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Kollmorgen AKD Manual

Profinet rt communication
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AKD
PROFINET RT Communication
Edition: N, November 2018
Valid for firmware version 1.18
Part Number 903-200012-00
Original Documentation
For safe and proper use, follow
these instructions.
Keep them for future reference.

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  • Page 1 ® PROFINET RT Communication Edition: N, November 2018 Valid for firmware version 1.18 Part Number 903-200012-00 Original Documentation For safe and proper use, follow these instructions. Keep them for future reference.
  • Page 2 Technical changes which improve the performance of the device may be made without prior notice! 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

    AKD PROFINET | Table of Contents 1 Table of Contents 1 Table of Contents 2 General 2.1 About this Manual 2.2 Target Group 2.3 Symbols Used 2.4 Abbreviations Used 3 Installation and Setup 3.1 Important Instructions 3.2 PROFINET Onboard 3.2.1 LED Functions 3.2.2 Connection Technology...
  • Page 4 AKD PROFINET | Table of Contents 5.11 I/O Telegrams 5.11.1 Telegram 0 5.11.2 Standard Telegram 1 5.11.3 Standard Telegram 3 5.11.4 Standard Telegram 7 5.11.5 Standard Telegram 9 5.11.6 Manufacturer Specific Telegram 350 5.11.7 Manufacturer Specific Telegram 351 5.11.8 Manufacturer Specific Telegram 352 5.11.9 Manufacturer Specific Telegram 353...

  • Page 5: General

    AKD PROFINET | 2 General 2 General 2.1 About this Manual 2.2 Target Group 2.3 Symbols Used 2.4 Abbreviations Used Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 6: About This Manual

    AKD Installation Manual This manual provides instructions for installation and drive setup. AKD User Guide. This manual describes how to use your drive in common applications. It also provides tips for maximizing your system performance with the AKD. The User Guide includes the Parameter and Command Reference Guide which provides doc- umentation for the parameters and commands used to program the AKD.

  • Page 7: Symbols Used

    AKD PROFINET | 2 General 2.3 Symbols Used Symbol Indication Indicates a hazardous situation which, if not avoided, will res- DANGER ult in death or serious injury. Indicates a hazardous situation which, if not avoided, could res- WARNING ult in death or serious injury.

  • Page 8: Installation And Setup

    AKD PROFINET | 3 Installation and Setup 3 Installation and Setup 3.1 Important 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 | kdn.kollmorgen.com | November 2018...

  • Page 9: Important Instructions

    AKD PROFINET | 3 Installation and Setup 3.1 Important Instructions DANGER High Voltage up to 900V! There is a danger of electrical arcing with damage to contacts and serious personal injury. Never undo any electrical connections to the drive while it is live.

  • Page 10: Profinet Onboard

    Master directly or via a network switch, while the supply to the equipment is switched off. 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 elec- trical connection.

  • Page 11: Guide To Setup

    AKD PROFINET | 3 Installation and Setup 3.3 Guide to Setup Only professional personnel with extensive knowledge of control and drive technology are allowed to setup the drive. WARNING Automatic Restart! Risk of death or serious injury for humans working in the machine. Drives with PROFINET are remote-controlled machines.

  • Page 12: 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 13 You will usually see a status message that indicates that the change was successful and the AKD display will show the new address. If you receive a failure message, make sure that no IO connection is currently running, then retry the address or name change.

  • Page 14: Dependency Service Channel (Workbench) And Profinet

    User Guide for details on the mode you would like to use. 3.4.2 Reset of IP Address Parameters If the AKD can not be found in the network, as a last resort, reset all IP address parameters to their default values.

  • Page 15: Setup Step

    AKD PROFINET | 3 Installation and Setup 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 16 5. The AKD GSDML file is installed now and can be found in the SIMATIC hardware cata- log. 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 | kdn.kollmorgen.com | November 2018...
  • Page 17 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 con- figure the update time. Click OK for closing this window.

  • Page 18: Parameter Configuration With Profidrive Over Profinet Io

    Each module a functional component, which for example can be a digital 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.

  • Page 19: Parameter Configuration

    AKD PROFINET | 3 Installation and Setup 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 Response ID...

  • Page 20: 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 Ref. mirrored: e.g. 5 0x02 Response ID: Change parameters 0x00 Axis: 0 (the AKD parameter manager)

  • Page 21: Profinet Io

    AKD PROFINET | 4 PROFINET IO 4 PROFINET IO 4.1 Introduction 4.2 Restrictions and Requirements Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 22: Introduction

    AKD can be connected as an I/O device on the PROFINET network in two manners: 1. As the last node in the network (since AKD has only one connector) in a line topology 2. As another node on the network in star topology (using a switch) 4.2.5 Modbus...

  • Page 23: Profidrive Over Profinet Io

    AKD PROFINET | 5 PROFIDRIVE over PROFINET IO 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...

  • Page 24: 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 nat- urally not all optional functionality. This chapter describes the supported optional elements.

  • Page 25: Akd As Drive Object (Do)

    The alarm queue is used for signaling the master an exception situations, which are gen- erated 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 supported by the AKD.

  • Page 26: General State Machine

    AKD PROFINET | 5 PROFIDRIVE over PROFINET IO 5.3 General State Machine Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 27: Control Word Bits (Stw1)

    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 28 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO In position mode: STW1 Special bits (Position mode) Bit Num- Name Description Do Not Reject Travers- A traversing task is activated using the positive sig- ing Task nal edge at bit 6.

  • Page 29: Status Word Bits (Zsw1)

    AKD PROFINET | 5 PROFIDRIVE over PROFINET IO 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 imple- mented.

  • Page 30: Supported Pnu's

    AKD PROFINET | 5 PROFIDRIVE over PROFINET IO 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"...
  • Page 31 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Supported Formats: Format Data Type 0x41 Byte 0x42 Word 0x43 Dword Supported AKD PNUs Parameter Index Attributes AIN.CUTOFF 2000 DWord, AIN.DEADBAND 2001 Word, AIN.ISCALE 2002 DWord, AIN.OFFSET 2003 Word, Signed, AIN.PSCALE 2004 DWord, Signed, AIN.VALUE...
  • Page 32 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes CAP1.MODE 2044 Byte, CAP1.PLFB 2045 DWord, Signed, CAP1.PREEDGE 2047 Byte, CAP1.PREFILTER 2048 Byte, CAP1.PRESELECT 2049 Byte, CAP1.STATE 2050 Byte, CAP1.T 2051 DWord, CAP1.TRIGGER 2052 Byte, CS.DEC 2053 DWord, CS.STATE 2055 Byte, CS.TO...
  • Page 33 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes DOUT1.STATE 2101 Byte, DOUT1.STATEU 2102 Byte, DOUT2.MODE 2103 Byte, DOUT2.PARAM 2104 DWord, Signed, DOUT2.STATE 2106 Byte, DOUT2.STATEU 2107 Byte, DRV.ACC 2108 DWord, DRV.ACTIVE 2110 Byte, DRV.CLRFAULTHIST 2111 Command, DRV.CLRFAULTS 2112 Command, DRV.CMDSOURCE...
  • Page 34 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes FB1.POLES 2151 Word, FB1.PSCALE 2152 Byte, FB1.RESKTR 2153 Word, FB1.RESREFPHASE 2154 DWord, Signed, FB1.SELECT 2155 Byte, Signed, FB1.TRACKINGCAL 2156 Byte, FBUS.PARAM01 2157 DWord, FBUS.PARAM02 2158 DWord, FBUS.PARAM03 2159 DWord, FBUS.PARAM04...
  • Page 35 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes IL.FF 2217 DWord, IL.FOLDFTHRESH 2218 DWord, IL.FOLDFTHRESHU 2219 DWord, Signed, IL.FOLDWTHRESH 2220 DWord, Signed, IL.FRICTION 2221 DWord, IL.IFOLD 2222 DWord, IL.IUFB 2223 DWord, Signed, IL.IVFB 2224 DWord, Signed, IL.KACCFF 2225 DWord, Signed, IL.KBUSFF...
  • Page 36 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes MOTOR.VOLTMAX 2262 Word, MT.ACC 2263 DWord, MT.CLEAR 2265 Word, Signed, MT.CNTL 2266 DWord, MT.CONTINUE 2267 Command, MT.DEC 2268 DWord, MT.EMERGMT 2270 Word, Signed, MT.LOAD 2271 Command, MT.MOVE 2272 Word, MT.MTNEXT...
  • Page 37 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes PLS.STATE 2328 Word, PLS.T1 2329 Word, PLS.T2 2330 Word, PLS.T3 2331 Word, PLS.T4 2332 Word, PLS.T5 2333 Word, PLS.T6 2334 Word, PLS.T7 2335 Word, PLS.T8 2336 Word, PLS.UNITS 2337 Byte, PLS.WIDTH1...
  • Page 38 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes SWLS.LIMIT1 2385 DWord, Signed, SWLS.STATE 2387 Word, UNIT.ACCLINEAR 2388 Byte, UNIT.ACCROTARY 2389 Byte, UNIT.PIN 2390 DWord, UNIT.PLINEAR 2391 Byte, UNIT.POUT 2392 DWord, UNIT.PROTARY 2393 Byte, UNIT.VLINEAR 2394 Byte, UNIT.VROTARY 2395 Byte, VBUS.OVFTHRESH...
  • Page 39 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes VL.GENMODE 2432 Word, VL.KBUSFF 2433 DWord, VL.KI 2434 DWord, VL.KO 2435 DWord, VL.KP 2436 DWord, VL.KVFF 2437 DWord, VL.LIMITN_32 2438 DWord, Signed, VL.LIMITP_32 2439 DWord, VL.LMJR 2440 DWord, VL.MODEL_32 2441 DWord, Signed, VL.OBSBW...
  • Page 40 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes DRV.FAULT3 2479 Word, DRV.FAULT4 2480 Word, DRV.FAULT5 2481 Word, DRV.FAULT6 2482 Word, DRV.FAULT7 2483 Word, DRV.FAULT8 2484 Word, DRV.FAULT9 2485 Word, DRV.FAULT10 2486 Word, MODBUS.PIN 2487 DWord, MODBUS.POUT 2488 DWord, MODBUS.PSCALE...
  • Page 41 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes DRV.EMUECHECKSPEED 2526 Byte, DRV.HWENABLE 2527 Byte, IL.MI2T 2592 DWord, AIN.DEADBANDMODE 2593 Word, AIN.MODE 2594 Byte, DIO10.DIR 2595 Byte, DIO10.INV 2596 Byte, DIO11.DIR 2597 Byte, DIO11.INV 2598 Byte, DIO9.DIR 2599 Byte, DIO9.INV...
  • Page 42 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes AOUT2.VSCALE 2646 DWord, BODE.IFLIMIT 2648 DWord, Signed, BODE.IFTHRESH 2649 DWord, Signed, BODE.VFLIMIT 2650 DWord, Signed, BODE.VFTHRESH 2651 DWord, Signed, DIN10.STATE 2653 Byte, DIN11.STATE 2654 Byte, DIN21.FILTER 2655 Word, DIN21.INV 2656 Byte, DIN21.MODE...
  • Page 43 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes DIN28.PARAM 2700 DWord, Signed, DIN28.STATE 2702 Byte, DIN29.FILTER 2703 Word, DIN29.INV 2704 Byte, DIN29.MODE 2705 Word, DIN29.PARAM 2706 DWord, Signed, DIN29.STATE 2708 Byte, DIN30.FILTER 2709 Word, DIN30.INV 2710 Byte, DIN30.MODE...
  • Page 44 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes DOUT25.STATE 2755 Byte, DOUT25.STATEU 2756 Byte, DOUT26.MODE 2757 Byte, DOUT26.PARAM 2758 DWord, Signed, DOUT26.STATE 2760 Byte, DOUT26.STATEU 2761 Byte, DOUT27.MODE 2762 Byte, DOUT27.PARAM 2763 DWord, Signed, DOUT27.STATE 2765 Byte, DOUT27.STATEU...
  • Page 45 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes FB2.POUT 2821 DWord, FB2.PUNIT 2822 DWord, FB3.P 2823 DWord, Signed, FB3.PDIR 2825 Byte, FB3.PIN 2826 DWord, FB3.POFFSET 2827 DWord, Signed, FB3.POUT 2829 DWord, FB3.PUNIT 2830 DWord, HOME.MAXDIST 2831 DWord, Signed, IL.DIFOLD...
  • Page 46 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes CAP0.FBSOURCE 2883 Byte, CAP1.FBSOURCE 2884 Byte, FB1.INITPSAVED 2885 DWord, Signed, FB1.INITPWINDOW 2887 DWord, FB1.INITPSTATUS 2889 Byte, FB1.LASTIDENTIFIED 2890 Byte, DRV.MOTIONDISSOURCES 2891 Word, MOTOR.LDLL 2892 DWord, MOTOR.LISAT 2893 DWord, MOTOR.IDMAX 2894 DWord, MOTOR.PHSADVK1...
  • Page 47 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO Parameter Index Attributes CMP1.ADVANCE 2946 DWord, Signed, SFD.DIAGMODE 2947 Byte, SFD.ADDR 2948 DWord, SFD.WRITEENABLE 2950 Byte, SFD.SECTORERASE 2951 Command, DOUT9.MODE 2952 Byte, DOUT9.PARAM 2953 DWord, Signed, DOUT10.MODE 2955 Byte, DOUT10.PARAM 2956 DWord, Signed, DOUT11.MODE...

  • Page 48: Signals

    DRV_DEC DRV_DEC *Attention: The PROFIdrive signals are not mapped 1:1 to the AKD signals. The unit con- version for PROFIdrive needs to be used. Either the predefined standard telegrams can be used for accessing the signals or a free map- ping can be used with telegram 0.

  • Page 49: Drive Inputs Signal

    AKD PROFINET | 5 PROFIDRIVE over PROFINET IO 5.8.1 Drive Inputs Signal The DRIVE_INPUTS signal can be used to map and combine several AKD commands into one signal. Bit number Description AKD command Negative software limit switch SWLS.STATE Bit 0 Positive software limit switch SWLS.STATE Bit 1...

  • Page 50: Position Mode (Application Class 3)

    AKD PROFINET | 5 PROFIDRIVE over PROFINET IO 5.10 Position Mode (Application class 3) In this application class the Drive Object (DO) provides a closed position control loop with its own position interpolation. The motion tasks, which are configured by MT parameters in AKD, can be accessed.

  • Page 51: Submode „Manual Data Input (Mdi)

    AKD PROFINET | 5 PROFIDRIVE over PROFINET IO 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 52 AKD PROFINET | 5 PROFIDRIVE over PROFINET IO The extension of the state diagram for mdi mode: The activation of a new motion task (or traversing task), is done through a hand shake algorithm. After setting the “Activate traversing task” bit 6 in STW1, the signals MDI_ TARPOS, MDI_VELOCITY, MDI_ACC, MDI_DEC and MDI_MOD with their current values are loaded into the drive.

  • Page 53: Homing

    ZSW1 Bit 3 is set Mapping to AKD specific commands: An activation of the homing procedure via STW1 Bit 11 corresponds to the AKD specific com- mand HOME.MOVE. When the homing procedure is finished, the AKD set the bits 2 and bit 4 in DRV.MOTIONSTAT.

  • Page 54: I/O Telegrams

    AKD PROFINET | 5 PROFIDRIVE over PROFINET IO 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 55: Standard Telegram 9

    AKD PROFINET | 5 PROFIDRIVE over PROFINET IO IO Data Number Set point Actual values STW1 ZSW1 SATZANW AKTSATZ 5.11.5 Standard Telegram 9 Typically used for application class 3 (position mode). A motion task can be directly con- figured via IO data.

  • Page 56: Manufacturer Specific Telegram 350

    AKD PROFINET | 5 PROFIDRIVE over PROFINET IO 5.11.6 Manufacturer Specific Telegram 350 Telegram 350 is typically used for application class 1 (velocity mode). Additonally to telegram 1 the actual current value can be monitored in the IO data. IO Data number Set point...

  • Page 57: Manufacturer Specific Telegram 353

    AKD PROFINET | 5 PROFIDRIVE over PROFINET IO 5.11.9 Manufacturer Specific Telegram 353 IO Data Number Set point Actual values STW1 ZSW1 SATZANW AKTSATZ STW2 ZSW2 MDI_TARPOS XIST_A XIST_A MDI_VELOCITY MDI_ACC MDI_DEC MDI_MOD HOME_DIST HOME_MODE 5.11.10 Manufacturer Specific Telegram 354 Telegram 354 is typically used for application class 1 (velocity mode).

  • Page 58: Units

    (2^14 = 100%). The AKD’s 100% is the maximum current of the AKD hence DRV.IPEAK. Thus current units are 2^14 = DRV.IPEAK. Example: for 3 A AKD, if the S7 reads a current value of -182 Arms in the cyclic channel from the AKD, it will need to execute the conversion (9 / 2^14) * (-182) = -0.1 Arms...

  • Page 59: Alarms

    0: No fault is triggered if the PROFINET master changes states from RUN to STOP. PN.STW1: Returns the control word (signal STW1) written by the PROFINET master. PN.ZSW1: Returns the status word (signal ZSW1) sent by the AKD to the PROFINET mas- ter.

  • Page 60: Pn Parameters

    AKD PROFINET | 6 PN Parameters 6 PN Parameters This section describes thePN (Profinet) parameters. 6.1 PN.ACCSCALING 6.2 PN.POSSCALE 6.3 PN.STW1 6.4 PN.TIMEOUTFTHRESH 6.5 PN.VELSCALING 6.6 PN.ZSW1 Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 61: Pn.accscaling

    AKD PROFINET | 6 PN Parameters 6.1 PN.ACCSCALING Description This parameter sets scaling for Profinet signals Jog Acc (PNU 1006), Jog Dec (PNU 1007), DRV_DEC (PNU 108), and DRV_ACC (PNU 109). No other parameters or PNUs are affected by this parameter.

  • Page 62: Pn.posscale

    AKD PROFINET | 6 PN Parameters 6.2 PN.POSSCALE Description This parameter sets scaling for PNUs in Profinet which have an index greater than 2000, have the data type float, and are dependent on the position scaling parameters UNIT.PLINEAR or UNIT.PROTARY.

  • Page 63: Pn.timeoutfthresh

    AKD PROFINET | 6 PN Parameters Type R/O Parameter Description Returns the actual value of the PROFIdrive control word requested by the PROFINET master. Units Range 1 to 65,535 Default Value Data Type Integer Start Ver- M_01-13-00-000 sion Variants Supported...

  • Page 64: Pn.velscaling

    AKD PROFINET | 6 PN Parameters Variant Supported AKD Base AKD with Position Indexer AKD EtherCAT AKD CANopen AKD BASIC AKD SynqNet AKD EtherNet/IP AKD Profinet AKD sercos ® III AKD-N AKD-C Fieldbus Information Fieldbus Address Attributes Signed? Profinet 3022...

  • Page 65: Pn.zsw1

    AKD PROFINET | 6 PN Parameters Variants Supported Variant Supported AKD Base AKD with Position Indexer AKD EtherCAT AKD CANopen AKD BASIC AKD SynqNet AKD EtherNet/IP AKD Profinet AKD sercos ® III AKD-N AKD-C Fieldbus Information Fieldbus Address Attributes Signed?
  • Page 66 AKD PROFINET | 6 PN Parameters Variant Supported AKD sercos ® III AKD-N AKD-C Related Parameters PN.STW1 (➜ p. 62) Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 67: Sample Projects

    AKD PROFINET | 7 Sample Projects 7 Sample Projects 7.1 Sample S7 Project Kollmorgen | kdn.kollmorgen.com | November 2018...

  • Page 68: Sample S7 Project

    OB82, which catches the diagnostic alarms. Two variable tables are included TG1_IO_DATA can be used to control easily the IO data between the plc and the AKD PARAMETER_ACCESS table is used for read/write PNU’s via PROFINET In the hardware manager, you can see the following setup :...

  • Page 69: 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 70: Enable The Drive And Run In Velocity Mode

    AKD PROFINET | 7 Sample Projects 7.1.4 Enable the Drive and Run in Velocity Mode The general state machine of the PROFIdrive ("General State Machine" (➜ p. 26)) needs to be toggled to enable the drive. You can find in the variable table “TG1_IO_DATA” all neces- sary input and output parameters described bit-wise.

  • Page 71: Troubleshooting

    1. Create a subnet for your Profinet network and use a Profinet switch 2. Reduce the runtime of your PLC program 3. Increase the watchdog time for a communication timeout in the AKD Profinet slave. Or if you have WorkBench running, disable device discovery to decrease the communication load.

  • Page 72: Record Of Document Revisions

    AKD PROFINET | 9 Record of Document Revisions 9 Record of Document Revisions Revision Remarks A, 10/2011 Launch version B, 03/2012 Jog mode added, mdi submode description extended C, 08/2012 Manufacturer specific telegram 351 D, 05/2013 Corrections, formatting acc. to 82079 E, 12/2013 Added bit 14 for position mode in Status Word Bits (ZSW1) (➜...

  • Page 73: Index

    AKD PROFINET | 10 Index 10 Index Units Abbreviations Control word Document Revisions Drive Object Fault General State Machine GSDML I/O Telegrams Parameter Configuration Position Mode PROFIDRIVE PROFINET Hardware Setup Step 7 Signals Status word Submode „Manual data input (MDI)“...

  • Page 74: Kollmorgen | Kdn.kollmorgen.com | November

    AKD PROFINET | 10 Index This page intentionally left blank. Kollmorgen | kdn.kollmorgen.com | November 2018...
  • Page 75 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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