Important Configuration Parameters - Kollmorgen AKD-CC Installation Manual

AKD EtherCAT | 3 Installation and Setup

3.5 Important Configuration Parameters

The AKD holds several fieldbus-specific, general purpose parameters. Some of them contain
the following relevant data:
FBUS.PARAM01:
Sets the baud rate for the CANbus. Supported baud rates are 125, 250, 500 and 1000 kBaud.
On AKD-C, FBUS.PARAM01 sets and stores the EtherCAT station alias for the ESC (Ether-
CAT slave controller) of string 2.
FBUS.PARAM02:
This parameter activates the synchronization feature of the AKD. The DC feature must be
activated in order to allow the AKD to get synchronized with the master. Only works when
FBUS.TYPE = 3 (CANopen).
Drive internal PLL (phase locked loop) functionality: enabled (1),
Drive internal PLL functionality: disabled (0).
FBUS.PARAM03:
This parameter contains the Configured Station Alias address of the AKD. An EEPROM emu-
lation write access to the Configured Station Alias address forces the AKD to store the drive
parameters automatically using the DRV.NVSAVE command. On AKD-C, FBUS.PARAM03
sets and stores the EtherCAT station alias for the ESC (EtherCAT slave controller) of string
1.
FBUS.PARAM04:
This parameter enables (1) or disables (0) the synchronization supervision of the CANOpen
or EtherCAT fieldbus.
Default values for this parameter are as follows:
CANopen drive: disabled (0)
EtherCAT drive: enabled (1)
Synchronization supervision is active when FBUS.PARAM 04 = 1 and the first CANOpen
Sync message or first EtherCAT frame is received. When more than three CANOpen sync
messages or seven EtherCAT frames have not been received and the drive is enabled, fault
F125 ("Synchronization lost"), occurs.
FBUS.PARAM05:
16 Kollmorgen | kdn.kollmorgen.com | October 2017
Bit 0 1 Faults can only be reset using DS402 control word bit 7.
0 The reset can also be done via telnet or digital input and the DS402 state
machine reflects this condition.
Bit 1 1 The state of the hardware enable does not change the state machine state
Operation Enable.
0 If the state Operation Enable or Switched on is active it falls back to the
state switched On Disabled, if the Hardware enable goes to 0.
Bit 2 1 WorkBench/Telnet can not software enable the drive, when
CANopen/EtherCAT are Operational.
0 WorkBench/Telnet can software enable the drive.
NOTE: During commissioning this bit should be set to 1 to avoid
influences to DS402 power stage state machine. The field bus
should not be in operation as well to avoid influence to test func-
tions of 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.