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Kollmorgen AKD Manual

Profinet rt communication
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AKD™
PROFINET RT Communication
Edition: B, March 2012
Valid for Hardware Revision D
Part Number 903-200012-00
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

  • Page 1 AKD™ PROFINET RT Communication Edition: B, March 2012 Valid for Hardware Revision D Part Number 903-200012-00 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 reproduced 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

    AKD PROFINET | Table of Contents Table of Contents 1 General 1.1 About this Manual 1.2 Target Group 1.3 Symbols used 1.4 Abbreviations Used 2 Safety 2.1 Safety Instructions 2.2 Use as directed 2.3 Prohibited use 3 Installation and Setup 3.1 Safety Instructions...
  • Page 4 AKD PROFINET | Table of Contents 5.10.3 Homing 5.11 I/O Telegrams 5.11.1 Telegram 0 5.11.2 Standard telegram 1 5.11.3 Standard telegram 7 5.11.4 Standard telegram 9 5.11.5 Manufacturer specific telegram 350 5.12 Units 5.12.1 Velocity units 5.12.2 Position Units 5.12.3 Acc-/Deceleration Units 5.12.4 Current units...

  • Page 5: General

    AKD PROFINET | Table of Contents 1 General 1.1 About this Manual 1.2 Target Group 1.3 Symbols used 1.4 Abbreviations Used Kollmorgen™ | March 2012...

  • Page 6: About This Manual

    AKD Installation Manual (also provided in hard copy for EU customers). This manual provides full instruc- tions for installation and drive setup. AKD Users Manual. This manual describes how to use your drive in common applications. It also provides tips for maximizing your system performance with the AKD. This manual contains the AKD Parameter and Command Reference Guide, which provides documentation for the parameters and commands used to program the AKD.

  • Page 7: Symbols Used

    AKD PROFINET | Table of Contents 1.3 Symbols used Symbol Indication Indicates a hazardous situation which, if not avoided, will result in death or serious injury. Indicates a hazardous situation which, if not avoided, could result in death or serious injury.

  • Page 8: Safety

    AKD PROFINET | Table of Contents 2 Safety 2.1 Safety Instructions 2.2 Use as directed 2.3 Prohibited use Kollmorgen™ | March 2012...

  • Page 9: Safety Instructions

    Observe the chapters "Use as directed” and "Prohibited use" in the AKD Installation Manual. The PROFINET interface serves only for the connection of the AKD directly or via a switch to a network with PROFINET connectivity.

  • Page 10: Installation And Setup

    AKD PROFINET | Table of Contents 3 Installation and Setup 3.1 Safety Instructions 3.2 PROFINET Onboard 3.3 Guide to Setup 3.4 Configure IP Address parameters 3.5 Setup Step 7 3.6 Parameter Configuration with PROFIdrive over PROFINET IO Kollmorgen™ | March 2012...

  • Page 11: Safety Instructions

    AKD PROFINET | Table of Contents 3.1 Safety Instructions Never disconnect any electrical connections to the drive while the drive is live. There is a danger of electrical arcing with damage to contacts and serious personal injury. Wait at least seven minutes after disconnecting the drive from the main supply power before touch- ing potentially live sections of the equipment (e.g.

  • Page 12: Profinet Onboard

    Confirm that the link LED on the AKD (the green LED on the RJ45 connector) and on your Master or Switch are both illuminated. If both lights are illuminated, then you have a good electrical connection.

  • Page 13: Guide To Setup

    AKD PROFINET | Table of Contents 3.3 Guide to Setup Only professional personnel with extensive knowledge of control and drive technology are allowed to setup the drive. Make sure that any unintended movement of the drive cannot endanger machinery or personnel.

  • Page 14: Configure Ip Address Parameters

    In the next dialog window, click on browse in the Ethernet node group and look for all PROFINET devices in your network: Select the AKD and click ok. If you have several AKD’s in your network, you can also use the MAC address to filter one PROFINET device.
  • Page 15 AKD PROFINET | Table of Contents Select the radio button Use IP parameters: then enter a new IP address and subnet mask to AKD. Click the Assign IP Configuration button for the change to take effect Use the same popup to change the device name at this time by entering a name in the Device Name fields and clicking on the Assign Name button.

  • Page 16: Dependency Service Channel (Workbench) And Profinet

    Should you need to use DHCP or static IP addressing later, you must use WorkBench to set, the IP.MODE to something other than 1. See AKD User Guide for details on the mode you would like to use.

  • Page 17: Setup Step

    AKD PROFINET | Table of Contents 3.5 Setup Step 7 1. Start the SIMATIC Manager. 2. Open the hardware manager (double click on Hardware). 3. Go to Options and click "Install GSD Files". Here also the GSDML files for PROFINET devices can be installed.:...
  • Page 18 5. The AKD GSDML file is installed now and can be found in the SIMATIC hardware catalog. Open PROFINET I/O->Additional Fieldbus Devices->Drives->AKD 6. Click on the AKD device (not a telegram) and connect it to the PLC (drag and drop) Kollmorgen™ | March 2012...
  • Page 19 7. Now configure the telegram, for example telegram 7 for use in position mode. Drag and drop telegram 7 into slot 1. 8. Double click on the PROFINET network (line which connects PLC and AKD) and configure the update time. Click OK for closing this window.

  • Page 20: Parameter Configuration With Profidrive Over Profinet Io

    I/O or Telegram with Position values. AKD provides several virtual modules, which can be used in Slot 1 and are used for the real time data exchange. For read or write parameters to or from the AKD, the global base mode parameter access can be used (see PRO- FIdrive chapter 8.6).

  • Page 21: Parameter Configuration

    AKD PROFINET | Table of Contents Record data fields The table shows the structure and the supported fields in the AKD for a parameter request. Field Data type Values Comment Request reference Unsigned8 0x00 reserved 0x01 – 0xFF Request ID...

  • Page 22: Example For Writing The Operation Mode

    0x00 0x42 Format: Word 0x01 No of Values: 1 0x00 Operation mode 0x02 The AKD answers with a positive response without values: Byte (dec) Value (hex) Description 0x05 Request reference: e.g. 5 0x02 Request ID: Change parameters 0x00 Axis:  0 (the AKD parameter manager)

  • Page 23: Profinet Io

    AKD PROFINET | Table of Contents 4 PROFINET IO 4.1 Introduction 4.2 Restrictions and requirements Kollmorgen™ | March 2012...

  • Page 24: Introduction

    AKD fastest cycle time for the PROFINET cyclic data is 8 milliseconds. 4.2.3 Connector PROFINET network connector in the AKD is the same RJ45 connector used for the service functions. This con- nector is numbered as X11 on the AKD’s top panel.

  • Page 25: Profidrive Over Profinet Io

    AKD PROFINET | Table of Contents 5 PROFIDRIVE over PROFINET IO 5.1 Introduction 5.2 AKD as Drive Object (DO) 5.3 General State Machine 5.4 Control word bits (STW1) 5.5 Status word bits (ZSW1) 5.6 Supported PNU's 5.7 Signals 5.8 Telegram configuration 5.9 Velocity Mode (Application class 1)

  • Page 26: Introduction

    It is important to understand that PROFIdrive is only a user profile, which can be used with PROFINET IO. Note that the AKD supports all mandatory functionality of the PROFIdrive profile, but naturally not all optional functionality. This chapter describes the supported optional elements.

  • Page 27: Akd As Drive Object (Do)

    The alarm queue is used for signaling the master an exception situations, which are generated through the state machine or the axis control task itself (not supported in AKD). The clock synchronous operation requires PROFINET IRT (conformance class C), which is currently not sup- ported by the AKD.

  • Page 28: General State Machine

    AKD PROFINET | Table of Contents 5.3 General State Machine Kollmorgen™ | March 2012...

  • Page 29: Control Word Bits (Stw1)

    Control word 1 must also set bits 4,5,6  (for speed control – in velocity operation mode) to enable ramp generator and bit 10 to set the drive to be controlled by the PLC. Bit 7 is used to acknowledge fault. The AKD will clear the fault and go automatically to S1 state after a fault is cleared.
  • Page 30 AKD PROFINET | Table of Contents In position mode: STW1 Special bits (Position mode) Name Description Number Do Not Reject Trav- A traversing task is activated using the positive signal edge at bit ersing Task No Intermediate Stop Traversing task can be interrupted and continued.

  • Page 31: Status Word Bits (Zsw1)

    AKD PROFINET | Table of Contents 5.5 Status word bits (ZSW1) All status word1 bits are implemented according to the PROFIdrive standard. For application class 1 (speed control) and 3 (position mode) all mandatory bits are implemented. The status word (ZSW1) defines the following functions:...

  • Page 32: Supported Pnu's

    AKD PROFINET | Table of Contents 5.6 Supported PNU's List of all supported PROFIdrive PNU's The table mentions all supported PROFIdrive specific parameters. The access needs to be done via base mode parameter access described in "Parameter Configuration with PROFIdrive over PROFINET IO" (=> p. 20).

  • Page 33: Signals

    ITIST_GLATT IL.FB *Attention: The PROFIdrive signals are not mapped 1:1 to the AKD signals. The unit conversion for PROFIdrive needs to be used. Either the predefined standard telegrams can be used for accessing the signals or a free mapping can be used with telegram 0.

  • Page 34: Velocity Mode (Application Class 1)

    AKD PROFINET | Table of Contents 5.9 Velocity Mode (Application class 1) In this mode, the drive is controlled via a primary set point (speed set point). The speed control is completely in the drive controller. The field bus is merely the transmission medium between the automation system and the drive controller. The Cyclic Data Exchange Communication Service is used.

  • Page 35: Position Mode (Application Class 3)

    In this application class the Drive Object (DO) provides a closed position control loop with its own position inter- polation. The motion tasks, which are configured by MT parameters in AKD, can be accessed. In PROFIdrive two different submodes are possible, which allow the controlling device to access motion task parameters via I/O messaging.

  • Page 36: Submode „Manual Data Input (Mdi)

    AKD PROFINET | Table of Contents The extension of the general state diagram of DO: 5.10.2 Submode „Manual data input (MDI)“ The "manual data input" mode can be used to run a motion task directly configured through IO data. Telegram 9 is used for this purpose and defines the motion task specific signals like acceleration (MID_ACC), deceleration (MID_DEC), velocity (MDI_VEL) and target position (MDI_TAR_POS).
  • Page 37 AKD PROFINET | Table of Contents The extension of the state diagram for mdi mode: Kollmorgen™ | March 2012...

  • Page 38: Homing

    An activation of the homing procedure via STW1 Bit 11 corresponds to the AKD specific command HOME.MOVE.  When the homing procedure is finished, the AKD set the bits 2 and bit 4 in DRV.MOTIONSTAT. „Only“ if these two bits are set, the PROFIdrive specific homing flag ZSW1 Bit 11 (home position) is set.

  • Page 39: I/O Telegrams

    AKD PROFINET | Table of Contents 5.11 I/O Telegrams 5.11.1 Telegram 0 Telegram 0 is used for the free mapping of PROFIdrive signals into the PROFINET I/O data. With PNU 922 the telegram can be configured. PNU915 defines then set point signals and PNU 916 the actual value signals.

  • Page 40: Manufacturer Specific Telegram 350

    The AKD’s 100% is the maximum current of the AKD hence DRV.IPEAK. Thus current units are 2^14 = DRV.IPEAK. E.g. for 3 amps AKD, if the S7 reads a current value of -182 Arms in the cyclic channel from the AKD, it will need to execute the following conversion: (9 / ...

  • Page 41: Alarms

    AKD PROFINET | Table of Contents 5.13 Alarms Not implemented yet. 5.14 Fault All actual faults can be described as a so called “Fault situation”. This fault situation can be read from the fault buffer with PNU 947. A fault situation can have up to 8 different faults. An unacknowledged is indicated by ZSW1 bit 3 (fault present).

  • Page 42: Sample Projects

    AKD PROFINET | Table of Contents 6 Sample Projects 6.1 Sample S7 Project Kollmorgen™ | March 2012...

  • Page 43: Sample S7 Project

    6.1 Sample S7 Project 6.1.1 Introduction On our website www.kollmorgen.com, you can find an STEP 7 sample project which provides a PROFINET net- work with an IO-controller and the AKD as IO-device. The sample project can help you to learn:...

  • Page 44: Getting Started

    3. Check the communication setup for your system in the hardware manager and adapt it to your settings. The initial setup for AKD is a static IP Address and an IO cycle time of 128 ms. Change the IP addresses for AKD and the PLC to your specific setup.

  • Page 45: Enable The Drive And Run In Velocity Mode

    AKD PROFINET | Table of Contents 6.1.4 Enable the drive and run in velocity mode The general state machine of the PROFIdrive ("General State Machine" (=> p. 28)) needs to be toggled to enable the drive. You can find in the variable table “TG1_IO_DATA” all necessary input and output parameters described bit-wise.
  • Page 46 AKD PROFINET | Table of Contents This page intentionally left blank. Kollmorgen™ | March 2012...

  • Page 47: Index

    AKD PROFINET | 7   Index Telegram configuration 7 Index Units Use as directed Abbreviations Control word Drive Object Fault General State Machine GSDML I/O Telegrams Parameter Configuration Position Mode PROFIDRIVE PROFINET Hardware Prohibited Use Safety Instructions Electrical Installation General Setup Step 7...
  • Page 48 About KOLLMORGEN  Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry-lead- ing 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 irref- utable marketplace advantage. ...

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