Kollmorgen AKD Series Manual
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Kollmorgen AKD Series Manual

Ethernet/ip communication
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AKD
EtherNet/IP Communication
Edition December 2014, Revision E
Valid for firmware version 1.13
Part Number 903-200008-00
Keep all manuals as a product component during the life span of the product.
Pass all manuals to future users/owners of the product.

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Summary of Contents for Kollmorgen AKD Series

  • Page 1 ® EtherNet/IP Communication Edition December 2014, Revision E Valid for firmware version 1.13 Part Number 903-200008-00 Keep all manuals as a product component during the life span of the product. Pass all manuals to future users/owners of the product.

  • Page 2: Status Word

    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 dis- tributed by electronic means without the written permission of Kollmorgen.

  • Page 3: Table Of Contents

    6.2.3.5 Response Type 0x14 - Command/Response Error 6.2.4 Data Handshake 6.3 Velocity Mode 6.3.1 Setup Velocity Mode 6.3.2 Velocity Moves 6.4 Position Mode 6.4.1 Setup Position Mode 6.4.2 Homing 6.4.3 Position Moves (point to point) 6.4.4 Running a Stored Motion Task Sequence Kollmorgen | December 2014...
  • Page 4 10.1 Add On Instructions 10.2 AKD Sample Project 10.3 "Registration Example" Project 11 Appendix A: Supported EtherNet/IP Objects and Attributes 11.1 Position Controller Object 0x25 12 Appendix B: Parameter Listing 13 Appendix C: Software Distribution License Kollmorgen | December 2014...

  • Page 5: About This Manual

    A digital version of this manual (pdf format) is available on the disk included with your drive. Manual updates can be downloaded from the Kollmorgen™ website. Related documents for the AKD series include: Using AKD EtherNet/IP with RSLogix. This manual provides easy start guide for RSLogix programs, as well as a reference to the sample add-on instructions.

  • Page 6: Overview

    Command messages can also set the target position, target velocity, acceleration, deceleration, and torque set points. Status bits in a response message display error states and the general state of the amp- lifier. Response messages can also display the actual position, commanded position, actual velocity and torque. Kollmorgen | December 2014...

  • Page 7: Akd Ethernet/Ip Features

    AKD can be connected on an EtherNet/IP network in two manners: As the last node in the network (since AKD has only one connector) in a line topology As another node on the network in star topology (using a switch) Kollmorgen | December 2014...

  • Page 8: Setup

    Some controllers request an EDS file (electronic data sheet) for configuring each EtherNet/IP node. The AKD EtherNet/IP EDS file can be found on the Kollmorgen web site and on the product disk. The IP address of the controller must be set to the same subnet as the AKD.

  • Page 9: Communication Profile

    AKD also supports the required standard objects for EtherNet/IP communication. Typically the controller will automatically configure these objects, and the user program will not need to directly use them: Identity Message Router Assembly Connection Manager TCP/IP Ethernet Link Kollmorgen | December 2014...

  • Page 10: Data Types

    Input Assembly (also called Response Assembly or “Target to Originator Connection”) Instance: 102 Size: 64 bytes Run/Idle Header: No Output Assembly (also called Command Assembly or “Originator to Target Connection”) Instance: 101 Size: 64 bytes Kollmorgen | December 2014...

  • Page 11: Command Assemblies

    Index of desired Position Controller Attribute value to return in the Response Assembly bytes 24-31) 0: Static Map (only bytes 0 to 35 are sent) Map Type 1: Custom Map 1 2: Dynamic Map (bytes 36-63 are dynamically configurable) Kollmorgen | December 2014...

  • Page 12: Control Word

    The position move is loaded into Motion Task 0 and can be viewed within Workbench. Put drive in position mode by sending a message to Position Controller class 0x25, Instance 1, Attrib- ute 3 Operation Mode. Kollmorgen | December 2014...

  • Page 13: Command Type 0X07 - Jog Move

    Attribute to Get mirrored in byte 32 of the response. Note: Attribute to Get and Command Type 0x1F Read Parameter Value both use bytes 24-31 of the response assembly. When using command 0x1F to read a parameter, set the Attribute to Get field to 0. Kollmorgen | December 2014...

  • Page 14: Response Assemblies

    6.2.3.2 Status Word 1 Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Enable Reserved Homed Current Dir- General In Pos- Block in Exe- State ection Fault ition cution Motion Kollmorgen | December 2014...

  • Page 15: Response Type 0X05 - Actual Torque

    Response Assembly Type field of the response assembly will be set to 0x14 and error codes will be returned in the Data field. Error Code (hex) Additional Code (hex) EtherNet IP Error NO ERROR RESOURCE_UNAVAILABLE PATH_UNKNOWN COMMAND_AXIS_INVALID RESPONSE_AXIS_INVALID SERVICE_NOT_SUPP COMMAND_NOT_SUPPORTED RESPONSE_NOT_SUPPORTED INVALID_ATTRIBUTE_VALUE Kollmorgen | December 2014...

  • Page 16: Data Handshake

    0xE8 0x03 0x00 0x00 Enable=1, Load/Start=1, ready to receive data. Controller sets the Load Data flag Command Axis=1, Command Type=1, Response in the command assembly. Axis=1, Data=1000 Kollmorgen | December 2014...

  • Page 17: Velocity Mode

    In this mode, the drive runs an internal trajectory generator for moving between commanded positions. These positions can be sent directly from the controller (point to point moves), or pre-programmed in Motion Task sequences. 6.4.1 Setup Position Mode Before Position Move commands may be issued, the following conditions must be met: Kollmorgen | December 2014...

  • Page 18: Homing

    6.5 Torque In this mode, the drive runs at constant torque using the latest command value received from the controller. 6.5.1 Setup Torque Mode Before Torque Move commands may be issued, the following conditions must be met: Kollmorgen | December 2014...

  • Page 19: Torque Moves

    Drive parameters are typically stored in RAM and only stored to non-volatile memory when a Save is com- manded through an Explicit Message to the Parameter Object. Transmit the following explicit message: Service: 0x10 (Write) Class: 0x0F (Parameter) Instance: 470 (DRV.NVSAVE) Attribute: 0x01 (Value) Data Length: 4 bytes Data Value: 1 Kollmorgen | December 2014...

  • Page 20: Drive Objects

    (DRV.OPMODE 1). 2=Torque (DRV.OPMODE 0). This attribute must be set before any move is attempted. Access Get / Set Rule Data Type Unsigned Short Integer Range 0 = Position Mode 1 = Velocity Mode 2 = Torque Mode 3 = Other (read only) Default Non-Volat- See Also Kollmorgen | December 2014...
  • Page 21 (attribute 22) for velocity opmode. Units are determined by the amplifier setup (VUNIT, Position controller attributes 40-41) Access Get / Set Rule Data Type Double Integer Range Set to a positive number Default According to setup Kollmorgen | December 2014...
  • Page 22 Attribute 0x0A: Move Type Description This bit is used to define the position value as either absolute or incremental in DRV.OPMODE 2. Access Rule Get / Set Data Type Boolean Range 0 = Absolute Postion 1 = Incremental Position Kollmorgen | December 2014...
  • Page 23 Description This flag is used to control the enable output. Clearing this bit sets the enable output inactive and the currently executing motion profile is aborted. Access Get / Set Rule Data Type Boolean Range 0 = Disable 1 = Enable Default Non-Volat- See Also Kollmorgen | December 2014...

  • Page 24: Position Controller Supervisor Class 0X24

    Description When active, this indicates that an amplifier related failure has occured (short circuit, over- voltage, ect). Access Rule Get Data Type Range 1 = Fault condition exists 0 = No fault exists See Also DRV.FAULTS Kollmorgen | December 2014...

  • Page 25: Parameter Class 0X0F

    This data type of this parameter. Access Rule Get Data Type Range Default Non-Volatile Yes See Also See table below Data Type Code Data Type Abbreviation 0xC1 Boolean Bool 0xC2 Short Integer 0xC6 Unsigned Short Integer Kollmorgen | December 2014...

  • Page 26: Read A Parameter Value

    HOME.MOVE or DRV.CLRFAULTS. To execute a command, write a value of 1 to the parameter. The instance number of the desired parameter can be found in Appendix B. To execute a command parameter through Explicit messaging, use Service 0x10 (Write Value), Class 0x0F (Parameter class), Attribute 1 (Parameter Value), Data=0x01. Kollmorgen | December 2014...

  • Page 27: Units

    8.4 Other Floating Point Values Other parameters which are displayed as floating point values in Workbench are provided with three-digit accuracy over EtherNet/IP. For example, a velocity loop gain VL.KP of 1.200 would be read over EtherNet/IP as 1200. Kollmorgen | December 2014...

  • Page 28: Eip Parameters

    Ethernet/IP Communications | 9   EIP Parameters 9 EIP Parameters This section describes the EIP parameters. 9.1 EIP.CMDMAP 9.2 EIP.CONNECTED 9.3 EIP.POSUNIT 9.4 EIP.PROFUNIT 9.5 EIP.RSPMAP Kollmorgen | December 2014...

  • Page 29: Eip.cmdmap

    Read EIP.CMDMAP to display the current state of the 16 mappable portions of command assembly. A 0 rep- resents an unassigned value. -->EIP.CMDMAP [0] 383 [1] 384 [2] 386 [3] 0 [4] 0 [5] 0 [6] 0 [7] 0 [8] 0 Kollmorgen | December 2014...
  • Page 30 [12] 0 [13] 0 [14] 0 [15] 0 --> Example The following example maps the parameter to SWLS.EN to the dynamic portion of command assembly using its index ID. --> EIP.CMDMAP 0 383 Related Topics EtherNet/IP View (pg 1) Kollmorgen | December 2014...

  • Page 31: Eip.connected

    AKD Profinet AKD sercos ® III AKD-N AKD-C Fieldbus Information Fieldbus Instance Data Size Data Type EtherNet/IP Integer 1 byte Description Returns state of EtherNet/IP connection. Value Description Not connected Connected Related Topics EtherNet/IP View (pg 1) Kollmorgen | December 2014...

  • Page 32: Eip.posunit

    The default value is 2^16 = 65536, which provides 2^32 / 2^16 = 2^16 counts per revolution. A value of 1 would provide 2^32 / 1 = 2^32 counts per revolution. Related Topics EIP.PROFUNIT (➜ p. 33) Kollmorgen | December 2014...

  • Page 33: Eip.profunit

    The default value is 2^16 = 65536, which provides 2^32 / 2^16 = 2^16 counts per second per revolution. A value of 1 would provide 2^32 / 1 = 2^32 counts per second per revolution. Related Topics EIP.POSUNIT (➜ p. 32) Kollmorgen | December 2014...

  • Page 34: Eip.rspmap

    *Position unit values are scaled from 8 bytes to 4 bytes. This results in a loss of precision. Read EIP.RSPMAP to display the current state of the 16 mappable portions of response assembly. A 0 rep- resents an unassigned value. -->EIP.RSPMAP [0] 286 [1] 288 [2] 478 Kollmorgen | December 2014...
  • Page 35 [12] 0 [13] 0 [14] 0 [15] 0 --> Example The following example maps the parameter to SWLS.EN to the dynamic portion of command assembly using its index ID. --> EIP.CMDMAP 0 383 Related Topics EtherNet/IP View (pg 1) Kollmorgen | December 2014...

  • Page 36: Rs Logix Sample Projects

    Ethernet/IP Communications | 10   RS Logix Sample Projects 10 RS Logix Sample Projects On www.kollmorgen.com, you can find RSLogix sample projects and add-on instructions, which demonstrate an EtherNet/IP network with a CompactLogix controller and the AKD. The Using AKD EtherNet/IP with RSLogix manual provides easy start guide for RSLogix programs, as well as a reference to the sample add-on instructions.

  • Page 37: Appendix A: Supported Ethernet/Ip Objects And Attributes

    Get/Set BOOL Indicates that valid data for a valid I/O command message Complete type has been loaded into the position controller device. Home Mode Get/Set INT See home mode section of the AKD User Manual Home Move Set BOOL Initiate a home move. Kollmorgen | December 2014...

  • Page 38: Appendix B: Parameter Listing

    1 Byte Integer CAP0.EN 1 Byte Integer CAP0.EVENT 1 Byte Integer CAP0.FILTER 1 Byte Integer CAP0.MODE 1 Byte Integer CAP0.PLFB 8 Byte Signed Position CAP0.PREEDGE 1 Byte Integer CAP0.PREFILTER 1 Byte Integer CAP0.PRESLECT 1 Byte Integer Kollmorgen | December 2014...
  • Page 39 1 Byte Integer DIN3.MODE 2 Byte Integer DIN3.PARAM 8 Byte Signed Varies DIN3.STATE 1 Byte Integer DIN4.INV 1 Byte Integer DIN4.MODE 2 Byte Integer DIN4.PARAM 8 Byte Signed Varies DIN4.STATE 1 Byte Integer DIN5.INV 1 Byte Integer Kollmorgen | December 2014...
  • Page 40 Acceleration DRV.DIR 1 Byte Integer DRV.DI Command None DRV.DISMODE 1 Byte Integer DRV.DISSOURCES 2 Byte Integer DRV.DISTO 4 Byte Integer DRV.EMUEDIR 1 Byte Integer DRV.EMUEMODE 2 Byte Integer DRV.EMUEMTURN 4 Byte Integer DRV.EMUERES 4 Byte Integer Kollmorgen | December 2014...
  • Page 41 FBUS.PARAM01 4 Byte Integer FBUS.PARAM02 4 Byte Integer FBUS.PARAM03 4 Byte Integer FBUS.PARAM04 4 Byte Integer FBUS.PARAM05 4 Byte Integer FBUS.PARAM06 4 Byte Integer FBUS.PARAM07 4 Byte Integer FBUS.PLLTHRESH 2 Byte Integer FBUS.SAMPLEPERIOD 1 Byte Integer Kollmorgen | December 2014...
  • Page 42 Float IL.FOLDFTHRESH 2 Byte Float IL.FOLDFTHRESHU 4 Byte Signed Float IL.FOLDWTHRESH 4 Byte Signed Float IL.FRICTION 4 Byte Float IL.IFOLDS 4 Byte Float IL.IUFB 2 Byte Signed Float IL.IVFB 2 Byte Signed Float IL.KACCFF 4 Byte Signed Float Kollmorgen | December 2014...
  • Page 43 MOTOR.TBRAKEAPP 2 Byte Integer MOTOR.TBRAKERLS 2 Byte Integer MOTOR.TEMP 4 Byte Integer MOTOR.TEMPFAULT 4 Byte Integer MOTOR.TEMPWARN 4 Byte Integer MOTOR.TYPE 1 Byte Integer MOTOR.VMAX 2 Byte Integer MOTOR.VOLTMAX 2 Byte Integer MT,ACC 8 Byte Acceleration Kollmorgen | December 2014...
  • Page 44 PL.MODP2 8 Byte Signed Position PL.MODPDIR 1 Byte Integer PL.MODPEN 1 Byte Integer PLS.EN 2 Byte Integer PLS.MODE 2 Byte Integer PLS.P1 8 Byte Signed Position PLS.P2 8 Byte Signed Position PLS.P3 8 Byte Signed Position PLS.P4 8 Byte Signed Position Kollmorgen | December 2014...
  • Page 45 1 Byte Integer REC.TRIG Command None REC.TRIGPOS 1 Byte Integer REC.TRIGPRMLIST String REC.TRIGSLOPE 1 Byte Integer REC.TRIGTYPE 1 Byte Integer REC.TRIGVAL 8 Byte Signed Varies REGEN.POWER 8 Byte Integer REGEN.REXT 2 Byte Integer REGEN.TEXT 4 Byte Float Kollmorgen | December 2014...
  • Page 46 VBUS.UVWTHRESH 2 Byte Integer VBUS.VALUE 4 Byte Float VL.ARPF1 4 Byte Float VL.ARPF2 4 Byte Float VL.ARPF3 4 Byte Float VL.ARPF4 4 Byte Float VL.ARPQ1 4 Byte Float VL.ARPQ2 4 Byte Float VL.ARPQ3 4 Byte Float Kollmorgen | December 2014...
  • Page 47 VL.LMJR 4 Byte Float VL.MODEL 8 Byte Signed Velocity VL.OBSBW 4 Byte Float VL.OBSMODE 4 Byte Integer VL.THRESH 8 Byte Signed Velocity WS.ARM Command None WS.DISTMAX 8 Byte Signed Position WS.DISTMIN 8 Byte Signed Position WS.IMAX 2 Byte Signed Float Kollmorgen | December 2014...
  • Page 48 DRV.FAULT4 2 Byte Integer DRV.FAULT5 2 Byte Integer DRV.FAULT6 2 Byte Integer DRV.FAULT7 2 Byte Integer DRV.FAULT8 2 Byte Integer DRV.FAULT9 2 Byte Integer DRV.FAULT10 2 Byte Integer MODBUS.PIN 4 Byte Integer MODBUS.POUT 4 Byte Integer Kollmorgen | December 2014...
  • Page 49 4 Byte Signed Integer USER.INT23 4 Byte Signed Integer USER.INT24 4 Byte Signed Integer DRV.NVCHECK 8 Byte  Integer FB3.MODE 2 Byte Integer FB3.P 8 Byte  Integer MODBUS.SCALING 1 Byte Integer DRV.EMUEPULSEWIDTH 4 Byte Float DRV.EMUECHECKSPEED 1 Byte Integer Kollmorgen | December 2014...
  • Page 50 8 Byte Signed Position MOVE.RELATIVEDIST 8 Byte Signed Position MOVE.RUNSPEED 8 Byte None MOVE.SCURVETIME 4 Byte Float MOVE.ABORT Command None MOVE.TARGETPOS 8 Byte Signed Position MOVE.VCMD 4 Byte Signed None VM.AUTOSTART 4 Byte Integer VM.RESTART Command None Kollmorgen | December 2014...
  • Page 51 FB2.DIR 1 Byte Integer FAULT451.ACTION 1 Byte Integer DRV.HWENDELAY 1 Byte Integer DRV.HANDWHEELSRC 1 Byte Integer IL.KPLOOKUPINDEX 2 Byte Integer IL.KPLOOKUPVALUE 4 Byte Float MOTOR.BRAKEIMM 1 Byte Integer AIN2.CUTOFF 4 Byte Float AIN2.DEADBAND 2 Byte Float Kollmorgen | December 2014...
  • Page 52 1 Byte Integer DIN22.MODE 2 Byte Integer DIN22.PARAM 8 Byte Signed Varies DIN22.STATE 1 Byte Integer DIN23.FILTER 2 Byte Integer DIN23.INV 1 Byte Integer DIN23.MODE 2 Byte Integer DIN23.PARAM 8 Byte Signed Varies DIN23.STATE 1 Byte Integer Kollmorgen | December 2014...
  • Page 53 1 Byte Integer DIN30.FILTER 2 Byte Integer DIN30.INV 1 Byte Integer DIN30.MODE 2 Byte Integer DIN30.PARAM 8 Byte Signed Varies DIN30.STATE 1 Byte Integer DIN31.FILTER 2 Byte Integer DIN31.INV 1 Byte Integer DIN31.MODE 2 Byte Integer Kollmorgen | December 2014...
  • Page 54 8 Byte Signed Float DOUT25.STATE 1 Byte Integer DOUT25.STATEU 1 Byte Integer DOUT26.MODE 1 Byte Integer DOUT26.PARAM 8 Byte Signed Float DOUT26.STATE 1 Byte Integer DOUT26.STATEU 1 Byte Integer DOUT27.MODE 1 Byte Integer DOUT27.PARAM 8 Byte Signed Float Kollmorgen | December 2014...
  • Page 55 8 Byte Integer FB1.P 8 Byte Signed Position FB1.PDIR 1 Byte Integer FB1.PIN 4 Byte Integer FB1.POFFSET 8 Byte Signed Position FB1.POUT 4 Byte Integer FB1.PUNIT 4 Byte Integer FB1.USERBYTE 1 Byte Integer FB1.USERDWORD 4 Byte Integer Kollmorgen | December 2014...
  • Page 56 AOUT.VSCALE 8 Byte Velocity WS.TSTANDSTILL 2 Byte Integer WS.TIRAMP 2 Byte Integer FB1.PMTSAVEEN 1 Byte None FB1.PMTBITS 1 Byte None MOTOR.IMTR 2 Byte Integer IL.FBSOURCE 1 Byte Integer MOTOR.IMID 4 Byte Float WS.CHECKMODE 1 Byte Integer Kollmorgen | December 2014...
  • Page 57 Ethernet/IP Communications | 12   Appendix B: Parameter Listing Instance Parameter Data Size Data Type REGEN.POWERFILTERED 8 Byte Integer 8192 VBUS.VALUE 2 Byte Integer 8193 STATUS3 1 Byte Integer 8195 DIN.STATES 1 Byte Integer Kollmorgen | December 2014...

  • Page 58: Appendix C: Software Distribution License

    CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. Kollmorgen | December 2014...

  • Page 59: Kollmorgen | December

    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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