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Kollmorgen AKD Manual

Using akd ethernet/ip with rslogix
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AKD
Using AKD EtherNet/IP
with RSLogix Manual
Edition: J, November 2018
Valid for firmware version 1.18
Part Number 903-200009-00
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 ® Using AKD EtherNet/IP with RSLogix Manual Edition: J, November 2018 Valid for firmware version 1.18 Part Number 903-200009-00 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 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

    2.2 Add-On Instructions 3 AKD Installation and Setup 4 Quick Start with the AKD Sample Project 5 Adding AKD Support to a New or Existing Project 5.1 Adding the Ethernet IO Module for AKD Communication 5.2 Importing the AKD Add-On Instructions to a Project 5.3 Using the AKD Add-On Instructions in a Project...
  • Page 4 6.11 Motion Axis Set Position (AKD_Set_Position) 6.11.1 Description 6.11.2 Operands 6.11.3 AKD_SET_POSITION Structure 6.11.4 Execution 6.11.5 Changes to Axis Status Bits 6.12 Motion Axis Set Velocity (AKD_Set_Velocity) 6.12.1 Description 6.12.2 Operands 6.12.3 AKD_SET_VELOCITY Structure 6.12.4 Execution 4 Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 5 6.18.5 Changes to Axis Status Bits 6.19 Motion Axis Set Parameter (AKD_Set_Parameter) 6.19.1 Description 6.19.2 Operands 6.19.3 AKD_SET_PARAMETER Structure 6.19.4 Execution 6.19.5 Changes to Axis Status Bits 6.20 Motion Axis Set Units (AKD_Set_Units) 6.20.1 Description 6.20.2 Operands 6.20.3 AKD_SET_UNITS Structure Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 6 8 Appendix A: Supported EtherNet/IP Objects and Attributes 8.1 Position Controller Object 0x25 9 Appendix B: Parameter Listing 10 Appendix C: RSLogix 500 10.1 PLC & Drive TCP/IP Settings 10.2 Read Explicit Message Setup 10.3 Write Explicit Message Setup 6 Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 7: Introduction

    Ethernet IP with RSLogix | 2   Introduction 2 Introduction This manual provides an easy start guide for using AKD with RSLogix5000, an overview on how to import and configure the AKD Add-On instructions using RSLogix5000 version 16 or later, as well as a reference to the Add-On instructions.
  • Page 8 Ethernet IP with RSLogix | 2   Introduction AKD_Stop_Smooth AKD_Torque_Move 8 Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 9: Akd Installation And Setup

    3 AKD Installation and Setup See the following manuals for installation and setup of an AKD drive: AKD Quick Start (also available in hard copy). This guide provides instructions for initial drive setup and connection to a network. AKD Installation Manual (also available in hard copy). This manual provides instructions for install- ation and drive setup.

  • Page 10: Quick Start With The Akd Sample Project

    Ethernet IP with RSLogix | 4   Quick Start with the AKD Sample Project 4 Quick Start with the AKD Sample Project Add On Instruction Library for AKD Ethernet IP can be downloaded from kollmorgen.com. This zip file contains: 1. The most recent library of Add On Instructions and Data Types ( see Chapter 5 for details ).

  • Page 11: Adding Akd Support To A New Or Existing Project

    These basic instructions can be used for any Rockwell PLC that uses RSLogix5000 and supports Ether- Net/IP. 1. Start RSLogix5000 and open the project with which you want to use the AKD drive. 2. Right click on the Ethernet port in the I/O Configuration and select “New Module…” (Figure ‎ 5 -1: Adding...
  • Page 12 Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project Figure 5-2: Selecting Module Type 4. Enter the settings for the new module as described below, make sure the “Open Module Properties” checkbox is checked, and click OK (Table ‎ 4 1: Module Setting Values & Figure ‎ 5 -3: Entering Module...
  • Page 13 Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project Field Value Configuration Assembly Instance 100 Configuration Size Table 5-1: Module Setting Values Figure 5-3: Entering Module Settings 5. The “New Module” window now appears as a “Module Properties: LocalENB” window with the Con- nection tab selected.

  • Page 14: Importing The Akd Add-On Instructions To A Project

    Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project 6. The drive should now be configured and will show up under the Ethernet Port (Figure ‎ 5 -5: Module Suc- cessfully Added to Project) Figure 5-5: Module Successfully Added to Project 7.
  • Page 15 Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project Figure 5-6: Importing Data Types 2. Browse to the location of the AKD User Defined Data Type library and select the desired User Defined Data Type then click “Import…” (Figure ‎ 5 -7: Selecting a UDT) 1.
  • Page 16 Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project Figure 5-7: Selecting a UDT Order File Descrption AKD_Control_UDT.L5X Control message for sending to axis AKD_Status_UDT.L5X Status message for updating from axis AKD_Axis_UDT.L5X Axis definition Motion_Task_UDT.L5X Motion Task data table structure...
  • Page 17 “Import Add-On Instruction…” (Figure ‎ 5 -9: Importing Add-On Instructions) Figure 5-9: Importing Add-On Instructions 6. Browse to the location of the AKD Add On Instruction library and select the desired AOI then click “Import…” (Figure ‎ 5 -10: Selecting an AOI) 1.
  • Page 18 Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project Figure 5-10: Selecting an AIO File Description AKD_Disable_AOI.L5X Motion Axis Off AKD_Drive_AOI.L5X Drive Communication AKD_Enable_AOI.L5X Motion Axis On AKD_Fault_Reset_A Motion Axis Fault Reset OI.L5X AKD_Get_Attribute_AOI.L5X Get Axis Attribute AKD_Get_Parameter_AOI.L5X...
  • Page 19 Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project File Description AKD_Set_Parameter_AOI.L5X Set Axis Parameter AKD_Set_Position_AOI.L5X Motion Axis Set Position AKD_Set_Units_AOI.L5X Motion Axis Set Units AKD_Set_Velocity_AOI.L5X Motion Axis Set Velocity AKD_Shutdown_AOI.L5X Motion Axis Shutdown AKD_Shutdown_Reset_AOI.L5X Motion Axis Shutdown Reset...

  • Page 20: Using The Akd Add-On Instructions In A Project

    Figure 5-11: AOI's Successfully Imported 5.3 Using the AKD Add-On Instructions in a Project In any project where you want to use the AKD Add-On instructions, you will need to include one instance of the Drive Communication logic for each axis (AKD_Drive instruction).
  • Page 21 Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project Figure 5-12: AKD_Drive Instruction 2. Right click the AKD_Drive parameter (first question mark) in the AKD_Drive instruction, and select New Tag… Figure 5-13: Add New Instruction Tag 3.
  • Page 22 Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project Figure 5-14: Adding Drive Communication 4. Click OK in the New Tag window to create your tag. It will now show up in your controller under “Con- troller Tags”...
  • Page 23 Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project Figure 5-16: Adding Axis_Internal Parameter 5. Set the Axis_Input parameter to the input data of the axis for which you are setting up communication (Figure ‎ 5 -18: Axis Communication Input). Double click the "?". A drop down box will appear. Select the input data tag that corresponds to the “ETHERNET-MODULE”...

  • Page 24: Reading And Writing Drive Parameters

    Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project Figure 5-18: Axis Communication Output 7. Once you have configured the drive communication block, you should be able to use any of the other AKD Add-On instructions as you would the native RSLogix instructions.
  • Page 25 Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project Field Value Attribute Destination Create a tag to hold the value Communication > Path Name of the ETHERNET-MODULE for the AKD axis. Use the Browse button.

  • Page 26: Write Drive Parameter

    Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project Figure 5-20: Message Configuration | Communication 5.4.2 Write Drive Parameter To set a parameter, create a MSG instruction with the following settings: Field Value Message Type...
  • Page 27 Ethernet IP with RSLogix | 5   Adding AKD Support to a New or Existing Project Field Value Message Type CIP Generic Service Type Parameter Write Service Code 10 (Hex) Class f (Hex) Instance Parameter Instance from Appendix B Attribute Source Element Create a tag to hold the value.

  • Page 28: Akd Instructions

    MSG instruction is used in RSLogix for sending Explicit Messages. Only one AKD add-on instruction can be enabled at a time in your project. The add-on instructions write to the same data structure (the Command Assembly) to set control bits and command motion. Trying to enable or execute two add-on instructions at one time would create a conflict for the control of the communication channel.

  • Page 29: Changes To Axis Status Bits

    Ethernet IP with RSLogix | 6   AKD Instructions Condition Ladder Diagram Action Instruction execution Read response message and send command message to axis. 6.1.5 Changes to Axis Status Bits Bit Name Meaning All axis status bits are updated from drive.

  • Page 30: Motion Axis On (Akd_Enable)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.2 Motion Axis On (AKD_Enable) 6.2.1 Description The Motion Axis On (AKD_Enable) instruction directly activates the drive and enables the configured servo loops associated with a physical servo axis. It can be used anywhere in a program. Corresponds to the MSO instruction in Rockwell drives.

  • Page 31: Changes To Axis Status Bits

    Ethernet IP with RSLogix | 6   AKD Instructions Condition Ladder Diagram Action Instruction Set enable bit in the command message to the drive if the drive does not have any faults. execution Then, set the done bit when the enabled response is returned. If the drive has a general fault or there is a communication timeout, set the error bit.

  • Page 32: Motion Axis Off (Akd_Disable)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.3 Motion Axis Off (AKD_Disable) 6.3.1 Description The Motion Axis Off (AKD_Disable) instruction directly and immediately turns off drive output and disables the servo loop on any physical servo axis. This places the axis in the Disabled state. The AKD_Disable instruction also disables any motions that may be active at the time of execution.

  • Page 33: Changes To Axis Status Bits

    The Motion Axis Home (AKD_Home) instruction triggers the axis to home using the currently configured hom- ing mode. See the AKD user manual for homing modes and setting instructions. This command triggers the drive to start the procedure and monitors for the process to complete. Similar to the MAH instruction in Rock- well drives.

  • Page 34: Execution

    Ethernet IP with RSLogix | 6   AKD Instructions Mnemonic Data Description Type .EnableIn BOOL The enable input bit indicates that the instruction is enabled. It remains set until the instruction completes and the rung-condition-in goes false. .EnableOut BOOL The enable output bit is the output of the enable input bit.

  • Page 35: Operands

    Ethernet IP with RSLogix | 6   AKD Instructions Use the motion axis jog (AKD_Jog) instruction to move the axis at a constant speed until you tell it to stop. Corresponds to the MAJ instruction in Rockwell drives. Drive must be enabled and in velocity or position mode in order to execute this instruction. A general status bit can be used to test if the jog motion is in progress.

  • Page 36: Changes To Axis Status Bits

    Ethernet IP with RSLogix | 6   AKD Instructions Condition Ladder Diagram Action Instruction Send smooth stop to axis. Set the in progress bit to indicate that the command has initiated execution successfully and command is running. Set the done bit when the axis has stopped moving. If a general fault occurs, set the error bit.

  • Page 37: Motion Axis Move (Akd_Move)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.6 Motion Axis Move (AKD_Move) 6.6.1 Description Use the motion axis move (AKD_Move) instruction to move an axis to a specified relative or absolute pos- ition. Corresponds to the MAM instruction in Rockwell drives.

  • Page 38: Programming Guidelines

    6.6.5 Choosing a Move Type See the AKD User Guide for more information on position move types. 6.6.6 Execution Condition Ladder Diagram Action Prescan Initialize variables and clear timeout.

  • Page 39: Description

    Ethernet IP with RSLogix | 6   AKD Instructions 6.7 Motion Axis Set Home Mode (AKD_Set_Home_Mode) 6.7.1 Description Use the motion axis set home mode (AKD_Set_Home_Mode) instruction to set the homing mode used by the drive when the AKD_Home command is called.

  • Page 40: Akd_Set_Home_Mode Structure

    (Done) .ER (Error) BOOL The error bit indicates if the instruction detects an error. 6.7.4 Homing Modes See the AKD User Manual for a full description of each homing mode. This value corresponds to the drive parameter HOME.MODE. 6.7.5 Execution...

  • Page 41: Motion Axis Set Acceleration (Akd_Set_Accel)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.8 Motion Axis Set Acceleration (AKD_Set_Accel) 6.8.1 Description Use the motion axis set acceleration (AKD_Set_Accel) instruction to set the axis acceleration parameter used with axis moves. The AKD_Set_Accel instruction execution may take multiple scans to execute because it requires trans- mission of a message to the motion module.

  • Page 42: Changes To Axis Status Bits

    Ethernet IP with RSLogix | 6   AKD Instructions 6.8.5 Changes to Axis Status Bits Bit Name State Meaning (none) 42 Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 43: Motion Axis Set Deceleration (Akd_Set_Decel)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.9 Motion Axis Set Deceleration (AKD_Set_Decel) 6.9.1 Description Use the motion axis set deceleration (AKD_Set_Decel) instruction to set the axis deceleration parameter used with axis moves. The AKD_Set_Decel instruction execution may take multiple scans to execute because it requires trans- mission of a message to the motion module.

  • Page 44: Changes To Axis Bits

    Ethernet IP with RSLogix | 6   AKD Instructions 6.9.5 Changes to Axis Bits Bit Name State Meaning (none) 44 Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 45: Motion Axis Set Mode (Akd_Set_Mode)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.10 Motion Axis Set Mode (AKD_Set_Mode) 6.10.1 Description Use the motion axis set mode (AKD_Set_Mode) instruction to set the operation mode for the axis’ servo loop control. The AKD_Set_Mode instruction execution may take multiple scans to execute because it requires trans- mission of a message to the motion module.

  • Page 46: Execution

    Ethernet IP with RSLogix | 6   AKD Instructions Mode Description Velocity (1) Axis will operate to match current velocity to target velocity. Torque (2) Axis will operate to match current torque to target torque. 6.10.5 Execution Condition Ladder Diagram Action Prescan Initialize variables and clear timeout.

  • Page 47: Motion Axis Set Position (Akd_Set_Position)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.11 Motion Axis Set Position (AKD_Set_Position) 6.11.1 Description Use the motion axis set position (AKD_Set_Position) instruction to set an axis’ position target for the servo position control mode loop. The AKD_Set_Position instruction initiates axis motion the same as the AKD_Move instruction. It is recom- mended to use AKD_Set_Position instruction only for updating the target position of a move already in pro- gress or for repeating the previous move with a new target position.

  • Page 48: Execution

    Ethernet IP with RSLogix | 6   AKD Instructions Mnemonic Data Description Type .ER (Error) BOOL The error bit indicates if the instruction detects an error. 6.11.4 Execution Condition Ladder Diagram Action Prescan Initialize variables and clear timeout. Rung-con- Initialize variables and clear timeout.

  • Page 49: Motion Axis Set Velocity (Akd_Set_Velocity)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.12 Motion Axis Set Velocity (AKD_Set_Velocity) 6.12.1 Description Use the motion axis set velocity (AKD_Set_Velocity) instruction to set an axis’ velocity setpoint for the servo control loop. The AKD_Set_Velocity instruction initiates axis motion the same as the AKD_Jog instruction, when in velo- city mode.

  • Page 50: Changes To Axis Status Bits

    Ethernet IP with RSLogix | 6   AKD Instructions Condition Ladder Diagram Action Prescan Initialize variables and clear timeout. Rung-con- Initialize variables and clear timeout. dition-in is false Instruction Reset done and error bits and send velocity command when instruction is enabled. Set done execution bit when axis command response received.

  • Page 51: Motion Axis Shutdown (Akd_Shutdown)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.13 Motion Axis Shutdown (AKD_Shutdown) 6.13.0.1 Description The motion axis shutdown (AKD_Shutdown) instruction executes a controlled stop, then disables the servo loop, disables drive output, and places the axis into the Shutdown state. This instruction is also referred to as a hard stop.

  • Page 52: Changes To Axis Status Bits

    Ethernet IP with RSLogix | 6   AKD Instructions Condition Ladder Diagram Action rung-condition- Clears hard stop command. in is false instruction exe- Send hard stop command when instruction is enabled. Set done bit when profile in pro- cution gress is cleared. If a general fault occurs set the error bit.

  • Page 53: Motion Axis Shutdown Reset (Akd_Shutdown_Reset)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.14 Motion Axis Shutdown Reset (AKD_Shutdown_Reset) 6.14.1 Description Use the motion axis shutdown reset (AKD_Shutdown_Reset) instruction to transition an axis from the Shut- down state to the Disabled ready state. All faults associated with the specified axis are automatically cleared.

  • Page 54: Changes To Axis Status Bits

    Ethernet IP with RSLogix | 6   AKD Instructions 6.14.5 Changes to Axis Status Bits Bit Name State Meaning General_Fault False No general fault is present. Enable False Axis is disabled. FE_Fault False No following error fault is present. Block_Fault False No block execution fault is present.

  • Page 55: Motion Axis Smooth Stop (Akd_Stop_Smooth)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.15 Motion Axis Smooth Stop (AKD_Stop_Smooth) 6.15.1 Description Use the motion axis smooth stop (AKD_Stop_Smooth) instruction to end any controlled motion in process for the axis with a decelerated stop. The instruction stops the motion without disabling the servo loop. This com- mand defaults to stop at the deceleration rate set for the current motion.

  • Page 56: Changes To Axis Status Bits

    Ethernet IP with RSLogix | 6   AKD Instructions Condition Ladder Diagram Action Instruction exe- Send smooth stop to axis. Set done bit when axis command is sent. If a general fault cution occurs, set the error bit. 6.15.5 Changes to Axis Status Bits...

  • Page 57: Motion Axis Get Position Controller Attribute (Akd_Get_Attribute)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.16 Motion Axis Get Position Controller Attribute (AKD_Get_Attribute) 6.16.1 Description Use the motion axis get attribute (AKD_Get_Attribute) instruction to query a Position Controller attribute from an axis. This instruction provides quick access to a special set of drive parameters which can always be accessed in one communication cycle.

  • Page 58: Changes To Axis Status Bits

    Ethernet IP with RSLogix | 6   AKD Instructions Condition Ladder Diagram Action Rung-con- Initialize variables and clear timeout. dition-in is false Instruction Send command to axis to request value. Set done bit and copy response to attribute value execution output when axis response is received. If a general fault or timeout occurs, set the error bit.

  • Page 59: Motion Axis Get Parameter (Akd_Get_Parameter)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.17 Motion Axis Get Parameter (AKD_Get_Parameter) 6.17.1 Description Use the motion axis get parameter (AKD_Get_Parameter) instruction to query a drive parameter from an axis. The length of time to return the value is highly dependent on the particular parameter. The value will be latched when the instruction is done.

  • Page 60: Changes To Axis Status Bits

    Ethernet IP with RSLogix | 6   AKD Instructions 6.17.5 Changes to Axis Status Bits Bit Name State Meaning (none) 60 Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 61: Motion Axis Set Position Controller Attribute (Akd_Set_Attribute)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.18 Motion Axis Set Position Controller Attribute (AKD_Set_Attribute) 6.18.1 Description Use the motion axis set attribute (AKD_Set_Attribute) instruction to set a Position Controller attribute for an axis. This instruction provides quick access to a special set of drive parameters which can always be set in one communication cycle.
  • Page 62 Ethernet IP with RSLogix | 6   AKD Instructions Bit Name State Meaning (none) 62 Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 63: Motion Axis Set Parameter (Akd_Set_Parameter)

    Use the motion axis set parameter (AKD_Set_Parameter) instruction to modify a drive parameter or execute a drive command on an axis. The time required to execute the command is highly dependent on the particular parameter. See Appendix B: AKD Parameters for a list of available parameters and numbering. 6.19.2 Operands...
  • Page 64 Ethernet IP with RSLogix | 6   AKD Instructions Bit Name State Meaning (none) 64 Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 65: Motion Axis Set Units (Akd_Set_Units)

    Use the motion axis set units (AKD_Set_Units) instruction to set the current unit system used on an axis. At the moment, only mode 0 (EIP.POSUNIT=65536 and EIP.PROFUNIT=65536) is available. These scaling values can also be modified directly through EtherNet/IP or Workbench. See the AKD EtherNet/IP User Manual for more information about unit scaling.
  • Page 66 Ethernet IP with RSLogix | 6   AKD Instructions Bit Name State Meaning (none) 66 Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 67: Motion Axis Torque (Akd_Torque_Move)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.21 Motion Axis Torque (AKD_Torque_Move) 6.21.1 Description Use the AKD_Torque_Move instruction to move an axis at a constant torque without regard to position. Drive must be enabled and in torque mode in order to execute this instruction.

  • Page 68: Changes To Axis Status Bits

    Ethernet IP with RSLogix | 6   AKD Instructions Condition Ladder Diagram Action Pre-scan Initialize variables and clear timeout. Rung-con- Reset in progress bit when axis profile is no longer in progress. dition-in is false Instruction Reset done and error bits, then set torque. Start move and set the done bit to indicate com- execution mand has been loaded to the drive.

  • Page 69: Fault Reset (Akd_Fault_Reset)

    Ethernet IP with RSLogix | 6   AKD Instructions 6.22 Fault Reset (AKD_Fault_Reset) 6.22.1 Description This instruction will attempt to clear faults. The drive must be disabled before executing this instruction. In most cases, AKD_Shutdown_Reset should be used instead, as it disables the drive and checks that faults have been cleared successfully.

  • Page 70: Changes To Axis Status Bits

    Ethernet IP with RSLogix | 6   AKD Instructions Condition Ladder Diagram Action Rung-con- Reset in progress bit when axis profile is no longer in progress. dition-in is false Instruction Enable the instruction to initiate the clearing of faults. If a fault condition remains, or the execution drive is enabled, faults will still be reported when the instruction completes.

  • Page 71: Troubleshooting

    7.2 .ER (Error) bit .ER (Error) Bit is set on an AKD add-on instruction if the instruction detects an error. Potential sources of error are: Unconfigured axis was specified...

  • Page 72: Akd Fault

    Ethernet IP with RSLogix | 7   Troubleshooting Refer to Chapter 5 for valid operand values. For specific AKD pararmeters, data size and data type are shown in Appendix B. Further information on and descriptions of AKD parameters can be found in Workbench Help section.

  • Page 73: Appendix A: Supported Ethernet/Ip Objects And Attributes

    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.

  • Page 74: Appendix B: Parameter Listing

    9 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 75 2 Byte Integer DIN1.PARAM 8 Byte Signed (truncated to 4 Byte Signed) Varies DIN1.STATE 1 Byte Integer DIN2.INV 1 Byte Integer DIN2.MODE 2 Byte Integer DIN2.PARAM 8 Byte Signed (truncated to 4 Byte Signed) Varies Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 76 DOUT1.STATEU 1 Byte Integer DOUT2.MODE 1 Byte Integer DOUT2.PARAM 4 Byte Signed Float DOUT2.STATE 1 Byte Integer DOUT2.STATEU 1 Byte Integer DRV.ACC 8 Byte (truncated to 4 Byte) Acceleration DRV.ACTIVE 1 Byte Integer 76 Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 77 1 Byte Integer FB1.BISSBITS 1 Byte Integer FB1.ENCRES 4 Byte Integer FB1.IDENTIFIED 1 Byte Integer FB1.INITSIGNED 1 Byte Signed Integer FB1.MECHPOS 4 Byte Integer FB1.OFFSET 8 Byte Signed (truncated to 4 Byte Signed) Position Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 78 8 Byte (truncated to 4 Byte) Acceleration HOME.AUTOMOVE 1 Byte Integer HOME.DEC 8 Byte (truncated to 4 Byte) Acceleration HOME.DIR 2 Byte Integer HOME.DIST 8 Byte Signed (truncated to 4 Byte Signed) Position 78 Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 79 4 Byte Signed Float IL.LIMITP 4 Byte Signed Float IL.MFOLDD 4 Byte Float IL.MFOLDR 4 Byte Float IL.MFOLDT 4 Byte Float IL.MIFOLD 4 Byte Float IL.OFFSET 4 Byte Signed Float IL.VCMD 2 Byte Signed Integer Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 80 Integer MT.CNTL 4 Byte Integer MT.CONTINUE Command None MT.DEC 8 Byte (truncated to 4 Byte) Acceleration MT.EMERGMT 2 Byte Signed Integer MT.LOAD Command None MT.MOVE 2 Byte Command None MT.MTNEXT 1 Byte Integer 80 Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 81 8 Byte Signed (truncated to 4 Byte Signed) Position PLS.P6 8 Byte Signed (truncated to 4 Byte Signed) Position PLS.P7 8 Byte Signed (truncated to 4 Byte Signed) Position PLS.P8 8 Byte Signed (truncated to 4 Byte Signed) Position Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 82 REC.TRIGSLOPE 1 Byte Integer REC.TRIGTYPE 1 Byte Integer REC.TRIGVAL 8 Byte Signed (truncated to 4 Byte Signed) Varies REGEN.POWER 8 Byte (truncated to 4 Byte) Integer REGEN.REXT 2 Byte Integer REGEN.TEXT 4 Byte Float 82 Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 83 2 Byte Integer VBUS.RMSLIMIT 1 Byte Integer VBUS.UVFTHRESH 2 Byte Integer VBUS.UVMODE 1 Byte Integer 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 Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 84 VL.KO 4 Byte Float VL.KP 4 Byte Float VL.KVFF 4 Byte Float VL.LIMITN 8 Byte Signed (truncated to 4 Byte Signed) Velocity VL.LIMITP 8 Byte (truncated to 4 Byte)  Velocity VL.LMJR 4 Byte Float 84 Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 85 1 Byte Integer DRV.NVSAVE Command None MODBUS.DIO 4 Byte Integer MODBUS.DRV 4 Byte Integer MODBUS.DRVSTAT 4 Byte Integer MODBUS.HOME 4 Byte Integer MODBUS.MOTOR 4 Byte Integer MODBUS.MT 2 Byte Integer MODBUS.SM 4 Byte Integer Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 86 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 USER.INT13 4 Byte Signed Integer USER.INT14 4 Byte Signed Integer 86 Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 87 8 Byte Signed (truncated to 4 Byte Signed) Integer EXTENCODER.POSMODULO 8 Byte (truncated to 4 Byte) Integer MOVE.ACC 8 Byte (truncated to 4 Byte) None MOVE.DEC 8 Byte (truncated to 4 Byte) None MOVE.DIR 4 Byte Integer Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 88 8 Byte Signed (truncated to 4 Byte Signed) Integer WHEN.PLFB 8 Byte Signed (truncated to 4 Byte Signed) Integer MOVE.DWELLTIME 4 Byte Integer IL.MI2T 4 Byte Float AIN.DEADBANDMODE 2 Byte Integer AIN.MODE 1 Byte Integer 88 Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 89 4 Byte Signed Float AIN2.PSCALE 8 Byte (truncated to 4 Byte) Position AIN2.VALUE 4 Byte Float AIN2.VSCALE 8 Byte (truncated to 4 Byte) Velocity AIN2.ZERO Command None AOUT.CUTOFF 4 Byte Float AOUT2.CUTOFF 4 Byte Float Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 90 1 Byte Integer DIN24.FILTER 2 Byte Integer DIN24.INV 1 Byte Integer DIN24.MODE 2 Byte Integer DIN24.PARAM 8 Byte Signed (truncated to 4 Byte Signed) Varies DIN24.STATE 1 Byte Integer DIN25.FILTER 2 Byte Integer 90 Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 91 8 Byte Signed (truncated to 4 Byte Signed) Varies DIN30.STATE 1 Byte Integer DIN31.FILTER 2 Byte Integer DIN31.INV 1 Byte Integer DIN31.MODE 2 Byte Integer DIN31.PARAM 8 Byte Signed (truncated to 4 Byte Signed) Varies DIN31.STATE 1 Byte Integer Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 92 1 Byte Integer DOUT25.PARAM 4 Byte Signed Float DOUT25.STATE 1 Byte Integer DOUT25.STATEU 1 Byte Integer DOUT26.MODE 1 Byte Integer DOUT26.PARAM 4 Byte Signed Float DOUT26.STATE 1 Byte Integer DOUT26.STATEU 1 Byte Integer 92 Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 93 EIP.POSUNIT 4 Byte Integer EIP.PROFUNIT 4 Byte Integer FAULT139.ACTION 1 Byte Integer FB1.CALTHRESH 8 Byte (truncated to 4 Byte) Integer FB1.P 8 Byte Signed (truncated to 4 Byte Signed) Position FB1.PDIR 1 Byte Integer Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 94 None SD.SAVE Command None SD.STATUS 1 Byte Integer VL.FBUNFILTERED 8 Byte Signed (truncated to 4 Byte Signed) Velocity WS.DISARM Command None WS.FREQ 4 Byte Float WS.TDELAY4 2 Byte Integer WS.CHECKT 2 Byte Integer 94 Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 95 1 Byte Integer MOTOR.IMID 4 Byte Float WS.CHECKMODE 1 Byte Integer REGEN.POWERFILTERED 8 Byte (truncated to 4 Byte) Integer 8192 VBUS.VALUE 2 Byte Integer 8193 STATUS3 1 Byte Integer 8195 DIN.STATES 1 Byte Integer Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 96: Appendix C: Rslogix

    Ethernet IP with RSLogix | 10   Appendix C: RSLogix 500 10 Appendix C: RSLogix 500 10.1 PLC & Drive TCP/IP Settings 10.2 Read Explicit Message Setup 10.3 Write Explicit Message Setup 96 Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 97: Plc & Drive Tcp/Ip Settings

    This section contains instructions for setting the PLC and Drive TCP/IP. The following settings are recommended in the Channel Configuration window: As seen above, enabling HTTP server support is recommended, with DHCP disabled. The AKD address can also be set using its rotary switches. For instructions consult the AKD User Manual.
  • Page 98 Ethernet IP with RSLogix | 10   Appendix C: RSLogix 500 To setup a read explicit message, first create a MSG instruction, and set it to the following settings: Next click on the MultiHop tab and enter the drive's IP address as seen below: 98 Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 99: Write Explicit Message Setup

    Ethernet IP with RSLogix | 10   Appendix C: RSLogix 500 For 8 byte messages use two LONG data files (enter one and RSLogix will automatically use the second). 10.3 Write Explicit Message Setup Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 100: Kollmorgen | Kdn.kollmorgen.com | November

    In this case, the drive parameter is 8 bytes so the data to be written is in L9:0 (LSB) & L9:1 (MSB). To setup a write explicit message, first create a MSG instruction, and set it to the following settings: 100 Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 101 Ethernet IP with RSLogix | 10   Appendix C: RSLogix 500 Then click on the MultiHop tab and enter the drive's IP address as seen below: Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 102 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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