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Kollmorgen AKD Manual

Ethernet/ip communication
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AKD
EtherNet/IP Communication
Edition December 2013, Revision D
Valid for firmware version 1.12
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

  • Page 1 ® EtherNet/IP Communication Edition December 2013, Revision D Valid for firmware version 1.12 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 reproduced 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

    Ethernet/IP Communications | 1   Table of Contents 1 Table of Contents 1 Table of Contents 2 About this Manual 3 Overview 4 AKD EtherNet/IP Features 4.1 Supported Features 4.2 Expected Packet Rate 4.3 Connection Port 4.4 Network Topology 5 Setup 5.1 Setting an IP Address in the Drive...
  • Page 4 8.3 Torque Units 8.4 Other Floating Point Values 9 RS Logix Sample Projects 9.1 Add On Instructions 9.2 AKD Sample Project 9.3 "Registration Example" Project 10 Appendix A: Supported EtherNet/IP Objects and Attributes 10.1 Position Controller Object 0x25 11 Appendix B: Parameter Listing...

  • Page 5: About This Manual

    Ethernet/IP Communications | 2   About this Manual 2 About this Manual This manual describes the installation, setup, range of functions, and software protocol for the AKD Eth- erNet/IP product series. All AKD EtherNet/IP drives have built-in EtherNet/IP functionality - an additional option card is not required.

  • Page 6: Overview

    Additional configuration may be done through the Parameter Object, which exposes vendor configuration parameters such as those accessible through Workbench. Motion sequences may be pre-programmed into the amplifier using the AKD motion tasking feature. Once the motion task sequence has been configured, it may be executed with the Command Assembly Mes- sage Block Number field and Start Block bit.

  • Page 7: Akd Ethernet/Ip Features

    Workbench and an EtherNet/IP controller communicating with an AKD, the cycle rate should be reduced to 20 milliseconds. 4.3 Connection Port The EtherNet/IP network connection port with the AKD is the same RJ45 connector used for the Telnet. This port is numbered as X11 on the AKD side panel. 4.4 Network Topology...

  • Page 8: Setup

    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. The controller will typically need to be setup to know the IP address of the AKD. The process required will vary by controller.

  • Page 9: Communication Profile

    6.1.1 Supported Services 0x10 – Write Value 0x0E – Read Value 6.1.2 Supported Objects AKD supports a number of standard and vendor-specific objects for motion control. See the Drive Objects chapter for information about these objects. Parameter Object Class Code: 0x0F Instance: The instance number references the desired parameter.

  • Page 10: Data Types

    See the guide Using AKD with EtherNet/IP and RSLogix for information specific to Allen Bradley con- trollers. In addition to configuring the IP address of the AKD in the controller setup, the following values must be configured: Input Assembly (also called Response Assembly or “Target to Originator Connection”)

  • Page 11: Command Assemblies

    Command Data for Command Type 0x1B (Set Position Controller 24-31 Data Attribute) and 0x1F (Set Parameter)* Index of desired Position Controller Attribute value to return in the Attribute to Get Response Assembly bytes 24-31) 33-63 Reserved *Least significant byte first for all data fields Kollmorgen | December 2013...

  • Page 12: Control Word

    Load Target Position, Velocity, Acceleration and Deceleration into bytes 8-23 (see Data Structure section). Set the Load/Start bit to begin the move. Position values are scaled according to EIP.POSUNIT. Velocity and acceleration values are scaled according to EIP.PROFUNIT. Kollmorgen | December 2013...

  • Page 13: Command Type 0X07 - Jog Move

    When using command 0x1F to read a parameter, set the Attribute to Get field to 0. Load the desired attribute number of the Position Controller Object into byte 32 Attribute to Get. The value will be updated each communication cycle in bytes 24-31 of the response assembly. Kollmorgen | December 2013...

  • Page 14: Response Assemblies

    General Fault: This bit indicates whether or not a fault has occurred. In Position: This bit indicates whether or not the motor is on the last targeted position (1=On Target). Block in Execution: When set, indicates the amplifier is running a motion task. Kollmorgen | December 2013...

  • 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 Additional Code EtherNet IP Error (hex) (hex) NO ERROR RESOURCE_UNAVAILABLE PATH_UNKNOWN COMMAND_AXIS_INVALID RESPONSE_AXIS_INVALID SERVICE_NOT_SUPP COMMAND_NOT_SUPPORTED RESPONSE_NOT_SUPPORTED INVALID_ATTRIBUTE_VALUE ALREADY_IN_STATE OBJ_STATE_CONFLICT OBJECT_ALREADY_EXISTS ATTRIBUTE_NOT_SETTABLE ACCESS_DENIED Kollmorgen | December 2013...

  • Page 16: Data Handshake

    Clear Load/Start C: 0x80 0x00 0x21 0x20 0xE8 transition high or for an Error Response Type in the 0x03 0x00 0x00 Enable=1, Load/Start=0, Com- response assembly, then clears Load/Start. Ready mand Axis=1, Command Type=1, Response for next command Axis=1, Data=1000 Kollmorgen | December 2013...

  • Page 17: Velocity Mode

    Position Limits are cleared (check bits in Status Word 2) Drive is homed (check Homed bit in Status Word 1) 6.4.2 Homing Once all conditions listed under Setup Position Mode have been met (with the exception of homing), the drive may be homed. Kollmorgen | December 2013...

  • Page 18: Position Moves (Point To Point)

    Drive is in torque mode (set Attribute 3 Operational Mode of the Position Controller object) Smooth Stop and Hard Stop bits are cleared in Status Word 1. Position Limits are cleared (check bits in Status Word 2) Kollmorgen | December 2013...

  • 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 2013...

  • Page 20: Drive Objects

    (DRV.OPMODE 0). This attribute must be set before any move is attempted. Access Get / Set Rule Data Type Unsigned Short Integer 0 = Position Mode 1 = Velocity Mode Range 2 = Torque Mode 3 = Other (read only) Default Non-Volatile No See Also Kollmorgen | December 2013...
  • Page 21 Units are determined by the amplifier setup (VUNIT, Position con- troller attributes 40-41) Access Get / Set Rule Data Type Double Integer Range Set to a positive number Default According to setup Non-Volatile Yes See Also Kollmorgen | December 2013...
  • Page 22 This bit is used to define the position value as either absolute or incremental Description in DRV.OPMODE 2. Access Get / Set Rule Data Type Boolean 0 = Absolute Postion Range 1 = Incremental Position Default Non-Volatile No See Also Kollmorgen | December 2013...
  • Page 23 Attribute 0x3A: Load Data Complete Indicated the drive has successfully loaded the previous command value. It Description is used in combination with attribute 0x0B Trajectory Start/Complete to handshake motion starts between the AKD and controller. Access Rule Data Type Boolean...

  • Page 24: Position Controller Supervisor Class 0X24

    1 and any value 0 to 255. Reading the value will not execute the process. For example, send the following explicit message to initiate homing (HOME.MOVE, instance = 205): [class=0x0F, instance=205, attribute=0x01, data length=1, data value=0x01]. Kollmorgen | December 2013...

  • Page 25: Supported Attributes

    Integer 0xC7 Unsigned Integer 0xC4 Double Integer 0xC8 Unsigned Double Integer 0xC5 Long Integer 0xC9 Unsigned Long Integer Attribute 0x06: Data Length Description Length of the parameter in bytes. Access Rule Data Type Unsigned Short Integer Kollmorgen | December 2013...

  • 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 2013...

  • 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 Eth- erNet/IP as 1200. Kollmorgen | December 2013...

  • Page 28: Rs Logix Sample Projects

    RSLogix. 9.1 Add On Instructions A set of Add On instructions are provided for easy creation of AKD programs with RSLogix. The instruc- tions are written to mirror the native instructions, leveraging existing knowledge of the software. They pro- vide easy control of IO Assembly messages.
  • Page 29 Ethernet/IP Communications | 9.3   "Registration Example" Project How to configure the drive for registration using only EtherNet/IP (no Workbench setup required). How to start a motion task sequence How to control digital I/O Kollmorgen | December 2013...

  • Page 30: Appendix A: Supported Ethernet/Ip Objects And Attributes

    Indicates that valid data for a valid I/O command plete message type has been loaded into the position controller device. Home Mode Get/Set See home mode section of the AKD User Manual Home Move BOOL Initiate a home move. Kollmorgen | December 2013...

  • Page 31: Appendix B: Parameter Listing

    11 Appendix B: Parameter Listing The parameters in this list correspond to drive parameters available in Workbench and are described in the Workbench help documentation and the AKD User's Guide. Position values are scaled according to EIP.PROSUNIT. Velocity and Acceleration values are scaled according to EIP.PROFUNIT.
  • Page 32 8 Byte Signed Varies DIN5.STATE 1 Byte Integer DIN6.INV 1 Byte Integer DIN6.MODE 2 Byte Integer DIN6.PARAM 8 Byte Signed Varies DIN6.STATE 1 Byte Integer DIN7.INV 1 Byte Integer DIN7.MODE 2 Byte Integer DIN7.PARAM 8 Byte Signed Varies Kollmorgen | December 2013...
  • Page 33 2 Byte Signed Float DRV.IZERO 2 Byte Float DRV.MOTIONSTAT 4 Byte Integer DRV.OPMODE 1 Byte Integer DRV.RSTVAR Command None DRV.STOP Command None DRV.TYPE 1 Byte Integer DRV.ZERO 1 Byte Integer FB1.BISSBITS 1 Byte Integer FB1.ENCRES 4 Byte Integer Kollmorgen | December 2013...
  • Page 34 Acceleration HOME.DIR 2 Byte Integer HOME.DIST 8 Byte Signed Position HOME.FEEDRATE 2 Byte Integer HOME.IPEAK 4 Byte Signed Float HOME.MODE 2 Byte Integer HOME.MOVE Command None HOME.P 8 Byte Signed Position HOME.PERRTHRESH 8 Byte Signed Position Kollmorgen | December 2013...
  • Page 35 MOTOR.IDDATAVALID 1 Byte Integer MOTOR.INTERTIA 4 Byte Float MOTOR.IPEAK 4 Byte Float MOTOR.KT 4 Byte Float MOTOR.LQLL 4 Byte Float MOTOR.PHASE 2 Byte Integer MOTOR.PITCH 4 Byte Float MOTOR.POLES 2 Byte Integer MOTOR.R 4 Byte Float Kollmorgen | December 2013...
  • Page 36 PL.INTOUTMAX 8 Byte Position PL.KI 4 Byte Float PL.KP 4 Byte Float PL.MODP1 8 Byte Signed Position 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 Kollmorgen | December 2013...
  • Page 37 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 REGEN.TYPE 1 Byte Signed Integer REGEN.WATTEXT 2 Byte Integer Kollmorgen | December 2013...
  • Page 38 VL.ARPQ3 4 Byte Float VL.ARPQ4 4 Byte Float VL.ARTYPE1 1 Byte Integer VL.ARTYPE2 1 Byte Integer VL.ARTYPE3 1 Byte Integer VL.ARTYPE4 1 Byte Integer VL.ARZF1 4 Byte Float VL.ARZF2 4 Byte Float VL.ARZF3 4 Byte Float Kollmorgen | December 2013...
  • Page 39 WS.TDELAY2 2 Byte Integer WS.TDELAY3 2 Byte Integer WS.VTHRESH 8 Byte Signed Velocity DIN1.FILTER 2 Byte Integer DIN2.FILTER 2 Byte Integer DIN3.FILTER 2 Byte Integer DIN4.FILTER 2 Byte Integer DIN5.FILTER 2 Byte Integer DIN6.FILTER 2 Byte Integer Kollmorgen | December 2013...
  • Page 40 Integer USER.INT6 4 Byte Signed Integer USER.INT7 4 Byte Signed Integer USER.INT8 4 Byte Signed Integer USER.INT9 4 Byte Signed Integer USER.INT10 4 Byte Signed Integer USER.INT11 4 Byte Signed Integer USER.INT12 4 Byte Signed Integer Kollmorgen | December 2013...
  • Page 41 8 Byte None MOVE.DEC 8 Byte None MOVE.DIR 4 Byte Integer MOVE.GOABS Command None MOVE.GOABSREG Command None MOVE.GOHOME Command None MOVE.GORELREG Command None MOVE.GOREL Command None MOVE.GOUPDATE Command None MOVE.GOVEL Command None MOVE.INPOSITION 4 Byte Integer Kollmorgen | December 2013...
  • Page 42 FAULT134.ACTION 1 Byte Integer FAULT702.ACTION 1 Byte Integer IP.MODE 2 Byte Integer LOAD.INERTIA 4 Byte Float MOTOR.KE 4 Byte Float VBUS.HALFVOLT 1 Byte Integer FB2.DIR 1 Byte Integer FAULT451.ACTION 1 Byte Integer DRV.HWENDELAY 1 Byte Integer Kollmorgen | December 2013...
  • Page 43 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 2013...
  • Page 44 2 Byte Integer DIN31.INV 1 Byte Integer DIN31.MODE 2 Byte Integer DIN31.PARAM 8 Byte Signed Varies DIN31.STATE 1 Byte Integer DIN32.FILTER 2 Byte Integer DIN32.INV 1 Byte Integer DIN32.MODE 2 Byte Integer DIN32.PARAM 8 Byte Signed Varies Kollmorgen | December 2013...
  • Page 45 8 Byte Signed Float DOUT28.STATE 1 Byte Integer DOUT28.STATEU 1 Byte Integer DOUT29.MODE 1 Byte Integer DOUT29.PARAM 8 Byte Signed Float DOUT29.STATE 1 Byte Integer DOUT29.STATEU 1 Byte Integer DOUT30.MODE 1 Byte Integer DOUT30.PARAM 8 Byte Signed Float Kollmorgen | December 2013...
  • Page 46 8 Byte Signed Position FB3.POUT 4 Byte Integer FB3.PUNIT 4 Byte Integer HOME.MAXDIST 8 Byte Signed Position IL.DIFOLD 4 Byte Float IL.MI2TWTHRESH 1 Byte Integer IL.MIMODE 1 Byte Integer IP.RESET Command None MOTOR.VOLTMIN 2 Byte Integer Kollmorgen | December 2013...
  • Page 47 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 REGEN.POWERFILTERED 8 Byte Integer Kollmorgen | December 2013...

  • Page 48: 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 2013...

  • Page 49: Kollmorgen | December

    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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