Access PDO mapping not possible Value range UNSIGNED32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 96: Object 1008H: Manufacturer Device Name (Ds301)

    The object contains the manufacturer software version (here: the CANopen-part of the drive firmware). Index 100Ah Name Manufacturer Software Version Object code Data type Visible String Category Optional Access const PDO mapping not possible Value range 0.01 to 9.99 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 97: Object 100Ch: Guard Time (Ds301)Response Monitoring

    If it’s 0, the protocol is not used. Index 100Dh Name Lifetime Factor Object code Data type UNSIGNED8 Category conditional; (mandatory, if heartbeat not supported) Access PDO mapping not possible Value range UNSIGNED8 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 98: Object 1010H: Store Parameters (Ds301)

    Storing of parameters is only done if a special signature ("save") is written to subindex 1. "save" is equivalent to the unsigned32 - number 65766173h. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 99: Object 1011H: Restore Default Parameters Ds301

    Default value 1 (device restores parameter) Restoring default parameters to the RAM will be done, if a special signature ("load”) is written to subindex 1. "load” has to be transmitted as unsigned32 - number 64616F6Ch. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 100: Object 1012H: Cob-Id Of The Time Stamp (Ds301)

    This object defines the COB-ID of the Emergency message. Index 1014h Name COB-ID emergency message Object code Data type UNSIGNED32 Category conditional; mandatory, if Emergency is supported Access PDO mapping not possible Value range UNSIGNED32 Default value 80h + Node - ID Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 101: Object 1016H: Consumer Heartbeat Time

    Consumer heartbeat time Category mandatory Access PDO Mapping not possible Value range unsigned 32 Default value Definition of the entry value of Subindex 1 Value reserved (value: 00) Node-ID heartbeat time Encoded as UNSIGNED8 UNSIGNED16 Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 102: Object 1017H: Producer Heartbeat Time

    Value range 1 to 4 Default value Subindex 1 is a unique number for a device manufacturer. Subindex Description Vendor ID Category mandatory Access PDO mapping not possible Value range UNSIGNED32 Default value 0x6Ah (Kollmorgen) Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 103 0..14:   Board serial number (production in week of year) bits 15..20: week of production bits 21..24: year of production - 2009 bits 25..31: ASCII-code of MFR-ID Subindex Description Serial Number Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 104: Object 1026H: Os Prompt

    Value range UNSIGNED8 Default value — Subindex 2 is used to receive one character from the drive. Subindex Description StdOut Category mandatory Access PDO mapping not possible Value range UNSIGNED8 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 105: Objects 1400-1403H: 1St - 4Th Rxpdo Communication Parameter (Ds301)

    RTR allowed on this PDO, not to be used (Can in Automation organisation) RTR not allowed on this PDO 11 bit-ID (CAN 2.0A) 29 bit-ID (CAN 2.0B), not supported 28 to 11 Identifier-bits with 29 bit-ID, not relevant 10 to 0 Bits 10-0 of COB-ID Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 106: Objects 1600-1603H: 1St - 4Th Rxpdo Mapping Parameter (Ds301)

    1 - 8 Name PDO - mapping for the n-th application object Category Conditional, depends on number and size of object be mapped Access PDO Mapping not possible Value Range UNSIGNED32 Default Value See below Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 107: Objects 1800-1803H: 1St - 4Th Txpdo Communication Parameter (Ds301)

    Index 1802h: 380h + Node-ID Index 1803h: 480h + Node-ID Subindex Name transmission type Category mandatory Access PDO Mapping not possible Value Range UNSIGNED8 Default Value Subindex Name inhibit time Category optional Access PDO Mapping not possible Value Range UNSIGNED16 (n*1/10ms) Default Value Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 108 Values from 1 to 240 define how often the SYNC-telegram leads to a sending of a PDO. The value 0 means, that only the next SYNC-telegram leads to a sending of the so configured PDOs. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 109: Objects 1A00-1A03H: 1St - 4Th Txpdo Mapping Parameter (Ds301)

    1 - 8 Name PDO - mapping for the n-th application object Category Conditional, depends on number and size of object be mapped Access PDO Mapping not possible Value Range UNSIGNED32 Default Value See below Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 110: Object 1C12H: Rxpdo Assign (Ds301)

    0: pdo not active, 1-4 PDO activated Default Value Subindex 1 to 4 Name Subindex 001..004 Data type UNSIGNED8 Category optional Access PDO Mapping not possible Value Range UNSIGNED16 Default Value 1701h via ESI-file Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 111: Object 1C13H: Txpdo Assign (Ds301)

    0: pdo not active, 1-4 PDO activated Default Value Subindex 1 to 4 Name Subindex 001..004 Data type UNSIGNED16 Category optional Access PDO Mapping not possible Value Range UNSIGNED16 Default Value 1B01h via ESI-file Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 112: Object 2000H: System Warnings

    Access PDO mapping not possible Value range Default value Subindex 1 to A Description DRV.FAULT1 to DRV.FAULT10 Mode independent Access PDO mapping not possible Unit — Value range 0 to 999 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 113: Object 2002H: Manufacturer Status Bytes

    Value range Default value Subindex 1 to 4 Description Manufacturer status byte 1 to Manufacturer status byte 4 Mode independent Access PDO mapping possible Unit — Value range 0 to 0xFF Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 114: Object 2011H: Drv.runtime In Seconds

    5.3.29 Object 2011h: DRV.RUNTIME in seconds This object delivers the runtime of the drive in seconds. Index 2011h Name DRV.RUNTIME in seconds Object code Data type UNSIGNED32 Access Unit — Value range UNSIGNED32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 115: Object 2012H: Fault History: Fault Numbers

    Default value 0x14h Subindex 1 to 20 Description Nth-latest entry in fault number list of fault history table (DRV.FAULTHIST) Mode independent Access PDO mapping not possible Unit — Value range 0 - 999 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 116: Object 2013H: Fault History: Time Stamps

    Default value 0x14h Subindex 1 to 20 Description Nth-latest entry in fault time stamp list of fault history table (DRV.FAULTHIST) Mode independent Access PDO mapping not possible Unit — Value range UNSIGNED32 Default value — Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 117: Object 2014-2017H: 1St-4Th Mask 1 To 4 For Transmit-Pdo

    Access PDO mapping not possible Unit — Value range UNSIGNED32 Default value FFFFFFFFh Subindex Description tx_mask1 to 4_high Mode independent Access PDO mapping not possible Unit — Value range UNSIGNED32 Default value FFFFFFFFh Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 118: Object 2018H: Firmware Version

    Description revision Mode independent Access PDO mapping not possible Unit — Value range UNSIGNED16 Default value Subindex Description branch revision Mode independent Access PDO mapping not possible Unit — Value range UNSIGNED16 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 119: Object 2026H: Ascii Channel

    PDO mapping Value range Visible String Default value — Subindex 2 is used to receive four characters from the drive. Subindex Description Response Category mandatory Access PDO mapping Value range Visible String Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 120: Object 204Ch: Pv Scaling Factor

    Category optional Access PDO mapping not possible Value range INTEGER32 Default value Subindex Description pv scaling factor denominator Category optional Access PDO mapping not possible Value range INTEGER32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 121: Object 2071H:  Target Current

    = 3 the latched position of the encoder index pulse is transferred via this object. Index 20A0h Name Latch position 1 positive edge CAP0.PLFB, Time capture CAP0.T Object code Data type INTEGER32 Category optional Access PDO mapping possible Value range INTEGER32 Float scaling Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 122: Object 20A1H:  Latch Position 1, Negative Edge

    20A4 and 20A5). Index 20A2h Name Latch position 2 positive edge CAP1.PLFB, Time capture CAP1.T Object code Data type INTEGER32 Category optional Access PDO mapping possible Value range INTEGER32 Float scaling Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 123: Object 20A3H:  Latch Position 2, Negative Edge

    Read external latch 1 (positive rise) 00000010 00000000 02xx Read external latch 1 (negative rise) 00000011 00000000 03xx Read external latch 2 (positive rise) 00000100 00000000 04xx Read external latch 2 (negative rise) 12 to 15 Reserve Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 124: Object 20A5H:  Latch Status Register

    CAP0.TRIGGER. Latch enable must be active for that purpose (see object 20A4 and 20A5). Index 20A6h Name Latch position 1 positive or negative CAP0.PLFB Object code Data type INTEGER32 Category optional Access PDO mapping possible Value range INTEGER32 Float scaling Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 125: Object 20A7H:  Latch Position 2, Positive Or Negative Edge

    Bits 24 to 30 in the object 60FD. Bit 0 to 6 are used to reset the information of the digital input 1 to 7. Index 20B8h Name Reset of changed input information Object code Data type UNSIGNED16 Category optional Access PDO mapping possible Value range UNSIGNED16 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 126: Object 345Ah: Brake Control

    Index 345Ah Name Brake Control Object code ARRAY Data type UNSIGNED16 Category optional Defined sub-indices Subindex Name highest sub-index supported Data type UNSIGNED8 Category mandatory Access PDO Mapping not possible Value Range Default Value Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 127 1 - STO is active (drive can not be enabled) HW Enable Status 0 - HW enable is disabled, drive function can not be enabled 1 - HW enable is enabled, drive function can be enabled Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 128: Object 3474H: Parameters For Digital Inputs

    PDO mapping not possible Value range UNSIGNED32 Default value Subindex 8 to 0xE Description DINx.PARAM high 32 bits, x = 1 .. 7 Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 129: Object 3475H: Parameters For Digital Outputs

    PDO mapping not possible Value range UNSIGNED32 Default value Subindex 3 to 4 Description DOUTx.PARAM high 32 bits, x = 1 .. 2 Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 130: Object 3496H: Fieldbus Synchronization Parameters

    Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value 320000 [ns] Sub 1 is the expected time distance in nano seconds between clearing the PLL counter and calling the PLL function. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 131 The sample time of the AKD high prior interrupt is determined by 62.5[µs] – FBUS.COMPTIME if FBUS.SYNCACT > FBUS.SYNCDIST. The sample time of the AKD high prior interrupt is determined by 62.5[µs] + FBUS.COMPTIME if FBUS.SYNCACT < FBUS.SYNCDIST. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 132: Object 6040H: Control Word (Ds402)

    Stop Voltage Shutdown 2, 6, 8 Switch on Disable Voltage 7, 9, 10, 12 Quick Stop 7, 10, 11 Disable Operation Enable Operation 4, 16 Fault Reset Bits marked by an  X are irrelevant. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 133: Object 6041H: Status Word (Ds402)

    Operation enabled 10 Target reached Fault 11 Internal limit active Voltage enabled 12 Operation mode specific (reserved) Quick stop 13 Operation mode specific (reserved) Switch on disabled 14 Manufacturer-specific (reserved) Warning 15 Manufacturer-specific (reserved) Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 134 This bit stays on 1 as long as reserved the drive is following the pos- ition set-points. Cyclic sync torque mode (cst) This bit stays on 1 as long as reserved the drive is following the pos- ition set-points. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 135: Object 605Ah: Quick Stop Option Code (Ds402)

    Slow down on quick stop ramp and transit into Switch On Disabled Slow down on slow down ramp and stay in Quick Stop Active Slow down on quick stop ramp and stay in Quick Stop Active Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 136: Object 6060H: Modes Of Operation (Ds402)

    Electronic gearing mode Analog velocity mode Analog current mode Profile position mode Profile velocity mode Profile torque mode Homing mode Interpolated position mode Cyclic synchronous position mode Cyclic synchronous velocity mode Cyclic synchronous torque mode Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 137: Object 6061H: Modes Of Operation Display (Ds402)

    The resolution can be altered by the gearing factors of the position controller (Object 6091/6092). Index 6064h Name position actual value, PL.FB Object code Data type INTEGER32 Mode pp, csp Access PDO mapping possible Unit position units Value range ) to (2 Default value — Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 138: Object 6065H: Following Error Window

    Data type INTEGER32 Mode Access PDO mapping possible Unit velocity units (SDO is in user units and the PDO is in RPM Value range ) to (2 Default value — Float scaling 1000:1 EEPROM Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 139: Object 6071H: Target Torque (Ds402)

    (1‰) of rated torque. This object reflects the actual current (DRV.ICONT). Index 6077h Name Torque actual value Object code Data type INTEGER16 Category optional Access PDO mapping possible Value range INTEGER16 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 140: Object 607Ah: Target Position (Ds402)

    All subsequent absolute motion tasks take account of the reference offset. Index 607Ch Name home offset, HOME.P Object code Data type INTEGER32 Mode Access PDO mapping not possible Unit user-defined Value range ) to (2 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 141: Object 607Dh: Software Position Limit (Ds402)

    PDO mapping not possible Value range INTEGER32 Default value 0 (switched off) Subindex Description Min Position Limit 2, SWLS.LIMIT1 Category mandatory Access PDO mapping not possible Value range INTEGER32 Default value 0 (switched off) Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 142: Object 6081H: Profile Velocity (Ds402)

    6083h: Profile acceleration (DS402)" (➜ p. 142)). Index 6084h Name profile deceleration, MT.DEC (DRV.DEC in Profile Velocity Mode) Object code Data type UNSIGNED32 Mode pp, pv Access PDO mapping possible Unit deceleration units Value range 0 to (2 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 143: Object 6087H Torque Slope (Ds402)

    Name Encoder increments Category mandatory Access PDO Mapping not possible Value Range UNSIGNED 32 Default Value 2^20 Subindex Name Motor revolutions Category mandatory Access PDO Mapping not possible Value Range UNSIGNED 32 Default Value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 144: Object 6091H: Gear Ratio (Ds402)

    Subindex Name Motor revolution Category mandatory Access PDO Mapping not possible Value Range UNSIGNED 32 Default Value Subindex Name Shaft revolutions Category mandatory Access PDO Mapping not possible Value Range UNSIGNED 32 Default Value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 145: Object 6092H: Feed Constant (Ds402)

    Default Value Subindex Name Feed Category mandatory Access PDO Mapping not possible Value Range UNSIGNED 32 Default Value Subindex Name Shaft revolutions Category mandatory Access PDO Mapping not possible Value Range UNSIGNED 32 Default Value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 146: Object 6098H: Homing Method (Ds402)

    HOME.MODE=2, itive count direction HOME.DIR=1 3 to 7 not supported — homing to reference switch, with zeroing, positive HOME.MODE=5, count direction HOME.DIR=1 9 to 11 not supported — Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 147: Object 6099H: Homing Speeds (Ds402)

    PDO mapping not possible Unit velocity units Value range 0 to (2 Default value equivalent 60 rpm Subindex Description speed during search for zero, HOME.FEEDRATE Mode Access PDO mapping not possible Unit velocity units Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 148 AKD EtherCAT | 5   Appendix Value range 0 to (2 Default value 50% of Object 6099 sub 1 Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 149: Object 609Ah: Homing Acceleration (Ds402)

    This object (IL.BUSFF )provides the offset of the commanded torque from a bus network con- nected to the drive. Scaling is 1/1000 of rated torque. Index 60B2h Name Torque Offset Object code Data type INTEGER16 Category optional Access PDO mapping possible Value range INTEGER16 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 150: Object 60B8H: Touch Probe Function

    If both edges are selected at the same time (bit 4=1 and bit 5=1 for probe 1 or bit 12=1 and bit 13=1 for probe 2), the first edge (positive or negative) triggers the probe function. The pos- ition, latched at this edge, is taken over for both edges (positive and negative). Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 151: Object 60B9H: Touch Probe Status

    Touch probe 2 no positive edge value stored Touch probe 2 positive edge position stored Touch probe 2 no negative edge value stored Touch probe2 negative edge position stored 11 to 13 reserved 14, 15 User-defined (e.g. for testing) Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 152: Object 60Bah: Touch Probe 1 Positive Edge

    This object provides the position value of the touch probe 2 at positive edge. Index 60BCh Name Touch probe 2 positive edge Object code Variable Data type INTEGER32 Category optional Access PDO Mapping Value range INTEGER32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 153: Object 60Bdh: Touch Probe 2 Negative Edge

    In the AKD, linear interpolation between position setpoints is supported. Index 60C0h Name Interpolation sub mode select Object code Data type INTEGER16 Category optional Access PDO mapping not possible Value range Default value Value description Value(decimal) Description Linear interpolation with a constant time. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 154: Object 60C1H: Interpolation Data Record

    A set-point value of the Interpolation data record is only taken, if beside the state machine state "Operation Enable"also the bit 4 of the DS402 controlword (Enable Interpolation, see "Object 6040h: Control word (DS402)" (➜ p. 132)) is set. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 155: Object 60C2H: Interpolation Time Period

    Subindex Description Interpolation time units Category mandatory Access PDO mapping not possible Value range UNSIGNED8 Default value Subindex Description Interpolation time index Category mandatory Access PDO mapping not possible Value range INTEGER8 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 156: Object 60C4H: Interpolation Data Configuration

    Subindex Description Actual buffer size Category mandatory Access PDO mapping possible Value range 0 to 9 Default value Subindex Description Buffer organization Category mandatory Access PDO mapping not possible Value range UNSIGND8 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 157 Size of data record Category mandatory Access PDO mapping not possible Value range 1 to 254 Default value Subindex Description Buffer clear Category mandatory Access PDO mapping not possible Value range UNSIGNED8 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 158: Object 60D0H: Touch Probe Source

    Default value Value description: Value Description Value Description Touch Probe 1 Input Touch Probe 3 Input Touch Probe 2 Input Touch Probe4 Input -1 to -11 AKD Input related to CAPx.TRIGGER 0 to 10 Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 159: Object 60E0H: Positive Torque Limit Value

    (1 ‰) of rated torque. Index 60E1h Name Negative Torque Limit Value Object code Variable Data type UINTEGER16 Category optional Access PDO Mapping Value range UINTEGER16 (limited by DRV.IPEAK and MOTOR.IPEAK) Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 160: Object 60E4H: Additional Position Actual Value

    2nd additional position actual value Category Access PDO mapping not possible Value range INTEGER32 Default value Subindex Description 3rd additional position actual value Category optional Access PDO mapping not possible Value range INTEGER32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 161: Object 60E8H: Additional Gear Ratio – Motor Shaft Revolutions

    2nd additional gear ratio - motor shaft Category Access PDO mapping not possible Value range UNSIGNED32 Default value Subindex Description 3rd additional gear ratio - motor shaft Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 162: Object 60E9H: Additional Feed Constant – Feed

    2nd additional feed constant – feed Category Access PDO mapping not possible Value range UNSIGNED32 Default value Subindex Description 3rd additional feed constant – feed Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 163: Object 60Edh: Additional Gear Ratio – Driving Shaft Revolutions

    2nd additional gear ratio - driving shaft Category Access PDO mapping not possible Value range UNSIGNED32 Default value Subindex Description 3rd additional gear ratio - driving shaft Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 164: Object 60Eeh: Additional Feed Constant - Driving Shaft Revolutions

    2nd additional feed constant – driving shaft revolutions Category Access PDO mapping not possible Value range UNSIGNED32 Default value Subindex Description 3rd additional feed constant – driving shaft revolutions Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 165: Object 60F4H: Following Error Actual Value (Ds402)

    This object returns the current value of the following error in units defined by the user. Index 60F4h Name Following error actual value Object code Data type Integer32 Category optional Access PDO mapping possible Value range INTEGER32 Default value Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 166: Object 60Fch: Position Demand Internal Value (Ds402)

    125). Index 60FDh Name digital inputs Object code Data type UNSIGNED32 Category optional Access PDO mapping possible Value range UNSIGNED32 Default value manufacturer specific reserved enable home pos. limit neg. limit switch switch switch Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 167: Object 60Feh: Digital Outputs (Ds402)

    Category mandatory Access PDO mapping possible Value range UNSIGNED32 Default value Subindex Description bit mask Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value manufacturer specific DOUT2 DOUT1 reserved set brake Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 168: Object 60Ffh: Target Velocity (Ds402)

    Data type UNSIGNED32 Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value 0xE5 (csp ip hm pv pp) manufacturer reserved cstca cst csv csp ip hm reserved tq pv vl specific Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 169: Record Of Document Revisions

    Added objects 35B8h, 35BDh, and 6087h. N, 03/2017 Setting up Ethernet over EtherCAT (EoE) (➜ p. 18) added. P, 10/2017 Added 0x1725 and 0x1B26 to Fixed PDO Mappings (➜ p. 42). Corrections to Objects 1C12h and 1C13h. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 170 AKD EtherCAT | 6   Record of Document Revisions This page intentionally left blank. Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 171: Index

    2012h 60BCh 2013h 60BDh 2014-2017h 60C0h 2018h 60C1h 2026h 60C2h 204Ch 60C4h 2071h 60D0h 2077h 60E0h 20A0h 60E1h 20A1h 60E4h 20A2h 60E8h 20A3h 60E9h 20A4h 60EDh 20A5h 60EEh 20A6h 60F4h 20A7h 60FCh 20B8h 60FDh Kollmorgen | kdn.kollmorgen.com | October 2017...

  • Page 172: Kollmorgen | Kdn.kollmorgen.com | October

    Document Revisions Target group TwinCAT EEProm Content Emergency Messages EtherCAT onboard AKD-P/M Workbench over TwinCAT EtherCAT Proflie Fieldbus Fieldbus Parameters Interrupt Event KAS IDE Latch Words Mailbox Object Dictionary Objects sorted Operating mode Operation Modes Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 173 AKD EtherCAT | This page intentionally left blank. Kollmorgen | kdn.kollmorgen.com | October 2017...
  • Page 174 About KOLLMORGEN  Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease- of-use, giving machine builders an irrefutable marketplace advantage.

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