Kollmorgen AKD Series User Manual
  1. Manuals
  2. Brands
  3. Kollmorgen Manuals
  4. DC Drives
  5. AKD series
  6. User manual

Kollmorgen AKD Series User Manual

Hide thumbs Also See for AKD Series:
1
2
Table Of Contents
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
Table of Contents

Advertisement

Quick Links

Download this manual See also: Training Manual, Installation Manual
AKD™
User Guide
Edition: Revision B, December 2010
Valid for Hardware Revision A
Part Number: 903-200006-00
Patents Pending
Original Instructions
Keep all manuals as a product component
during the life span of the product.
Pass all manuals to future users/owners
of the product.

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the AKD Series and is the answer not in the manual?

Questions and answers

Related Manuals for Kollmorgen AKD Series

Summary of Contents for Kollmorgen AKD Series

  • Page 1 AKD™ User Guide Edition: Revision B, December 2010 Valid for Hardware Revision A Part Number: 903-200006-00 Patents Pending Original Instructions 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 distributed by electronic means without the written permission of Kollmorgen.

  • Page 3: Table Of Contents

    6.1.1 Online 6.1.2 Offline 6.2 AKD Overview 6.3 Online and Offline 6.3.1 Online Drive 6.3.2 Offline Drive 6.3.3 Switching Between Online and Offline 6.4 Watch 6.5 Settings 6.5.1 Navigation Tree 6.5.2 Settings View 7 Configuring Drive Power Kollmorgen | December 2010...
  • Page 4 Operation with Motor Brake End of Travel Limits Large Load Inertia or High Friction System 8.3.9.3 Using WS: Advanced Maximizing WS Reliability 8.3.9.4 Related Parameters 8.3.9.5 Troubleshooting WS 8.3.10 Commutation Alignment 8.4 Feedback 2 8.4.1 Encoder Emulation 8.4.1.1 Overview Kollmorgen | December 2010...
  • Page 5 Setting the Pre-Condition Select: (Terminal Command: CAP0.PRESELECT) 8.11.3 Related Parameters 9 Selecting Units for Your Application 9.1 Selecting Units 9.2 Units Example 9.2.1 Settings 9.2.2 Related Parameters 10 Configuring General Drive Settings 10.1 Digital Inputs and Outputs Kollmorgen | December 2010...
  • Page 6 10.9.5 Controlled Stop 10.9.6 More/Less Button 10.10 Controlled Stop 10.10.0.1 Related Parameters and Commands 10.10.1 Related topics: 10.11 Dynamic Braking 10.11.1 Drive Regeneration 10.11.1.1 AKD-x00306 to AKD-x00606 10.11.1.2 AKD-x01206 to AKD-x02406 and AKD-xzzz07 10.12 Emergency Stop Kollmorgen | December 2010...
  • Page 7 Homing Mode 3: Find Input Limit then Find Index Homing Mode 4: Find Home Input Homing Mode 5: Find Home Input then Find Zero Angle Homing Mode 6: Find Home Input then Find Index Homing Mode 7: Find Zero Angle Kollmorgen | December 2010...
  • Page 8 14.3.3.1 Using Manual Excitation Levels 14.3.3.2 Taking a Bode Measurement without Autotuning 14.3.4 Using the Autotuner: Advanced 14.3.4.1 Typical Cases for Advanced Autotuning Tuning Systems with Low-Frequency Resonances Tuning Systems with High-Frequency Resonances Tuning systems with noisy frequency responses Kollmorgen | December 2010...
  • Page 9 14.4.5.1 Shape Based Feedforward Tuning 14.4.6 Using Anti-Resonance Filters 14.4.6.1 Biquad Calculations 14.4.6.2 Common Uses Of Anti Resonance Filters 15 Scope 15.1 Overview 15.2 Using the Scope 15.2.1 Scope Channels Tab 15.2.1.1 Source Column 15.2.1.2 Color Column Kollmorgen | December 2010...
  • Page 10 19 Firmware and Firmware Updates 19.1 Downloading Firmware 19.2 Firmware Compatibility 19.3 Invalid Firmware 19.4 Forcing the drive into firmware download mode 19.5 Forced download of AKD firmware. Connection Diagrams 19.6 Connection Diagram, AKD-x00306 to x00606 19.7 Connection Diagram, AKD-x01206 Kollmorgen | December 2010...
  • Page 11 About the Parameter and Command Reference Guide Parameter and Command Naming Conventions Summary of Parameters and Commands AIN Parameters AIN.CUTOFF AIN.DEADBAND AIN.ISCALE AIN.OFFSET AIN.PSCALE AIN.VALUE AIN.VSCALE AIN.ZERO AIO Parameters AIO.ISCALE AIO.PSCALE AIO.VSCALE AOUT Parameters AOUT.DEBUGADDR AOUT.DEBUGSCALE Kollmorgen | December 2010...
  • Page 12 CAP0.PREEDGE, CAP1.PREEDGE CAP0.PREFILTER, CAP1.PREFILTER CAP0.PRESELECT, CAP1.PRESELECT CAP0.STATE, CAP1.STATE CAP0.T, CAP1.T CAP0.TRIGGER, CAP1.TRIGGER CS Parameters CS.DEC CS.STATE CS.TO CS.VTHRESH DIN Parameters DIN.ROTARY DIN.STATES DIN1.INV TO DIN7.INV DIN1.MODE TO DIN7.MODE DIN1.PARAM TO DIN7.PARAM DIN1.STATE TO DIN7.STATE DOUT Parameters DOUT.CTRL Kollmorgen | December 2010...
  • Page 13 DRV.CLRFAULTS DRV.CMDDELAY DRV.CMDSOURCE DRV.CRASHDUMP DRV.DBILIMIT DRV.DEC DRV.DIR DRV.DIS DRV.DISMODE DRV.DISSOURCES DRV.DISTO DRV.EMUEDIR DRV.EMUEMODE DRV.EMUEMTURN DRV.EMUERES DRV.EMUEZOFFSET DRV.EN DRV.ENDEFAULT DRV.FAULTHIST DRV.FAULTS DRV.HANDWHEEL DRV.HELP DRV.HELPALL DRV.HWENMODE DRV.ICONT DRV.INFO DRV.IPEAK DRV.IZERO DRV.LIST DRV.LOGICVOLTS DRV.MEMADDR DRV.MEMDATA DRV.MOTIONSTAT DRV.NAME DRV.NVLIST DRV.NVLOAD Kollmorgen | December 2010...
  • Page 14 FB1.BISSBITS FB1.ENCRES FB1.HALLSTATE FB1.IDENTIFIED FB1.INITSIGNED FB1.MECHPOS FB1.MEMVER FB1.OFFSET FB1.ORIGIN FB1.PFIND FB1.PFINDCMDU FB1.POLES FB1.PSCALE FB1.RESKTR FB1.RESREFPHASE FB1.SELECT FB1.TRACKINGCAL FB2 Parameters FB2.ENCRES FB2.MODE FB2.SOURCE FBUS Parameters FBUS.PARAM1 TO FBUS.PARAM20 FBUS.PLLSTATE FBUS.PLLTHRESH FBUS.SAMPLEPERIOD FBUS.SYNCACT FBUS.SYNCDIST FBUS.SYNCWND FBUS.TYPE GEAR Parameters Kollmorgen | December 2010...
  • Page 15 GUI.PARAM06 GUI.PARAM07 GUI.PARAM08 GUI.PARAM09 GUI.PARAM10 HOME Parameters HOME.ACC HOME.AUTOMOVE HOME.DEC HOME.DIR HOME.DIST HOME.FEEDRATE HOME.IPEAK HOME.MODE HOME.MOVE HOME.P HOME.PERRTHRESH HOME.SET HOME.V HWLS Parameters HWLS.NEGSTATE HWLS.POSSTATE IL Parameters IL.BUSFF IL.CMD IL.CMDU IL.DIFOLD IL.FB IL.FF IL.FOLDFTHRESH IL.FOLDFTHRESHU IL.FOLDWTHRESH IL.FRICTION Kollmorgen | December 2010...
  • Page 16 IL.VCMD IL.VUFB IL.VVFB MOTOR Parameters MOTOR.AUTOSET MOTOR.BRAKE MOTOR.BRAKERLS MOTOR.BRAKESTATE MOTOR.CTF0 MOTOR.ICONT MOTOR.IDDATAVALID MOTOR.INERTIA MOTOR.IPEAK MOTOR.KT MOTOR.LQLL MOTOR.NAME MOTOR.PHASE MOTOR.PITCH MOTOR.POLES MOTOR.R MOTOR.RTYPE MOTOR.TBRAKEAPP MOTOR.TBRAKERLS MOTOR.TEMP MOTOR.TEMPFAULT MOTOR.TEMPWARN MOTOR.TYPE MOTOR.VMAX MOTOR.VOLTMAX MT Parameters and Commands MT.ACC MT.CLEAR Kollmorgen | December 2010...
  • Page 17 PL.FBSOURCE PL.INTINMAX PL.INTOUTMAX PL.KI PL.KP PL.MODP1 PL.MODP2 PL.MODPDIR PL.MODPEN PLS Parameters and Commands PLS.EN PLS.MODE PLS.P1 TO PLS.P8 PLS.RESET PLS.STATE PLS.T1 TO PLS.T8 PLS.UNITS PLS.WIDTH1 TO PLS.WIDTH8 REC Parameters and Commands REC.ACTIVE REC.CH1 to REC.CH6 REC.DONE Kollmorgen | December 2010...
  • Page 18 REC.TRIGVAL REGEN Parameters REGEN.POWER REGEN.REXT REGEN.TEXT REGEN.TYPE REGEN.WATTEXT SM Parameters SM.I1 SM.I2 SM.MODE SM.MOVE SM.T1 SM.T2 SM.V1 SM.V2 STO Parameters STO.STATE SWLS Parameters SWLS.EN SWLS.LIMIT0 SWLS.LIMIT1 SWLS.STATE UNIT Parameters UNIT.ACCLINEAR UNIT.ACCROTARY UNIT.LABEL UNIT.PIN UNIT.PLINEAR UNIT.POUT UNIT.PROTARY Kollmorgen | December 2010...
  • Page 19 VL.ARZF1 TO VL.ARZF4 VL.ARZQ1 TO VL.ARZQ4 VL.BUSFF VL.CMD VL.CMDU VL.ERR VL.FB VL.FBFILTER VL.FBSOURCE VL.FF VL.GENMODE VL.KBUSFF VL.KI VL.KO VL.KP VL.KVFF VL.LIMITN VL.LIMITP VL.LMJR VL.MODEL VL.OBSBW VL.OBSMODE VL.THRESH WS Parameters WS.ARM WS.DISTMIN WS.IMAX WS.MODE WS.DISTMAX WS.NUMLOOPS WS.STATE WS.T WS.TDELAY1 Kollmorgen | December 2010...
  • Page 20 20.5.4.2 Synchronization Object (SYNC) 20.5.4.3 Time-Stamp Object (TIME) 20.5.4.4 Emergency Object (EMCY) Application of the Emergency Object Composition of the Emergency Object 20.5.4.5 Service Data Objects (SDO) Composition of the Service Data Object Initiate SDO Download Protocol Kollmorgen | December 2010...
  • Page 21 Object 2018h: Firmware Version Object 2026h: ASCII Channel Object 20A0h: Latch position 1, positive edge Object 20A1h: Latch position 1, negative edge Object 20A2h: Latch position 2, positive edge Object 20A3h: Latch position 2, negative edge Kollmorgen | December 2010...
  • Page 22 Object 608Fh: Position encoder resolution (DS402) Object 6092h: Feed constant (DS402) 20.6.6 Profile Velocity Mode (pv) (DS402) 20.6.6.1 General Information Objects that are defined in this section Objects that are defined in other sections 20.6.6.2 Object description Kollmorgen | December 2010...

  • Page 23: Kollmorgen | December 2010

    Objects that are defined in this section Objects that are defined in other sections 20.6.10.2 Object Description Object 607Ch: homing offset (DS402) Object 6098h: homing method (DS402) Object 6099h: homing speeds (DS402) Object 609Ah: homing acceleration (DS402) Homing Mode Sequence Kollmorgen | December 2010...
  • Page 24 20.7.2.2 Examples, special applications Example: External Trajectory with Interpolated Position Mode 20.8 Index 21 Ethercat Manual 21.1 General 21.1.1 About this Manual 21.1.2 Target Group 21.1.3 Abbreviations Used 21.2 Safety 21.2.1 Safety Instructions 21.2.2 Use as directed Kollmorgen | December 2010...

  • Page 25: Kollmorgen | December 2010

    21.4.10.2 Synchronization behavior with distributed clocks (DC) disabled 21.4.11 Latch Control Word and Latch Status Word 21.4.12 Mailbox Handling 21.4.12.1 Mailbox Output 21.4.12.2 Mailbox Input 21.4.12.3 Example: Mailbox Access 21.4.13 Fieldbus Parameters 21.5 Index 22 Modbus 22.1 Overview Kollmorgen | December 2010...
  • Page 26 22.2 Modbus Installation and Setup 22.3 Overview of Messaging 22.4 Supported Functions 22.5 Read Holding Registers (0x03) 22.6 Write Multiple Registers (0x10) 22.7 Exception Response Codes 23 Modbus Parameter Table 24 Index Kollmorgen | December 2010...

  • Page 27: About This User Guide

    Brake resistor (also called a regen resistor) Brake RBext External brake resistor RBint Internal brake resistor Residual current device Resolver Incremental encoder (A quad B) Continuous operation Safe torque off Volts, alternating current Volts, direct current Kollmorgen | December 2010...

  • Page 28: Akd Models

    The CC drive model is fitted with both the EtherCAT ( X5 and X6) and CANopen (X12 and X13) fieldbus con- nectors and a new software parameter (DRV.TYPE) allows you to select which features the drive supports; you cannot use EtherCAT and CANopen at the same time. Kollmorgen | December 2010...

  • Page 29: Basic Drive Setup

    AKD User Guide | 3  Basic Drive Setup 3 Basic Drive Setup 3.1 Basic Drive Setup 3.2 Display Codes 3.3 AKD Setup Wizard Kollmorgen | December 2010...

  • Page 30: Display Codes

    Firmware download: HW download (HW switch was pressed - Rev 3 and higher). Firmware download: Corrupted operational FW. Firmware download: SW download (download command was issued from the operational FW). Loading image process is running. dF (flashing) Failure during firmware download. Special mode: Burn-in Kollmorgen | December 2010...

  • Page 31: Akd Setup Wizard

    For all systems, you can select the units you want to use, configure your operation mode, tune the sys- tem, and perform some simple jog moves within the wizard. After you are comfortable with the basic system setup, you can save your settings to the drive and exit the wizard. Kollmorgen | December 2010...
  • Page 32 AKD User Guide | 3  Basic Drive Setup This page intentionally left blank. Kollmorgen | December 2010...

  • Page 33: Connecting The Drive

    4 Connecting the Drive 4.1 Connected and Disconnected States 4.2 Disconnected 4.3 Device Not Shown 4.4 Find and Enter IP Address 4.5 Check Communications 4.6 Connect To Another Drive Kollmorgen | December 2010...

  • Page 34: Connected And Disconnected States

    The network mask defines more than 512 possible addresses. In this case, WorkBench will not ping all of these addresses, so you must unblock discover ports or specify directly the IP address of your drive. Kollmorgen | December 2010...

  • Page 35: Find And Enter Ip Address

    IP address in sequence, with dots separating the numbers. You should see four numbers sep- arated by three dots, for example, 192.168.1.5. You can enter the IP address if you press More and check the Specify Address box. Kollmorgen | December 2010...

  • Page 36: Check Communications

    If your drive does not appear in the list, you can enter its IP address (e.g. Specify Address 1.2.3.4) or a DNS name. You can optionally specify an alternate port number to the default port 23) by appending it (e.g. 1.2.3.4:1000). Kollmorgen | December 2010...

  • Page 37: Communicating With The Drive

    AKD User Guide | 5  Communicating with the Drive 5 Communicating with the Drive 5.1 Check Communications Kollmorgen | December 2010...

  • Page 38: Overview

    The address will then be set as 192.168.0.S1S2, with S1 representing the 10’s digit and S2 the 1’s digit. As you turn the switches, the drive displays the S1 and S2 values. Example: S1 is set to 3, S2 is set to 5, the address now is set to: 192.168.0.35. Kollmorgen | December 2010...

  • Page 39: Check Communications

    2. If it is difficult to see the display, then you can check the MAC address in the WorkBench list against the MAC address on the label of the drive. The drive is connected if the numbers displayed in WorkBench match the numbers printed on the label on the side of the drive. Kollmorgen | December 2010...
  • Page 40 AKD User Guide | 5  Communicating with the Drive This page intentionally left blank. Kollmorgen | December 2010...

  • Page 41: Troubleshooting Connection And Communication Problems

    AKD User Guide | 5.2 Troubleshooting Connection and Communication Problems Kollmorgen | December 2010...

  • Page 42: No Drives Are Shown

    IP address in sequence, with dots separating the numbers. You should see four numbers sep- arated by three dots, for example, 192.168.1.5. You can enter the IP address if you press More and check the Specify Address box. Kollmorgen | December 2010...
  • Page 43 AKD User Guide | Kollmorgen | December 2010...

  • Page 44: Tcp/Ip Communication Protocols

    Every AKD drive is given a unique MAC address when it is manufactured and this MAC address cannot be changed. The MAC address of every drive is printed on the sticker on the side of the drive. Kollmorgen | December 2010...

  • Page 45: Using Workbench

    This is the MAC address of the drive. The MAC address is unique and is MAC Address also printed on the label on the side of the drive. IP Address This is the IP address of the drive. Kollmorgen | December 2010...

  • Page 46: Offline

    This command may fail for many reasons; see DRV.EN "DRV.EN" (=> p. 363) for further details. Click Disable to turn off the power stage and remove the voltage Disable DRV.DIS applied to the motor. Kollmorgen | December 2010...

  • Page 47: Online And Offline

    This text box displays the version of the firmware code running inside DRV.VER sion the drive. Click Download to retrieve the latest AKD firmware from Kollmorgen. Download See 19.1 Downloading Firmware This text box displays the cumulative time this drive has been pow- Cumulative On ered on.

  • Page 48: Switching Between Online And Offline

    To show all settings available for the AKD (even if the these settings are not used with the current operation mode and command source), right click on Settings and select Show all Settings. 6.5.2 Settings View From the main Settings view, you can configure the following drive settings: Kollmorgen | December 2010...
  • Page 49 Motion and Control Loop Allows you to selects the details related to each specific loop from a graphical Graphics interface. See 11 Using Command Source and Operating Modes for details on configuring the drive for your application. Kollmorgen | December 2010...
  • Page 50 AKD User Guide | 6  Using WorkBench This page intentionally left blank. Kollmorgen | December 2010...

  • Page 51: Configuring Drive Power

    AKD User Guide | 7  Configuring Drive Power 7 Configuring Drive Power 7.1 Power 7.2 Regeneration Kollmorgen | December 2010...

  • Page 52: Power

    AKD-xxxxx07, 680 Vdc is the equivalent DC voltage for a 480 Vac supply. The voltage fault levels are also shown in the Power screen and depend on the voltage level of drive used. Voltage ranges are as follows: Kollmorgen | December 2010...
  • Page 53 AKD User Guide | 7  Configuring Drive Power Model Under Voltage Level Over Voltage Level AKD-zzzz06 90 Vdc 420 Vdc AKD-zzzz07 380 Vdc 840 Vdc You can view bus voltage values in the Power screen as shown below: Kollmorgen | December 2010...

  • Page 54: Regeneration

    If you are using a nonstandard resistor, then choose <User defined> and fill in the appropriate values for your resistor. If you use a nonstandard resistor, contact Kollmorgen technical support to confirm that the nonstandard resistor will work correctly with your sys- tem.

  • Page 55: Kollmorgen | December

    AKD User Guide | 7  Configuring Drive Power Regen resistor sizing information for your particular application can be calculated using the Motioneering® Appli- cation Engine. You can download this program here: http://www.kollmorgen.com/website/com/eng/support/design_tools/motioneering.php Kollmorgen | December 2010...
  • Page 56 After you install and set up this program, highlight your application (1) and then click on the Power Supply Sizing icon (2). The application then displays the regen sizing tool; see the application help for further sizing assistance. Kollmorgen | December 2010...

  • Page 57: Selecting A Compatible Regen Resistor

    The resistors shown below are included in the WorkBench setup. If you do not find a match for your application, please contact the Kollmorgen customer support team for further assistance. NA Part...

  • Page 58: Related Parameters

    DE-103871 External Resistor, 77.0 2,000 2000 W, 15 ohms BAS-3000-15 DE-103872 External Resistor, 84.3 3,000 3000 W, 15 ohms BAS-6000-15 DE-103873 External Resistor, 91.7 6,000 6000 W, 15 ohms 7.2.6 Related Parameters REGEN Parameters VBUS.OVWTHRESH VBUS.VALUE Kollmorgen | December 2010...

  • Page 59: Configuring Motor Settings

    8 Configuring Motor Settings 8.1 Motor 8.2 Feedback 1 8.3 Using Feedback Options 8.4 Feedback 2 8.5 Non-Plug and Play Feedback Devices 8.6 Parameters 8.7 Calculations 8.8 Foldback 8.9 Overall Foldback 8.10 Brake 8.11 Using Position Capture Kollmorgen | December 2010...

  • Page 60: Motor

    All of the appropriate Kollmorgen motors compatible with the AKD drive are contained in the motor database. For motors that are not listed, click Select Motor to open a custom motor view in which you can input the appropriate motor parameters.

  • Page 61: Selecting A Motor

    3. If a match is not found, then an AKM motor is selected. For non-plug and play motors, a database of catalog motors is available based on the different Kollmorgen motor families. When you select a motor family, a part number is displayed according to the selected motor family. You can change the part number as needed, and the complete motor name will be displayed according to your selec- tion.

  • Page 62: Configuring Custom Motors

    Click Continue to set the motor parameters in the drive. Click Cancel to close this screen. Iferrors occurwhilesettingthemotorparameters,anerrorscreen indicateswhichparametersrequireadditionalatten- tion. Related Parameters MOTOR Parameters Feedback 1 The Feedback view allows you to configure the primary position feedback device fitted to your motor. Kollmorgen | December 2010...

  • Page 63: Overview

    BiSS will be plug and play in a future release. Currently, the device is programmed with the motor and feedback information and once selected will sets up the feedback and motor parameters in the AKD. 8.3.6 Hiperface Hiperface is a plug and play device that will be supported in a future release. Kollmorgen | December 2010...

  • Page 64: Resolver

    AKD does not support non-Kollmorgen standard resolver options. 8.3.8 SFD Smart Feedback Device (SFD) is Kollmorgen's most popular plug and play device. SFD allows for quick and easy setup from the Auto mode, which automatically configures the drive with the motor and feedback parameters.

  • Page 65: Wake And Shake, More View

    An amplifier with a motor brake operates the WS procedure similar to an amplifier without a brake. All pre- cautions and behavioral descriptions above also apply in this case. It is important to note that the brake is Kollmorgen | December 2010...

  • Page 66: End Of Travel Limits

    VL.KP. Increasing WS.T effec- tively increases the movement of the motor during WS, which may be necessary for systems with a low- resolution feedback or high load inertia. Kollmorgen | December 2010...

  • Page 67: Related Parameters

    WS Parameters DRV.IPEAK FB1.SELECT MOTOR.BRAKE MOTOR.PHASE MOTOR.IPEAK 8.3.9.5 Troubleshooting WS Problem Possible Cause Remedy Brake slips on vertical Check brake. Excessive Move- system. Remove forces acting on ment External forces on motor. motor too great. Lower WS.IMAX. Kollmorgen | December 2010...

  • Page 68: Commutation Alignment 8.4 Feedback

    Mode 1 – The input is configured as Step and Direction signals. Mode 2 – The input is configured as Up-down signals. The Resolution box sets the resolution of the device you have indicated as your input of signal source. Encoder Emulation Output Kollmorgen | December 2010...

  • Page 69: Encoder Emulation

    (velocity and direction). The drives operate from an internal supply voltage. Mode 1– Aquad B with once per rev index pulse Output Mode 1 - A quad B with Once per Rev Index Pulse Connection Diagram Kollmorgen | December 2010...

  • Page 70: Input Modes 3, 4, And

    Mode 5-Up/down signals Input Mode 5 - Up/down Signals Connection Diagram The drive can be connected to a third-party controller which delivers up-down signals. Mode 6-Output – with once per rev index and Input – Step and Direction Kollmorgen | December 2010...

  • Page 71: Resolution

    PL.INTINMAX = 0.419 (Default Value) IL.KBUSFF IL.PWMFREQ VL.LIMITN PL.INTOUTMAX = 0.419 (Default Value) IL.FRICTION IL.KVFF VL.LIMITP MOTOR.IPEAK IL.OFFSET IL.FOLDFTHRESHU VL.THRESH MOTOR.ICONT IL.INTEN IL.FOLDWTHRESH VL.KVFF MOTOR.PITCH IL.IVFB IL.MFOLDD PL.KP MOTOR.POLES IL.KPDRATIO IL.MFOLDT PL.KD = 0 (Default Value) MOTOR.TYPE Kollmorgen | December 2010...

  • Page 72: Calculations

    Each algorithm has its own foldback current limit, IL.DIFOLD (drive foldback) and IL.M- IFOLD (motor foldback). The overall foldback current limit is the minimum of the two at any given moment. IL.IFOLD = min (IL.DIFOLD, IL.MIFOLD). Kollmorgen | December 2010...

  • Page 73: Drive Foldback

    9.000 Arms and a User Fault Level is set to 7.5 Arms, the Fault Level is changed to 7.5 Arms. This configuration effectively increases the time that foldback will be applied to the drive before faulting. Kollmorgen | December 2010...

  • Page 74: Motor Peak Current Time

    Once the maximum time for motor peak current has elapsed, if the move profile still demands peak current from AKD, the drive will exponentially lower the current applied to the motor. The Time Constant (IL.MFOLDT) dic- tates the profile. A smaller time constant represents a steeper decline in current applied to the motor. Kollmorgen | December 2010...

  • Page 75: Motor Recovery

    The overall limit is the momentary minimum value between the drive foldback and the motor foldback. The over- all foldback is shown in the diagram below. You can set the warning and the fault levels as shown in the diagram. Kollmorgen | December 2010...

  • Page 76: Brake

    16 kHz clock used in the scope and recorder. This faster clock allows the position capture to obtain more accurate results than those obtained using the scope or recorder clock. 8.11.2 Configuring Position Capture To configure the position capture, select Position Capture from the Settings group: Kollmorgen | December 2010...

  • Page 77: Setting The Capture Source (Cap0.Trigger)

    1 – Rising Edge. Captures when the input signal goes high, from a low state. 2 – Falling Edge. Captures when the input signal goes low, from a high state. 3 – Both Edges. Captures any time the input signal changes state. Kollmorgen | December 2010...

  • Page 78: Setting The Pre-Condition Event: (Cap0.Event)

    The preselect chooses what input source will trigger the precondition (based on the preedge setting, and the pre- filter setting). This feature operates the same as the capture source described above. 8.11.3 Related Parameters CAP Parameters Kollmorgen | December 2010...

  • Page 79: Selecting Units For Your Application

    AKD User Guide | 9  Selecting Units for Your Application 9 Selecting Units for Your Application 9.1 Selecting Units 9.2 Units Example Kollmorgen | December 2010...

  • Page 80: Selecting Units

    The AKD uses full 32-bit quantization for internal calculations regardless of unit settings. User units settings will not affect performance, resolution, or accuracy of the servo system. Choose “3-Custom”, and then select your desired position units, for example, millimeters. Kollmorgen | December 2010...
  • Page 81 UNIT.PIN is calculated as follows: 10 mm/screw turn * 1 screw turn/5 motor turns = 2mm/motor turn UNIT.PIN and UNIT.POUT can be directly entered using the Motor Only selection from the Select Type of Mechanics box. Kollmorgen | December 2010...

  • Page 82: Settings

    The settings for units are automatically applied. The unit settings in the drive will reflect last settings made in the units screen before exiting. To save settings into the nonvolatile memory of the drive, click the Save to Drive but- ton in the toolbar. 9.2.2 Related Parameters UNIT Parameters DRV.NVSAVEDRV.NVSAVE MOTOR.TYPE Kollmorgen | December 2010...

  • Page 83: Configuring General Drive Settings

    10.4 Analog Input 10.5 Analog Output 10.6 I/O Connection 10.7 Electronic Gearing 10.8 Programmable Limit Switch 10.9 Enable/Disable 10.10 Controlled Stop 10.11 Dynamic Braking 10.12 Emergency Stop 10.13 Safe Torque Off (STO) 10.14 Under Voltage Fault Behavior Kollmorgen | December 2010...

  • Page 84: Digital Inputs And Outputs

    (0). The motion task number is presented externally at the digital inputs. The motion task set by this mode will be executed when digital input assigned to mode 4 (motion task start selected) gets a rising edge. Example Assume: DIN1.MODE = DIN2.MODE Kollmorgen | December 2010...
  • Page 85 Input state is 1 – “Fault 245 – external fault” is issued. Mode 11: Home reference This mode is used to receive a physical home reference switch located on the machine to use for the different Home Types. Mode 12: Reserved Kollmorgen | December 2010...
  • Page 86 This mode is used to lift the brake when the drive is not active. Input = 0: the drive controls the brake (regular drives behavior) Input = 1: the user controls the brake (lift or close using commands) Kollmorgen | December 2010...

  • Page 87: Digital Outputs

    Limits view. In the Limits view, Position 0 is the position limit for negative travel, while Position 1 is the limit for positive travel. Mode 3-Move Complete: When a motion task has completed its move and the trajectory reaches zero, the move is considered complete and the output will activate. Kollmorgen | December 2010...

  • Page 88: Command Buffer

    The drive has four available buffers. A digital input configured for command buffer mode is linked to one com- mand buffer set. This is determined by the user (see arrow 1). In this case, command buffer 1 is used. Kollmorgen | December 2010...

  • Page 89: Editing The Command Buffers

    DINx.PARAM keyword. When you mouse over the Param box, the Tooltip displays the cur- rent content of the High command buffer and Low command buffer in the drive. To edit the selected command buffer, click Edit to display the command buffer editor screen. Kollmorgen | December 2010...

  • Page 90: Behavior Of The Command Buffer

    The contents of the buffer are also loaded at drive power up according to the starting state of the digital input. When the command buffer is initially configured, the buffer is not executed until the first digital input state change is detected. Kollmorgen | December 2010...

  • Page 91: Delays For The Buffer

    Depending on the selected function the inputs are high or low active. The inputs can be used with switched +24 V (source type) or switched GND (sink type). See diagrams below. Digital Input Wiring Diagram (Source type connection) Kollmorgen | December 2010...
  • Page 92 AKD User Guide | 10  Configuring General Drive Settings Kollmorgen | December 2010...
  • Page 93 AKD User Guide | 10  Configuring General Drive Settings Digital Input Wiring Diagram (Sink type connection) Kollmorgen | December 2010...

  • Page 94: Digital Inputs 1 And

    STO has a 24 V signal (see page 1). In the disabled state (low signal) the connected motor has no torque. A software enable by means of the setup software is also required (AND link), although this can also be per- manently enabled with WorkBench. Kollmorgen | December 2010...

  • Page 95: Analog Input

    Select which internal signal is output by the Analog Output Mode AOUT.MODE analog output. Enter the analog output value (when Analog Output Value AOUT.MODE = 0, analog output signal is deter- AOUT.VALUEU (user) mined by the user) Kollmorgen | December 2010...

  • Page 96: I/O Connection

    Debug mode. In this mode the user can define a drive variable to monitor via the analog output (AOUT.VALUEU). Analog output return 10.6 I/O Connection All standard digital and analog I/O signals are connected to X7 and X8. Kollmorgen | December 2010...

  • Page 97: I/O Connectors (X7 And X8)

    Positive limit switch Analog Ground AGND Analog GND Analog Output + Analog-Out Actual velocity voltage Analog Input - Analog-In- Velocity set point Analog Input + Analog-In+ Digitalcommonlines forX7andX8arenotcommontoeachother. TheDCOMx lineshouldbeconnectedtothe0VoftheI/Osupply whenusingsensors oftype"Source"withdigital inputs. TheDCOMx lineshouldbeconnectedtothe24VoftheI/Osupply whenusingsensors oftype"Sink" withdigitalinputs. Kollmorgen | December 2010...

  • Page 98: Electronic Gearing

    Gear ratio does not affect the EEO value. If the output is set to 3 output revs per input rev, there will be 4,294,967,296 counts per 3 revolutions of the motor. 10.7.2 Limits Electronic Gearing has independent limits, as shown below: Kollmorgen | December 2010...

  • Page 99: Determining Maximum Cable Length

    Minimum Supply Voltage: 4.75 V Maximum current: 0.25 A Permitted wire gauge: 20-28 AWB (Typical for D9 connector) Sample Application Hardware: Example external encoder: Hengstler RI-36H (RS-422 encoder) used with X9 port. Encoder Nominal Supply Voltage: 5V (+/- 10%) Kollmorgen | December 2010...

  • Page 100: Related Parameters

    Acceleration Limits Acceleration The acceleration ramp used to profile some motion. DRV.ACC Deceleration The deceleration ramp used to profile some motion. DRV.DEC Motor limits are set through the Motor Foldback Screen (see Motor Limits 8.8 Foldback Kollmorgen | December 2010...

  • Page 101: Limits

    3. Now that the digital output mode is set for PLS, you can click on the Goto Programmable Limit Switch link (see 2 below) to open the PLS screen (this screen is also shown in the WorkBench tree view). The PLS screen is used to establish the positions for the output(s) to turn on. Kollmorgen | December 2010...
  • Page 102 Mode 15 – Prog Limit Switch State. Since only PLS1 is con- figured, select PLS 1 (see arrow above) To setup an output with multiple turn-on points, configure and enable more PLS’s and include them in the OR Gate. Kollmorgen | December 2010...

  • Page 103: Single Shot Mode

    DRV.HWENMODE. Mode 0 allows for the drive to enable and clear faults on the rising edge of the hardware ena- ble input. Mode 1 will NOT clear any faults on the rising edge of the hardware enable input, allowing you to review any current faults and manually clearing. Kollmorgen | December 2010...

  • Page 104: Software Enable Default

    (green) or false (red) and follow the normal logic for & (AND) and OR gates. This diagram is useful in finding which input may be preventing the drive from being enabled. Click More to see the details of how the control stop is executed displayed both logically and graphically. Kollmorgen | December 2010...

  • Page 105: Controlled Stop

    The More button reveals the status diagram for the controlled stop configuration. It also displays the block dia- gram for the control stop. Two block diagrams available: one for a brake fitted and another for no brake. Control stop status diagram Controlled Stop Block Diagram Kollmorgen | December 2010...
  • Page 106 AKD User Guide | 10  Configuring General Drive Settings Kollmorgen | December 2010...

  • Page 107: Controlled Stop

    CS process. The DRV.DISTO parameter and func- tionality addresses this issue by disabling the drive after the DRV.DISTO time elapses, even if the CS process did not end. Kollmorgen | December 2010...

  • Page 108: Related Parameters And Commands

    10.10.0.1 Related Parameters and Commands CS Parameters CS.STATE: Reads the current state of controlled stop process (0 = controlled stop is not occurring. 1 = con- trolled stop is occurring). DIN1.MODE TO DIN7.MODE DRV.DIS DRV.DISTO DRV.DISMODE Kollmorgen | December 2010...

  • Page 109: Related Topics

    These units have an internal regeneration resistor plus the capability to connect an external resistor if higher power levels are needed. Related Topics See section 6.14 Dynamic Braking in the AKDInstallation Manual for detailed information on dynamic braking. DRV.DISMODE DRV.DBILIMIT Kollmorgen | December 2010...

  • Page 110: Emergency Stop

    When an under voltage fault occurs, the drive is disabled and issues the following alerts: WorkBench alert: 502 Bus Under Voltage Drive LED alert: Left LED displays [F], right LED displays [u-V]. Fault relay output turns on. Kollmorgen | December 2010...

  • Page 111: Using Command Source And Operating Modes

    AKD User Guide | 11  Using Command Source and Operating Modes 11 Using Command Source and Operating Modes 11.1 Overview 11.2 Using Command Source and Operation Modes 11.3 Current Loop 11.4 Velocity Loop 11.5 Position Loop Kollmorgen | December 2010...

  • Page 112: Overview

    From the setting screen page, a graphical representation of the loop is displayed. By clicking these graphical representations, you can access additional loop information such as gains, filters, and other settings. 11.2.2 Related Parameters DRV.CMDSOURCE DRV.OPMODEDRV.OPMODE Kollmorgen | December 2010...

  • Page 113: Current Loop

    Option B.When the motor is selected using the motor database or using the custom motor tool, the imported inductance value is used to set the current loop proportional gain. Kollmorgen | December 2010...

  • Page 114: Velocity Loop

    If manual adjustments are made to the current loop proportional gain parameter, repeating the motor setup procedure will overwrite the changes and restore the value to the Kollmorgen cal- culated value. Related Parameters IL Parameters DRV.OPMODE...

  • Page 115: Velocity Loop Default Settings And Changes

    The values adjusted are dependent on the drive, motor, load, and the autotuner settings. The filters that are adjusted by the autotuner are automatically put into mode 5-Autotuned Bi-quad. Kollmorgen | December 2010...

  • Page 116: Position Loop

    A detailed block diagram for the position loop is included in Block Diagrams. 11.5.2 Tabs in the Position Loop View The position loop view includes an active block diagram. If you click on a block in the diagram, the appropriate tab opens below. Kollmorgen | December 2010...

  • Page 117: Position Loop Default Behavior And Changes

    Position Loop view directly. The values adjusted are dependent on the drive, motor, load, and the autotuner settings. Related Parameters PL Parameters DRV.OPMODE VL.CMD Kollmorgen | December 2010...
  • Page 118 AKD User Guide | 11  Using Command Source and Operating Modes This page intentionally left blank. Kollmorgen | December 2010...

  • Page 119: Creating Motion

    AKD User Guide | 12  Creating Motion 12 Creating Motion 12.1 Homing 12.2 Motion Tasks 12.3 Service Motion 12.4 Jog Move Kollmorgen | December 2010...

  • Page 120: Homing

    12.1.2.1 Home Default Window The Home window provides a means to select your homing method and configure the homing settings. This win- dow also provides a simple controls to start homing and confirm homing success. Kollmorgen | December 2010...

  • Page 121: Mode Selection

    For homing to limits and home reference, this field will indicate how the digital inputs are configured as well as providing a link to the digital input page. For Homing to a hard stop, the Peak Current field allows you to set the peak current limit desired during homing. Kollmorgen | December 2010...

  • Page 122: Settings

    (HOME.P) and the motor ramps down to zero velocity. The axis is then moved to the position (HOME.P) + distance offset (HOME.DIST). The values for distance and position can be used as described in homing mode 0. Kollmorgen | December 2010...

  • Page 123: Homing Mode 2: Find Input Limit Then Find Zero Angle

    2. Select Mode 2 from the drop down box. 3. Set the Direction to Positive. 4. When Start is selected, the motor will move until it encounters the positive end of travel switch. Mechanical zero angle of the feedback = 0 degree. Kollmorgen | December 2010...

  • Page 124: Homing Mode 3: Find Input Limit Then Find Index

    50% of the original home velocity. 1. Select Mode 3 from the drop down box. 2. Set the Direction to Positive. 3. In the Home screen click Set Capture. 4. Set the velocity factor to 50%. Kollmorgen | December 2010...

  • Page 125: Homing Mode 4: Find Home Input

    The actual and the command position of the drive will immediately be set to the position (HOME.P) value plus distance to the mechanical zero angle of the feedback device accord- ing to the current direction. Kollmorgen | December 2010...

  • Page 126: Homing Mode 6: Find Home Input Then Find Index

    The actual and the command position of the Drive will immediately be set to the HOME.P value as soon as the index-signal has been detected. The motor decelerates until zero velocity has been reached. The axis is then moved to the position (HOME.P) + distance offset (HOME.DIST). Kollmorgen | December 2010...

  • Page 127: Homing Mode 7: Find Zero Angle

    3. The motor moves to the home Position (HOME.P) plus the distance move offset is applied (if present) value, which is located at the mechanical zero-angle of the feedback. Homing Mode 9 Example Kollmorgen | December 2010...

  • Page 128: Homing Mode 11: Find Index

    The various homing methods in the AKD offer several options for setting up your home reference. When using any of the methods that use homing switches and limits, please refer to the Input/Output section for proper wiring techniques. Kollmorgen | December 2010...

  • Page 129: Related Parameters And Commands

    Enter values in each column for each task that you require. Once you enter an item, that field will change color indicating it has been edited but not yet loaded to the drive. Continue entering your tasks row by row. If you find Kollmorgen | December 2010...

  • Page 130: Using Motion Tasks

    Exports to a .xml file the current list of tasks in the table. When you add a task to the task table, double click on the task to edit the task settings. The following edit view opens: Kollmorgen | December 2010...
  • Page 131 In addition to these profile settings, you can set additional parameters on how your next move will be executed. These parameters include: Following Task: By checking this box, you can indicate which task you want to follow the task that you are editing. Kollmorgen | December 2010...

  • Page 132: Motion Profiles

    Motion task relative to current position command (PL.CMD) This type is simply an incremental move. The target position is based on the current position represented by PL.CMD plus the increment you want to move. Specifically, Target Position = PL.CMD + MT.P. Example: Kollmorgen | December 2010...

  • Page 133: Motion Task Relative To The Target Position Of The Previous Motion Task

    Blend into Velocity. Blends the velocity of the current task into the following task. In this method, the target position is reached as the velocity of the second move is reached. The belnding begins prior to Kollmorgen | December 2010...

  • Page 134: Service Motion

    Acceleration/Deceleration modes. Start/Stop Starts and stops the motion. Position Feedback Displays the present position of the motor. Velocity Feedback Displays the present velocity of the motor. Related Parameters: SM.I1 SM.I2 SM.I2 SM.MOVE SM.T1 SM.T2 SM.V1 SM.V2 Kollmorgen | December 2010...

  • Page 135: Jog Move

    In order to tune the system the drive must be in service-type command source and either velocity or position opmode. If the drive is in torque opmode, then a popup screen will allow you to switch into velocity mode. Kollmorgen | December 2010...
  • Page 136 AKD User Guide | 12  Creating Motion This page intentionally left blank. Kollmorgen | December 2010...

  • Page 137: Saving Your Drive Configuration

    AKD User Guide | 13  Saving Your Drive Configuration 13 Saving Your Drive Configuration 13.1 Save Options 13.2 Save On Exit 13.3 Save On Disconnect 13.4 Save On Firmware Download Kollmorgen | December 2010...

  • Page 138: Save Options

    If this box is not checked the dialog will not be shown 13.2 Save On Exit When you exit WorkBench while you are connected to a drive, you may see this dialog box: Kollmorgen | December 2010...

  • Page 139: Save On Disconnect

    You can save the drive parameters to nonvolatile memory at any time, and these saved parameters will be restored when the drive next powers up. Kollmorgen | December 2010...

  • Page 140: Save On Firmware Download

    Stops the download command. Do not ask Does not display this dialog box again. If you check this box, WorkBench does not show this me again dialog again. The Options dialog includes a command to restore this setting. Kollmorgen | December 2010...

  • Page 141: Tuning Your System

    AKD User Guide | 14  Tuning Your System 14 Tuning Your System 14.1 Slider Tuning 14.2 Load Inertia 14.3 Using the Autotuner 14.4 Tuning Guide Kollmorgen | December 2010...

  • Page 142: Slider Tuning

    (a Bode plot) that can be used for advanced analysis. The Autotuner will not work reliably on a vertical axis since the motor may rest against an end stop; in this case, the inertia will not always be correctly identified. Kollmorgen | December 2010...

  • Page 143: Using The Autotuner

    Autotuner, so you can estimate when the tuning will be finished. When the tuning is complete, the green Complete LED (2) illuminates, and a Bode plot (3) is displayed showing the frequency response of the tuned system. Kollmorgen | December 2010...

  • Page 144: Saving And Emailing Bode Plots

    Clicking Email opens a similar prompt. Select the file format in which you wish to save the image or raw data, and an email will be created for you with the file automatically attached for your convenience. Click Email to create the email with the selected file attachment. Kollmorgen | December 2010...

  • Page 145: Measurement Options

    You may wish to take only the frequency response of a system, rather than autotuning. To take a frequency response measurement without autotuning, click on the Mode drop down box (1) and select Bode Plot, then click Start (2). Kollmorgen | December 2010...

  • Page 146: Using The Autotuner: Advanced

    While the Autotuner can tune these systems, you can expect lower system performance. If your system has a first anti-resonance of 12 Hz (pictured below), you can expect approximately 6 Hz (half the frequency of the first anti-resonance) of closed loop bandwidth. Kollmorgen | December 2010...
  • Page 147 12 Hz is present, so the resolution should be approximately 1.2 Hz FFT resolution. The Autotuner can function with the resonance if it is accurately measured, as shown below. To adjust the FFT resolution, adjust FFT Points in the Recording Options tab as needed. Kollmorgen | December 2010...

  • Page 148: Tuning Systems With High-Frequency Resonances

    The source of the resonance is the spring mass relationship between the motor rotor, shaft, and flywheel. One way to resolve this problem is to use a low-pass filter in the feedback path. To use this filter, simply check the Enable Lowpass Search in the Autotuner, which is the default behavior. Kollmorgen | December 2010...

  • Page 149: Tuning Systems With Noisy Frequency Responses

    Below is a Bode plot created after autotuning of an incremental encoder with 8,192 counts per revolution. To make the Bode plot easier to read, increase the smoothing factor (1) in the advanced Autotuner Options. Kollmorgen | December 2010...

  • Page 150: Autotuner Options

    AKD User Guide | 14  Tuning Your System After increasing the smoothing percentage, the Bode plot traces become cleaner and easier to read: 14.3.4.2 Autotuner Options When you click More in the Autotuner view, the following options are displayed: Kollmorgen | December 2010...

  • Page 151: Enable Biquad 1 Tuner

    (in degrees) and gain margin (in dB). The Autotuner uses default values for phase and gain margin, but you can adjust these values to ensure higher stability or to allow the autotuner to be more aggressive by using lower gain and phase margins. Kollmorgen | December 2010...

  • Page 152: Smooth

    A comparison of a system with 0.1% smoothing and 8% smoothing is shown below. 0.1% smoothing Kollmorgen | December 2010...
  • Page 153 AKD User Guide | 14  Tuning Your System 8% Smoothing Kollmorgen | December 2010...

  • Page 154: Recording Options

    Check this to tune a fourth-order low pass filter in the feedback path (AR 3 and 4). If this box is unchecked, the Autotuner will not modify the anti-resonance filters in the feedback path. 14.3.4.3 Recording Options The Autotuner screen also provides options for recording tuner output: Kollmorgen | December 2010...

  • Page 155: Current Amplitude

    16,000/(Excite Gap * Number Points) Hz to a higher limit equal to: (16,000/Excite Gap) Hz The richness of the frequency spectrum comes from variance in the amplitude of the noise signal. Kollmorgen | December 2010...

  • Page 156: Fft Points

    This box is not in effect for normal drive operation; it is only visible during the autotuner excitation phases. This value is implemented as soon as the autotuner begins, and as soon as the autotuner is finished, the previous overspeed threshold (VL.THRESH) is restored. Kollmorgen | December 2010...

  • Page 157: Plot Options

    By default, only the Closed Loop plot is selected. You can control which of these responses are displayed on the Bode plot by checking or unchecking the Plot Plant, Plot ClosedLoop, Plot Open Loop, Plot Controller, and Plot Coherence checkboxes shown. Kollmorgen | December 2010...

  • Page 158: Coherence

    To move the cursor, move your mouse over the cursor in either the Amplitude (1), or Phase (2) plots, click and hold the left mouse button, and drag the cursor to a new location. Notice as you drag the mouse, the Frequency, Gain and Phase change in the summary window (3). Kollmorgen | December 2010...

  • Page 159: Resizing Bode Plots

    Bode Plot in greater or less detail. When viewig the Bode Plot in full view, the autotuner settings are hid- den behind the Bode Plot. To access the autotuner settings, click the Normal View button in the upper right of the window. Simple measurement normal view Kollmorgen | December 2010...

  • Page 160: Reading And Understanding The Bode Plot

    Four Bode plot traces are displayed by default: 1. Controller (green): This trace represents the frequency response of the tuning in the velocity loop and posi- tion Loop, this trace also includes anti-resonance filter 1 and 2 (also referred to as [C]). Kollmorgen | December 2010...
  • Page 161 Open Loop [G] and Closed Loop [T] frequency responses. The definition of the Open Loop [G] frequency response is: Open Loop = Controller x Plant x Feedback Filters The definition of the Closed Loop [T] frequency response is: Kollmorgen | December 2010...
  • Page 162 Below is a diagram of measurement points (input and output) for each of these frequency responses. The input and output markers have been color coded with the color they appear in the Autotuner: Current Excitation: Velocity Excitation: Kollmorgen | December 2010...
  • Page 163 The lower plot is the phase plot (2). This plot is used in conjunction with the magnitude plot to determine stability, and helps you to understand what kind of latencies exist in the servo system, or if latencies are induced by filters in the velocity loop. Kollmorgen | December 2010...

  • Page 164: Tuning Guide

    Make sure the max motor speed is set accurately. If a complete run away occurs, the motor can reach max speed quickly and the drive will then disable. Kollmorgen | December 2010...

  • Page 165: Closed Loop Tuning Methods

    Set time1 and time2 equal to 3 times the expected settling time for the system. 1.0 second is a reasonable value for time1 and time2, if you don’t know the expected settling time. Kollmorgen | December 2010...
  • Page 166 Here is an example of 15% overshoot. This is zoomed in view of a service motion commanded to 1000 RPM (location 1), where the overshoot peaks at 1150 RPM (location 2). Here is an example of 11 overshoots. Each overshoot is shown by a red circle. Kollmorgen | December 2010...

  • Page 167: Tuning The Position Loop

    (exact values for acceleration are not critical). Turn up IL.KAFF until the position error (PL.ERR) is proportional to the inverted velocity command. The adjustment of IL.KAFF will focus on removing bumps on acceleration and deceleration. The pic- Kollmorgen | December 2010...

  • Page 168: Using Anti-Resonance Filters

    Forward path filters result in higher phase lag in closed loop system response. Forward path filters limit spectrum from reaching the motor / feedback path filters only filter the feed- back after it has been to the motor. 1.6.1 Types of Anti Resonance Filters Low Pass Kollmorgen | December 2010...
  • Page 169 A lead lag filter is a filter that has 0 dB gain at low frequencies and a gain that you specify at high frequencies. You also specify the frequency that the gain at which the transition occurs. Kollmorgen | December 2010...
  • Page 170 Velocity Loop: Click on Velocity Loop (1), then select the AR1 Tab (2), using the Filter Type drop down, select Lead Lag (3), lastly, enter the desired Center Frequency and Gain of the Lead Lag filter (4). Kollmorgen | December 2010...
  • Page 171 A notch filter changes gain at a specific frequency. You specify the frequency at which the gain change occurs (Frequency (Hz)), how wide of a frequency range the cut occurs (Q), and how much the gain changes (Notch Depth (dB)). Kollmorgen | December 2010...
  • Page 172 Velocity Loop: Click on Velocity Loop (1), then select the AR1 Tab (2), using the Filter Type drop down, select Notch (3), lastly, enter the desired Frequency, Depth and Q of the Notch filter (4). Kollmorgen | December 2010...
  • Page 173 Below is an example of a biquad filter similar to a Lead Lag filter type. To help understand how to determine the frequency response of the biquad, the numerator and denominator response have been plotted. If the denom- inator is subtracted from the numerator, the biquad response is the result. Kollmorgen | December 2010...
  • Page 174 The biquad filter is very flexible, this allows custom filters to be designed. Below is an example of a resonance filter using a biquad, notice how the high Q values affect the numerator and denominator. This gives a biquad frequency response similar to a mechanical resonance. Kollmorgen | December 2010...
  • Page 175 If the denominator frequency is lower than the numerator frequency, then high frequencies will have a negative gain. Below is an example where the numerator frequency is higher than the denominator, notice the high frequencies have a negative gain. Kollmorgen | December 2010...

  • Page 176: Biquad Calculations

    Zero frequency = 100 Hz Zero Q = 0.7 Pole frequency = 1000 Hz Pole Q = 0.8 VL.ARTYPE3 0 VL.ARZF3 100 VL.ARZQ3 0.7 VL.ARPF3 1000 VL.ARPQ3 0.8 14.4.6.1 Biquad Calculations In the s-domain, the linear biquad response is calculated: Kollmorgen | December 2010...
  • Page 177 AKD User Guide | 14  Tuning Your System To convert from idealized s-domain behavior to a more realistic z-domain behavior, we convert using a pole / zero transform. To calculate the frequency response for an individual frequency: Kollmorgen | December 2010...

  • Page 178: Common Uses Of Anti Resonance Filters

    Notch filters are used to cancel system resonances. Notch filters are designed to be the opposite in amplitude of system resonances. Notch filters are applied to very specific frequencies, and therefore you must know your sys- tem resonance frequencies accurately to use them effectively. Kollmorgen | December 2010...

  • Page 179: Scope

    None (no data is collected on that channel), preset trace types, or enter a user defined trace. Choosing “<User Defined>” allows you to record data from pre-defined locations. These locations are provided by the fac- tory to collect less common values. Kollmorgen | December 2010...

  • Page 180: Color Column

    Position sets the amount of time that the scope displays before the trigger occurred. Slope sets whether the source data must pass the level value in a positive or negative direction. An example of triggering is shown below: Kollmorgen | December 2010...

  • Page 181: Scope Time-Base And Trigger, More View

    To show specific examples, it is useful to examine variations on a record a test signal that generates a sawtooth signal that starts at 0 and increases by one every drive sample (1/16,000 second) to a maximum of 9, then returns to 0. This signal continues indefinitely. A picture of this signal is shown below. Kollmorgen | December 2010...

  • Page 182: Trigger Type

    In the WorkBench scope, the 0 time point is clear. When collecting the data via REC.RETRIEVE or similar com- mands, the time is not returned, so some caution should be used when the trigger point is important to understand. Trigger position is not used in trigger type “Immediate” (TRIGTYPE 0). Kollmorgen | December 2010...

  • Page 183: Trigger Value

    Below is an example showing triggering of trigger value of 3 (REC.TRIGVAL 3) and positive trigger slope (REC.TRIGSLOPE 1). You can see that the recording triggers at time zero when the source reaches the value of 3. Kollmorgen | December 2010...

  • Page 184: Effects Of Recorder Gap

    3, the trigger slope is positive and the recorder gap is 2. Both examples are the same data, but one instance collected and triggered on the odd data. The other example collected and triggered on the even data. Kollmorgen | December 2010...

  • Page 185: Trigger Slope

    Scope settings are used to store and retrieve the scope parameters.You can save multiple settings, called "pre- sets", under different names. You can save, delete, import, or export the presets. The settings are stored in Work- Bench project file (default.wbproj) and settings are common to all the drives in WorkBench. Kollmorgen | December 2010...

  • Page 186: Load A Setting (Preset) To Scope Screen

    15.3.3 Save or delete preset Save saves any modification to the open preset. Delete deletes the open preset. 15.3.4 Import preset Import the presets contained in the selected settings file as follows: Kollmorgen | December 2010...

  • Page 187: Export Preset

    4. Select/Deselect the presets and then click on Import. 5. If preset name already exists in application the confirmation message will be shown to user to replace it or to ignore. 15.3.5 Export preset Export a preset to a file as follows: Kollmorgen | December 2010...

  • Page 188: Scope Axis Scaling And Zooming

    These functionalities are accessible through the contextual menu when right-clicking in the axis zone. A simple left-click in the axis zone will provide the manual range functionality. A supplementary functionality allows you to perform a scale to fit on all axes is also available, which allows a good overview. Kollmorgen | December 2010...

  • Page 189: Manual Range Per Axis

    [-]. For example, if the velocity Y-axis has signals VL.FB and IL.CMD, then the unit displayed is [-], since the units for these parameters are different. If IL.CMD is hidden, then the correct unit for VL.FB, rpm, is displayed. Related Parameters: BODE Parameters Kollmorgen | December 2010...
  • Page 190 AKD User Guide | 15  Scope This page intentionally left blank. Kollmorgen | December 2010...

  • Page 191: Using Parameters And The Terminal Screen

    AKD User Guide | 16  Using Parameters and the Terminal Screen 16 Using Parameters and the Terminal Screen 16.1 Terminal 16.2 Viewing Parameters 16.3 Parameter List 16.4 Parameter Load/Save Summary of Parameters and Commands Kollmorgen | December 2010...

  • Page 192: Terminal

    Hides the command list if command list is open. Clears the line if command list is not open. Executes the current command. This command sends the text you have typed to the drive and then prints Enter (Return) text the drive returns on the next line. Kollmorgen | December 2010...

  • Page 193: Macros

    1. Enter the sequence of commands. 2. Copy the sequence of commands, then click Edit Macro. Select a macro from the tree on the left, then paste the sequence of commands into the Commands area of the Edit Macros window. Kollmorgen | December 2010...

  • Page 194: Macro Editor

    Inserts a step into the macro that causes a delay for a specified number of milliseconds before con- Add Delay tinuing. A line that starts with #delay 5000 will pause the execution of the macro for 5000 milliseconds. Close Closes this window and returns to the terminal view. Kollmorgen | December 2010...

  • Page 195: Viewing Parameters

    Active in Opmodes GEAR (all parameters and commands) 2 (position) only HOME (all parameters and commands) 2 (position) only MT (all parameters and commands) 2 (position) only SM.I1, SM.I 0 (torque) only SM.V1, SM.V2 1 (velocity) only Kollmorgen | December 2010...
  • Page 196 Sets the length of the PRB signal before it BODE.PRBDEPTH repeats. Sets the amplitude of the excitation when in BODE.VAMP velocity mode. Sets the velocity fault duration limit (seconds) for BODE.VFLIMIT the BODE.MODE 5 stability test Kollmorgen | December 2010...
  • Page 197 Indicates faults relay mode. DOUT.STATES Reads the state of the two digital outputs. DOUTx.MODE Sets the digital output mode. DOUT1.PARAM AND Sets extra parameters for the digital outputs. DOUT2.PARAM DOUT1.STATE AND Reads the digital output state. DOUT2.STATE Kollmorgen | December 2010...
  • Page 198 DRV.HANDWHEEL Reads the EEO input value. Reads the minimum, maximum, and default DRV.HELP values for a specific parameter or command. Retrieves the minimum, maximum, default, and DRV.HELPALL actual values for all available parameters and commands. Kollmorgen | December 2010...
  • Page 199 FB1.INITSIGNED unsigned. Reads the motor line-to-line inductance from the FB1.LDLL FPGA. Reads the motor line-to-line inductance in the FB1.LQLL back emf axis (q axis) from the SFD memory from the FPGA. FB1.MECHPOS Reads the mechanical position. Kollmorgen | December 2010...

  • Page 200: Synchronization

    HOME.DEC (position) only. Sets homing direction; active in opmode 2 (posi- HOME.DIR tion) only. Sets homing distance; active in opmode 2 (posi- HOME.DIST tion) only. Sets homing velocity factor; active in opmode 2 HOME.FEEDRATE (position) only. Kollmorgen | December 2010...
  • Page 201 Sets the positive user (application-specific) d- IL.DLIMITP component current limit. Reads the actual value of the d-component cur- IL.FB rent. IL.FOLDFTHRESH Reads the foldback fault level. IL.FOLDWTHRESH Sets the foldback warning level. IL.IFOLD Reads the overall foldback current limit. Kollmorgen | December 2010...
  • Page 202 Sets the motor continuous current. MOTOR.INERTIA Sets the motor inertia. MOTOR.IPEAK Sets the motor peak current. MOTOR.KT Sets the torque constant of the motor. MOTOR.LQLL Sets the line-to-line motor Lq. MOTOR.VMAX Sets the maximum motor speed. Kollmorgen | December 2010...
  • Page 203 2 (position) only. MT.TNUM Motion task customer table number. Sets the motion task velocity; active in opmode 2 MT.V (position) only. Position Loop (PL) Reads the position command directly from the PL.CMD entry to the position loop. Kollmorgen | December 2010...
  • Page 204 REGEN.TYPE SETS THE REGEN RESISTOR TYPE. SETS THE REGEN RESISTOR'S POWER REGEN.WATTEXT FAULT LEVEL FOR AN EXTERNAL REGEN RESISTOR. Service Motion (SM) Sets service motion current 1; active in opmode 0 SM.I1 (torque) only. Kollmorgen | December 2010...
  • Page 205 (AR)filter 1; active in opmodes 1 (velocity) and 2 (position) only. Sets the Q of the zero (numerator) of anti-res- VL.ARZQ1 TO VL.ARZQ4 onance filter #1; active in opmodes 1 (velocity) and 2 (position) only. Kollmorgen | December 2010...
  • Page 206 Sets the minimum movement required for wake WS.DISTMIN and shake. WS.IMAX Sets maximum current used for wake and shake. WS.MODE Sets the method used for wake and shake. Sets maximum movement allowed for wake and WS.DISTMAX shake. Kollmorgen | December 2010...
  • Page 207 Delay for wake and shake timing WS.TDELAY2 Sets the delay for wake and shake timing. Sets the delay for wake and shake between WS.TDELAY3 loops in mode 0. Defines the maximum allowed velocity for Wake WS.VTHRESH & Shake Kollmorgen | December 2010...
  • Page 208 AKD User Guide | 16  Using Parameters and the Terminal Screen This page intentionally left blank. Kollmorgen | December 2010...

  • Page 209: Faults And Warnings

    AKD User Guide | 17  Faults and Warnings 17 Faults and Warnings 17.1 Fault and Warning Messages 17.2 Clearing Faults 17.3 Parameter and Command Error Messages 17.4 CANopen Emergency Messages and Error Codes 17.5 Unknown Fault Kollmorgen | December 2010...

  • Page 210: Fault And Warning Messages

    Check motion task settings and parameters to make sure that Warning issued prior to fault. the values entered will produce a valid motion task. Refer to the motion task documentation for additional guidance on specific causes of invalid motion tasks. Kollmorgen | December 2010...
  • Page 211 204 to EEPROM failure detected EEPROM failure detected Restart drive. If issue persists, exchange drive. 234 to Temperature sensor high. High temperature limit reached. Check cabinet ventilation sys- tem. Warning issued prior to fault. Kollmorgen | December 2010...
  • Page 212 010, 110, 100, and 101. This fault can be correctly. caused by a broken connection in any one of the Hall signals. BiSS watchdog fault. Bad communication with the feedback Check primary feedback (X10 device. connection), Biss only. Kollmorgen | December 2010...
  • Page 213 (presentation). Wake and Shake. Insuf- There was less movement than defined Increase WS.IMAX and/or ficient movement by WS.DISTMIN. WS.T Wake and Shake. Excess WS.DISTMAX has been exceeded. Increase WS.DISTMAX value movement. or reduce WS.IMAX or WS.T. Kollmorgen | December 2010...
  • Page 214 Iu current offset limit Hardware failure detected. Restart drive. If issue persists, exceeded. contact technical support. Iv current offset limit Hardware failure detected. Restart drive. If issue persists, exceeded. contact technical support. Kollmorgen | December 2010...
  • Page 215 Check fieldbus connections lost. (X11), settings, and control unit. Warning issued prior to fault. Emergency timeout Motor did not stop in the timeout defined. Change timeout value, change occurred while axis should stop parameters, improve tun- disable ing. Kollmorgen | December 2010...

  • Page 216: Clearing Faults

    Example: DIN2.MODE 13 sets digital input 2 (pin 9 on connector X7) to perform the clear fault function. Any free digital input shown in Table x can be set to mode 1 (Reset faults). Kollmorgen | December 2010...

  • Page 217: Parameter And Command Error Messages

    Error: Parameter or Use of this parameter or Contact technical support to Password protected command is password command requires a obtain password. Enter valid parameters and com- protected. password. password. mands. Kollmorgen | December 2010...
  • Page 218 Error: Invalid motor/feedback poles ratio. Situation should not Clear fault. If fault recurs, consult Error: Unknown Fault. Unknown. happen. technical support. Error: Invalid motor/feedback poles ratio. Error: Invalid motion task parameter. Error: Invalid motion task number. Kollmorgen | December 2010...
  • Page 219 Error: Test mode is off. Error: Cannot change digital input mode. Issue software or hard- ware disable first. Error: Internal drive pro- cedure active: con- trolled stop, burn-in, phase find, or zero. Error: General motion fault. Kollmorgen | December 2010...

  • Page 220: Canopen Emergency Messages And Error Codes

    Motor short circuit 0x7184 Motor brake closed 0x7303 Resolver 1 fault 0x7305 Incremental sensor 1 fault 0x7380 Feedback 1, analogue fault 0x7381 Feedback 1, EnDat communication fault 0x7382 Feedback 1, illegal hall 0x7383 Feedback 1, BiSS watchdog Kollmorgen | December 2010...
  • Page 221 Safe torque off 0xFF10 Warning: SFD single corrupted position. 0x8380 Warning: Drive foldback 0x8387 Warning: Motor foldback 0xFF13 Warning: Control position deviation 0x8582 Warning: Positive software position limit is exceeded. 0x8583 Warning: Negative software position limit is exceeded. Kollmorgen | December 2010...
  • Page 222 Warning: Control temperature sensor 1 low. 0x4396 Warning: Power temperature sensor 2 low. 0x4392 Warning: Power temperature sensor 3 low. 0x3280 Warning: Bus under voltage. 0x3780 Warning: Input phase loss. 0x3287 Warning: Dynamic Braking I 0x8787 Warning: Fieldbus PLL unlocked. Kollmorgen | December 2010...

  • Page 223: Unknown Fault

    AKD User Guide | 17  Faults and Warnings 17.5 Unknown Fault This fault message occurs when an undefined fault condition is encountered. 17.5.0.1 Remedies 1. Click Clear Fault. Kollmorgen | December 2010...

  • Page 224: Troubleshooting The Akd

    (VL.AR*) Drive runs roughly —Kp (speed controller) too high —reduce VL.KP (speed controller) —Ki (speed controller) too high —reduce VL.KI (speed controller) — filters set too low —refer to documentation regarding increasing fil- tering (VL.AR*) Kollmorgen | December 2010...

  • Page 225: Firmware And Firmware Updates

    AKD User Guide | 19  Firmware and Firmware Updates 19 Firmware and Firmware Updates 19.1 Downloading Firmware 19.2 Firmware Compatibility 19.3 Invalid Firmware 19.4 Forcing the drive into firmware download mode 19.5 Forced download of AKD firmware. Kollmorgen | December 2010...

  • Page 226: Downloading Firmware

    WorkBench version may not function correctly with the new firm- ware. Kollmorgen recommends that you update WorkBench when you install new firmware. The table below describes compatibility between WorkBench and firmware versions:...

  • Page 227: Forcing The Drive Into Firmware Download Mode

    4. Select the firmware to be downloaded; click Open to start the process. WorkBench will display the Disconnected view. See the screenshots below for the download connection sequence. The Firmware Download view appears next. See the screenshot below for the firmware selection and down- load sequence. Kollmorgen | December 2010...
  • Page 228 3.Next, the Downloading Firmware view appears and the progress bar displays the firmware download prog- ress. 4. Once the download is complete, open the AKD Overview screen. The Firmware Version box displays the new firmware version, which confirms your successful download. Kollmorgen | December 2010...

  • Page 229: Connection Diagrams

    19.13 Mains Supply Connection (X3, X4) 19.14 I/O Connection 19.15 Analog Output (X8) 19.16 Analog Input (X8) 19.17 Command encoder signal connection 19.18 Pulse / Direction signal connection 19.19 Up / Down signal connection 19.20 Feedback Connector (X10) Kollmorgen | December 2010...

  • Page 230: Connection Diagram, Akd-X00306 To X00606

    AKD User Guide | Connection Diagrams 19.6 Connection Diagram, AKD-x00306 to x00606 Kollmorgen | December 2010...

  • Page 231: Connection Diagram, Akd-X01206

    AKD User Guide | Connection Diagrams 19.7 Connection Diagram, AKD-x01206 Kollmorgen | December 2010...

  • Page 232: Connection Diagram, Akd-X02406 And Akd-Xzzz07

    AKD User Guide | Connection Diagrams 19.8 Connection Diagram, AKD-x02406 and AKD-xzzz07 Kollmorgen | December 2010...

  • Page 233: Auxiliary Supply (X1)

    The following diagram describes external 24 Vdc power supply, electrically isolated, for example, via an isolating transformer. The required current rating depends on the use of motor brake and option card (see page 1 or following). Signal Description +24 Vdc Auxiliary voltage 24V Supply GND STO enable (Safe Torque Off) Kollmorgen | December 2010...

  • Page 234: Motor Connection

    Motor phase U Motor phase V Motor phase W Connector X2 AKD-xzzz07 Pin Signal Description Motor holding brake, negative Motor holding brake, positive Protective earth (motor housing) Motor phase U Motor phase V Motor phase W Kollmorgen | December 2010...

  • Page 235: External Brake Resistor (X3)

    External Brake Resistor negative External Brake Resistor positive AKD-x01206 (X3) Signal Description +Rbint Internal Brake Resistor positive External Brake Resistor negative External Brake Resistor positive AKD-x02406 & AKD-xzzz07 (X3) Signal Description External Brake Resistor negative External Brake Resistor positive Kollmorgen | December 2010...

  • Page 236: Dc Bus Link (X3)

    Signal Description DC-Link Bus negative +DC (+RB) DC-Link Bus positive AKD-x01206 (X3) Signal Description DC-Link Bus negative +DC (+RB) DC-Link Bus positive AKD-x02406 & AKD-xzzz07 (X3) Signal Description DC-Link Bus negative +DC (+RB) DC-Link Bus positive Kollmorgen | December 2010...

  • Page 237: Mains Supply Connection (X3, X4)

    Signal Description Line 1 Line 2 Line 3 Protective Earth AKD-x01206 (X3) Signal Description Line 1 Line 2 Line 3 Protective Earth AKD-x02406 & AKD-xzzz07 (X4) Signal Description Line 1 Line 2 Line 3 Protective Earth Kollmorgen | December 2010...

  • Page 238: Single Phase Connection (Akd-Xzzz06 Only)

    Fusing (such as fusible cut-outs) to be provided by the user see page 1. AKD-x00306 to AKD-x00606 (X3) Signal Description Line 1 L2 (N) Neutral Protective Earth AKD-x01206 (X3) Signal Description Line 1 L2 (N) Neutral Protective Earth Kollmorgen | December 2010...

  • Page 239: I/O Connection

    Positive limit switch Analog Ground AGND Analog GND Analog Output + Analog-Out Actual velocity voltage Analog Input - Analog-In- Velocity set point Analog Input + Analog-In+ Digitalcommonlines forX7andX8arenotcommontoeachother. TheDCOMx lineshouldbeconnectedtothe0VoftheI/Osupply whenusingsensors oftype"Source"withdigital inputs. TheDCOMx lineshouldbeconnectedtothe24VoftheI/Osupply whenusingsensors oftype"Sink" withdigitalinputs. Kollmorgen | December 2010...

  • Page 240: Analog Output (X8)

    Accuracy: < 0.05 V Output impedance: < 10 ohms Specification complies with IEC 61131-2 Table 11 Frequency response: 4 kHz Maximum output current: > 10 mA Maximum capacitive load: 10 nF Current protected Analog Output Wiring Diagram Kollmorgen | December 2010...

  • Page 241: Analog Input (X8)

    Standard setting: clockwise rotation of the motor shaft (looking at the shaft end) affected by positive voltage between terminal X8/10 (+ ) and terminal X8/9 ( - ) To reverse the direction of rotation, swap the connections to terminals X8/9-10, or change the DRV.DIR param- eter in the “Feedback” screen page. Kollmorgen | December 2010...

  • Page 242: Command Encoder Signal Connection

    A 24 V A quad B encoder can be connected to the digital inputs 1 and 2 and used as a commander encoder, dual loop feedback, gearing or camming input. Don't use for primary motor feedback connection! Connection Diagram Kollmorgen | December 2010...

  • Page 243: Emulated Encoder Output (Eeo) - A Quad B (X9)

    The resolution (before multiplication) can be set by the DRV.EMUERES parameter. Use the DRV.EMU- EZOFFSET parameter to adjust + save the zero pulse position within one mechanical turn. The drivers operate from an internal supply voltage. tv max. 30ns Connection Diagram Kollmorgen | December 2010...

  • Page 244: Pulse / Direction Signal Connection

    Connection to 24 V signal level stepper-motor controllers. 19.19 Up / Down signal connection 19.19.1 Up / Down input 5 V (X9) The drive can be connected to a third-party controller which delivers5 V up-down signals Kollmorgen | December 2010...

  • Page 245: Up / Down Input 24 V (X7)

    Zero- Thermal control (PTC) Thermal control (PTC, GND) +5 V +5 V +5 V +5 V +8 to +9 V +5 V +5 V S1 SIN+ SIN+ S3 SIN- SIN- S2 COS+ COS+ S4 COS- COS- Kollmorgen | December 2010...

  • Page 246: Block Diagrams

    AKD User Guide | Block Diagrams Block Diagrams 19.21 Block Diagram for Current Loop 19.22 Block Diagram for Position/Velocity Loop Kollmorgen | December 2010...

  • Page 247: Block Diagram For Current Loop

    AKD User Guide | Block Diagrams 19.21 Block Diagram for Current Loop 19.22 Block Diagram for Position/Velocity Loop Kollmorgen | December 2010...

  • Page 248: Appendix A

    AKD User Guide | Appendix A Appendix A Parameter and Command Reference Guide Kollmorgen | December 2010...
  • Page 249 AKD User Guide | Kollmorgen | December 2010...
  • Page 250 AKD User Guide | This page intentionally left blank. Kollmorgen | December 2010...

  • Page 251: About The Parameter And Command Reference Guide

    Integer, Boolean, Float, or String Links to related information such as other parameters, block diagrams, See Also schematics, or other sections of the product manual. The minimum firmware version number required to use the parameter or Start Version command Kollmorgen | December 2010...
  • Page 252 Error Illegal type=0 Boolean 8 x unsigned numbers 8 x signed numbers 16 x unsigned numbers 16 x signed numbers 32 x unsigned numbers 32 x signed numbers 64 x unsigned numbers 64 x signed numbers Kollmorgen | December 2010...

  • Page 253: Parameter And Command Naming Conventions

    Generally speaking, all parameters and commands are active in all opmodes, with the following exceptions: Parameter or Command Active in Opmodes GEAR (all parameters and commands) 2 (position) only HOME (all parameters and commands) 2 (position) only MT (all parameters and commands) 2 (position) only Kollmorgen | December 2010...

  • Page 254: Ain.cutoff

    Sets the mode of the excitation. BODE.MODETIMER Sets the watchdog timer of the excitation. Sets the length of the PRB signal before it BODE.PRBDEPTH repeats. Sets the amplitude of the excitation when in BODE.VAMP velocity mode. Kollmorgen | December 2010...

  • Page 255: Dout.relaymode Dout.states Doutx.mode

    Sets the source of digital outputs (firmware or DOUT.CTRL fieldbus). DOUT.RELAYMODE Indicates faults relay mode. DOUT.STATES Reads the state of the two digital outputs. DOUTx.MODE Sets the digital output mode. DOUT1.PARAM AND Sets extra parameters for the digital outputs. DOUT2.PARAM Kollmorgen | December 2010...
  • Page 256 Reads the active faults. DRV.FLASHREAD (Password Pro- Reads a value from the serial flash memory. tected) DRV.HANDWHEEL Reads the EEO input value. Reads the minimum, maximum, and default DRV.HELP values for a specific parameter or command. Kollmorgen | December 2010...
  • Page 257 Reads the Hall switch values (encoder feedback Reads the type of feedback device used by the FB1.IDENTIFIED drive/motor. Sets initial feedback value as signed or FB1.INITSIGNED unsigned. Reads the motor line-to-line inductance from the FB1.LDLL FPGA. Kollmorgen | December 2010...
  • Page 258 Sets homing acceleration; active in opmode 2 HOME.ACC (position) only. HOME.AUTOMOVE Sets homing auto move flag. Sets homing deceleration; active in opmode 2 HOME.DEC (position) only. Sets homing direction; active in opmode 2 (posi- HOME.DIR tion) only. Kollmorgen | December 2010...
  • Page 259 Reads the drive foldback current limit. Sets the negative user (application-specific) d- IL.DLIMITN component current limit. Sets the positive user (application-specific) d- IL.DLIMITP component current limit. Reads the actual value of the d-component cur- IL.FB rent. Kollmorgen | December 2010...
  • Page 260 The delay time used for applying the motor brake. The delay time used for releasing the motor MOTOR.TBRAKERLS brake. MOTOR.ICONT Sets the motor continuous current. MOTOR.INERTIA Sets the motor inertia. MOTOR.IPEAK Sets the motor peak current. Kollmorgen | December 2010...
  • Page 261 MT.P (position) only. Sets the motion task in the drive; active in MT.SET Command opmode 2 (position) only. MT.TNUM Motion task customer table number. Sets the motion task velocity; active in opmode 2 MT.V (position) only. Kollmorgen | December 2010...
  • Page 262 REGEN RESISTOR RESISTANCE. Sets the external regen resistor thermal pro- REGEN.TEXT tection time constant. REGEN.TYPE SETS THE REGEN RESISTOR TYPE. SETS THE REGEN RESISTOR'S POWER REGEN.WATTEXT FAULT LEVEL FOR AN EXTERNAL REGEN RESISTOR. Service Motion (SM) Kollmorgen | December 2010...
  • Page 263 (AR)filter 1; active in opmodes 1 (velocity) and 2 (position) only. Sets the Q of the zero (numerator) of anti-res- VL.ARZQ1 TO VL.ARZQ4 onance filter #1; active in opmodes 1 (velocity) and 2 (position) only. Kollmorgen | December 2010...
  • Page 264 Sets the minimum movement required for wake WS.DISTMIN and shake. WS.IMAX Sets maximum current used for wake and shake. WS.MODE Sets the method used for wake and shake. Sets maximum movement allowed for wake and WS.DISTMAX shake. Kollmorgen | December 2010...
  • Page 265 Delay for wake and shake timing WS.TDELAY2 Sets the delay for wake and shake timing. Sets the delay for wake and shake between WS.TDELAY3 loops in mode 0. Defines the maximum allowed velocity for Wake WS.VTHRESH & Shake Kollmorgen | December 2010...
  • Page 266 AKD User Guide | About the Parameter and Command Reference Guide This page intentionally left blank. Kollmorgen | December 2010...
  • Page 267 AIN Parameters This section describes the analog input (AIN) parameters. AIN parameters function as shown in the block dia- gram below: Analog Input Block Diagram Kollmorgen | December 2010...
  • Page 268 Suggested operating values are as follows: Analog torque opmode: 5 kHz Analog velocity opmode: 2.5 kHz General purpose analog input high resolution: 500 Hz Related Topics 10.4 Analog Input Velocity Controller Environment Block Diagram (for the drive controller environment). Kollmorgen | December 2010...
  • Page 269 AIN.DEADBAND sets the deadband of the analog input signal. If the absolute value of the analog input signal is less than the AIN.DEADBAND value, then no analog command signal is generated. Related Topics 10.4 Analog Input Velocity Controller Environment Block Diagram (for the drive controller environment). Kollmorgen | December 2010...
  • Page 270 The value entered is the motor current per 10 V of analog input. This value may be either higher or lower than 100%, but the actual analog input will be limited by the application current limit (IL.LIMITN and IL.LIMITP). Related Topics 10.4 Analog Input Velocity Controller Environment Block Diagram (for the drive controller environment). Kollmorgen | December 2010...
  • Page 271 AIN.OFFSET sets the analog offset, which is added to the analog input command to the drive. This value com- pensates for the analog input signal (AIN.VALUE) offset or drift. Related Topics 10.4 Analog Input Velocity Controller Environment Block Diagram (for the drive controller environment). Kollmorgen | December 2010...
  • Page 272 AIN.PSCALE is an analog position scale factor that scales the analog input (AIN.VALUE) for DRV.OPMODE = 2 , DRV.CMDSOURCE = 3 (analog position mode). Related Topics 10.4 Analog Input Velocity Controller Environment Block Diagram (for the drive controller environment). Kollmorgen | December 2010...
  • Page 273 M_01-03-00-000 Description AIN.VALUE reads the analog input value after the value is filtered (as shown in the Analog Input Block Diagram). Related Topics 10.4 Analog Input Velocity Controller Environment Block Diagram (for the drive controller environment). Kollmorgen | December 2010...
  • Page 274 The value entered is the motor velocity per 10 V of analog input. This value may be either higher or lower than the application velocity limit (VL.LIMITP orVL.LIMITN), but the actual analog I/O will be limited by VL.LIMITP or VL.LIMITN. Related Topics 10.4 Analog Input Velocity Controller Environment Block Diagram (for the drive controller environment). Kollmorgen | December 2010...
  • Page 275 AIN.ZERO causes the drive to zero the analog input signal (AIN.VALUE). You may need to execute this com- mand more than once to achieve zero offset, and AIN.OFFSET is modified in this process. Related Topics 10.4 Analog Input Velocity Controller Environment Block Diagram (for the drive controller environment). Kollmorgen | December 2010...
  • Page 276 AKD User Guide | AIN Parameters This page intentionally left blank. Kollmorgen | December 2010...
  • Page 277 The analog output (AOUT.VALUE) for AOUT.MODE = 5 or 6. The value entered is the motor current per 1 V of analog input or output. This value may be either higher or lower than 100%, but the actual analog I/O will be limited by the application current limit (IL.LIMITN and IL.LIMITP). Kollmorgen | December 2010...
  • Page 278 1. The analog input (AIN.VALUE) for DRV.OPMODE = 2 , DRV.CMDSOURCE = 3 (analog position mode) 2. The analog output (AOUT.VALUE) for AOUT.MODE = 6, or 7. (actual position or position error) per 10 V of analog input or output. Kollmorgen | December 2010...
  • Page 279 10 V of analog input or output. This value may be either higher or lower than the application velocity limit (VL.LIMITP or VL.LIMITN), but the actual analog I/O will be limited by VL.LIMITP or VL.LIMITN. Kollmorgen | December 2010...
  • Page 280 AKD User Guide | AIO Parameters This page intentionally left blank. Kollmorgen | December 2010...
  • Page 281 Sets the memory address to debug. Units Range 4 to 4,292,870,142 Default Value Data Type Integer See Also AOUT.MODE Start Version M_01-01-01-000 Description AOUT.DEBUGADDR sets the memory address to debug when AOUT.MODE = 9 (debug mode). Related Topics 10.5 Analog Output Kollmorgen | December 2010...
  • Page 282 Range 0.001 to 9,223,372,036,854,775.000 Default Value Data Type Float See Also AOUT.MODE Start Version M_01-01-01-000 Description AOUT.DEBUGSCALE sets the scale to be used for debug when AOUT.MODE = 9 (debug mode). Related Topics 10.5 Analog Output Kollmorgen | December 2010...

  • Page 283: Aout.iscale

    AOUT.MODE = 4 or 5. The value entered is the motor current per 10 V of analog input or output. This value may be either higher or lower than 100%, but the actual analog I/O will be limited by the application current limit (IL.LI- MITN and IL.LIMITP). Related Topics 10.5 Analog Output Kollmorgen | December 2010...

  • Page 284: Aout.mode

    Debug mode. In this mode the user can define a drive variable to monitor via the analog output (AOUT.VALUEU). Example You can use AOUT.VALUEU to implement a voltage output as follows: -->AOUT.MODE 0 -->AOUT.VALUEU 5 -->AOUT.VALUEU 4.33 Related Topics 10.5 Analog Output Kollmorgen | December 2010...

  • Page 285: Aout.offset

    Units Range -10 to +10 V Default Value Data Type Float See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter sets the analog input offset. Related Topics 10.5 Analog Output Kollmorgen | December 2010...

  • Page 286: Aout.pscale

    AOUT.PSCALE is an analog position scale factor that scales the analog output (AOUT.VALUE) for AOUT.MODE = 6, or 7 (actual position or position error) per 10 V of analog input or output. Related Topics 10.5 Analog Output Kollmorgen | December 2010...
  • Page 287 AKD User Guide | AOUT Parameters Kollmorgen | December 2010...

  • Page 288: Aout.value

    AOUT.VALUE reads the analog output value. This parameter can also be used to set the value of the analog out- put when AOUT.MODE = 0 (analog output signal is determined by the user). Related Topics 10.5 Analog Output Kollmorgen | December 2010...

  • Page 289: Aout.valueu

    Object Start Version EtherCAT COE 3470h/3 M_01-00-00-000 and CANopen Modbus 32 (64-bit) M_01-03-00-000 Description AOUT.VALUEU reads/writes the analog output value when AOUT.MODE = 0 (analog output signal is deter- mined by the user). Related Topics 10.5 Analog Output Kollmorgen | December 2010...

  • Page 290: Aout.vscale

    AOUT.MODE = 1, 2, or 3. The value entered is the motor velocity per 10 V of analog output. This value may be either higher or lower than the application velocity limit (VL.LIMITP or VL.LIMITN), but the actual analog I/O will be limited by VL.LIMITP or VL.LIMITN. Kollmorgen | December 2010...

  • Page 291: Bode Parameters

    Get excitation update rate (already set to 8000 Hz): -->BODE.EXCITEGAP 2 Related Topics 14.3 Using the Autotuner 14.3.4 Using the Autotuner: Advanced 15 Scope 1.2.1.5 Bode (set command source) 6.5 Settings Error: Invalid Bode plot mode for this function. and other errors) Kollmorgen | December 2010...

  • Page 292: Bode.freq

    -->BODE.IAMP 0.2 -->BODE.FREQ 50.0 -->BODE.MODE 2 Related Topics 14.3 Using the Autotuner 14.3.4 Using the Autotuner: Advanced 15 Scope 1.2.1.5 Bode (set command source) 6.5 Settings Error: Invalid Bode plot mode for this function. and others) Kollmorgen | December 2010...

  • Page 293: Bode.iamp

    Get the excitation current (already set to 0.2 A): -->BODE.IAMP 0.200 [A] Related Topics 14.3 Using the Autotuner 14.3.4 Using the Autotuner: Advanced 15 Scope 1.2.1.5 Bode (set command source) 6.5 Settings Error: Invalid Bode plot mode for this function. and others) Kollmorgen | December 2010...

  • Page 294: Bode.iflimit

    Example Set BODE.IFTHRESH to 6 Amps: -->BODE.IFTHRESH 6 Set BODE.IFLIMIT to 0.500 seconds: -->BODE.IFLIMIT 0.5 Set BODE.MODE to 5 to enable stability detection: BODE.MODE 5 Related Topics 14.3 Using the Autotuner 14.3.4 Using the Autotuner: Advanced Kollmorgen | December 2010...

  • Page 295: Bode.ifthresh

    Example Set BODE.IFTHRESH to 6 Amps: -->BODE.IFTHRESH 6 Set BODE.IFLIMIT to 0.500 seconds: -->BODE.IFLIMIT 0.5 Set BODE.MODE to 5 to enable stability detection: BODE.MODE 5 Related Topics 14.3 Using the Autotuner 14.3.4 Using the Autotuner: Advanced Kollmorgen | December 2010...

  • Page 296: Bode.injectpoint

    Get BODE.INJECTPOINT (already set to current): -->BODE.INJECTPOINT 1 Related Topics 14.3 Using the Autotuner 14.3.4 Using the Autotuner: Advanced 15 Scope 1.2.1.5 Bode (set command source) 6.5 Settings Error: Invalid Bode plot mode for this function. and others) Kollmorgen | December 2010...

  • Page 297: Bode.mode

    Uses random noise excitation. Noise is a random number Noise generator that varies between +/- peak amplitude. Sets a torque offset equal to BODE.IAMP Offset Example Set BODE.MODE to PRB: -->BODE.MODE 1 Get BODE.MODE (already set to PRB): -->BODE.MODE 1 PRB excitation: Kollmorgen | December 2010...
  • Page 298 AKD User Guide | BODE Parameters Sine excitation: Noise excitation: Kollmorgen | December 2010...
  • Page 299 AKD User Guide | BODE Parameters Related Topics 14.3 Using the Autotuner 14.3.4 Using the Autotuner: Advanced 15 Scope 1.2.1.5 Bode (set command source) 6.5 Settings Error: Invalid Bode plot mode for this function. and others) Kollmorgen | December 2010...

  • Page 300: Bode.modetimer

    -->BODE.MODE // Observe starting state of the Bode mode -->BODE.MODE 1 // Set Bode mode to PRB -->BODE.MODE // Observe Bode mode state is the same after 0.5 seconds -->BODE.MODE // Observe Bode mode state is the same after 10 seconds Kollmorgen | December 2010...
  • Page 301 -->BODE.MODE // Observe Bode mode state has been set to zero after 4.0 seconds after the original enabling of BODE.MODE Related Topics 14.3 Using the Autotuner 14.3.4 Using the Autotuner: Advanced 15 Scope 1.2.1.5 Bode (set command source) 6.5 Settings Error: Invalid Bode plot mode for this function. and others) Kollmorgen | December 2010...

  • Page 302: Bode.prbdepth

    Get BODE.PRBDEPTH (already set to 19): -->BODE.PRBDEPTH 19 Related Topics 14.3 Using the Autotuner 14.3.4 Using the Autotuner: Advanced 15 Scope 1.2.1.5 Bode (set command source) 6.5 Settings Error: Invalid Bode plot mode for this function. and others) Kollmorgen | December 2010...

  • Page 303: Bode.vamp

    Get the excitation velocity(already set to 100 RPM) -->BODE.VAMP 100.000 [rpm] Related Topics 14.3 Using the Autotuner 14.3.4 Using the Autotuner: Advanced 15 Scope 1.2.1.5 Bode (set command source) 6.5 Settings Error: Invalid Bode plot mode for this function. and others) Kollmorgen | December 2010...

  • Page 304: Bode.vflimit

    Example Set BODE.VFTHRESH to 10 RPM: -->BODE.VFTHRESH 10 Set BODE.VFLIMIT to 0.500 seconds -->BODE.VFLIMIT 0.5 Set BODE.MODE to 5 to enable stability detection -->BODE.MODE 5 Related Topics 14.3 Using the Autotuner 14.3.4 Using the Autotuner: Advanced Kollmorgen | December 2010...

  • Page 305: Bode.vfthresh

    Example Set BODE.VFTHRESH to 10 RPM: -->BODE.VFTHRESH 10 Set BODE.VFLIMIT to 0.500 seconds: -->BODE.VFLIMIT 0.5 Set BODE.MODE to 5 to enable stability detection: -->BODE.MODE 5 Related Topics 14.3 Using the Autotuner 14.3.4 Using the Autotuner: Advanced Kollmorgen | December 2010...

  • Page 306: Cap Parameters

    The precondition logic has an identical feature controlled by CAP0.PREEDGE, CAP1.PREEDGE. Value Description Reserved Rising edge Falling edge Both edges Related Topics 8.11 Using Position Capture Kollmorgen | December 2010...

  • Page 307: Cap0.En, Cap1.En

    0 and must be activated again for the next capture. Also note that CAP0.PLFB, CAP1.PLFB is set to 0 when this parameter is set to 1. 0 = Disable 1 = Enable Related Topics 8.11 Using Position Capture Kollmorgen | December 2010...

  • Page 308: Cap0.Event, Cap1.Event

    The following diagram shows an example of Event = 0 (trigger on edge, trigger edge = rising). In this mode, the precondition logic is ignored. Figure 1: Trigger Edge Mode Events 2 and 3 (Trigger edge while precondition = 0 or 1) Kollmorgen | December 2010...
  • Page 309 Event 1 (Trigger edge after precondition) In this event, each trigger event requires Enable=1, a new precondition edge, followed by a new trigger edge. The sequence requirements are shown in the figure below. Figure 3: Trigger edge after precondition edge Kollmorgen | December 2010...
  • Page 310 The same time resolves to a single 40 ns clock tick in the trigger event logic (after the optional filter function as well as any sensor, cable, or noise delays). Related Topics 8.11 Using Position Capture Kollmorgen | December 2010...

  • Page 311: Cap0.Filter, Cap1.Filter

    0.080 us for the fast filter, 5.12 us for the slow filter. The filter delay for a clean input edge is therefore an average of 7.5 periods (+/-0.5 period for worst case). Related Topics 8.11 Using Position Capture Kollmorgen | December 2010...

  • Page 312: Cap0.Mode, Cap1.Mode

    Parameters set in this mode are: CAPx.TRIGGER 10: index mark of primary encoder CAPx.EDGE 1: rising edge CAPx.EVENT 0: ignore precondition Also the capture engine is immediately enabled and is continuously triggered again. Related Topics 8.11 Using Position Capture Kollmorgen | December 2010...

  • Page 313: Cap0.Plfb, Cap1.Plfb

    20A3h/0 CAP1.PLFB 64 (64-bit) CAP0.PLFB Modbus M_01-03-00-000 90 (64-bit) CAP1.PLFB Description This parameter reads the captured position value scaled to actual set units. See UNIT.PROTARY or UNIT.PIN for these units. Related Topics 8.11 Using Position Capture Kollmorgen | December 2010...

  • Page 314: Cap0.Preedge, Cap1.Preedge

    The precondition edge is monitored for rising edge, falling edge, or both. The event mode logic may ignore the pre- condition edge detection (trigger always uses edge detection). The filtered trigger source has an identical feature controlled by CAP0.EDGE, CAP1.EDGE. Value Description Reserved Rising edge Falling edge Both edges Related Topics 8.11 Using Position Capture Kollmorgen | December 2010...

  • Page 315: Cap0.Prefilter, Cap1.Prefilter

    0.080 us for the fast filter, 5.12 us for the slow filter. The filter delay for a clean input edge is therefore an average of 7.5 periods (+/- 0.5 period for worst case). Related Topics 8.11 Using Position Capture Kollmorgen | December 2010...

  • Page 316: Cap0.Preselect, Cap1.Preselect

    General Input 2 General Input 3 General Input 4 General Input 5 General Input 6 General Input 7 RS485 Input 1 RS485 Input 2 RS485 Input 3 Primary Index Tertiary Index Related Topics 8.11 Using Position Capture Kollmorgen | December 2010...

  • Page 317: Cap0.State, Cap1.State

    CAP.STATE Modbus M_01-03-00-000 CAP1.STATE Description When enabling the capture (CAP0.EN, CAP1.EN), this parameter is set to 0 until the next event is captured. 0 = Not captured 1 = Captured Related Topics 8.11 Using Position Capture Kollmorgen | December 2010...

  • Page 318: Cap0.T, Cap1.T

    If time capture was configured, the captured time is stored in this parameter. The reference time is the occur- rence of the last MTS signal (recurring every 62.5 µs), so this is a purely drive internal time. Related Topics 8.11 Using Position Capture Kollmorgen | December 2010...

  • Page 319: Cap0.Trigger, Cap1.Trigger

    General Input 2 General Input 3 General Input 4 General Input 5 General Input 6 General Input 7 RS485 Input 1 RS485 Input 2 RS485 Input 3 Primary Index Tertiary Index Related Topics 8.11 Using Position Capture Kollmorgen | December 2010...

  • Page 320: Cs Parameters

    See Also DRV.DISMODE, DRV.DISSOURCES Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 3440h/1 M_01-00-00-000 and CANopen Modbus 106 (64-bit) M_01-03-00-000 Description This parameter sets the deceleration value for the controlled stop process. Related Topics Kollmorgen | December 2010...
  • Page 321 AKD User Guide | CS Parameters 10.10 Controlled Stop 10.1 Digital Inputs and Outputs 17.1 Fault and Warning Messages (this table indicates faults for which a controlled stop occurs) Kollmorgen | December 2010...

  • Page 322: Cs.state

    0 = controlled stop is not occurring. 1 = controlled stop is occurring Related Topics 10.10 Controlled Stop 10.1 Digital Inputs and Outputs 17.1 Fault and Warning Messages (this table indicates faults for which a controlled stop occurs) Kollmorgen | December 2010...

  • Page 323: Cs.to

    CS.DEC, CS.TO, CS.STATE DRV.DIS, DIN1.MODE TO DIN7.MODE, See Also DRV.DISMODE, DRV.DISSOURCES Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT and 3440h/2 M_01-00-00-000 CANopen Modbus M_01-03-00-000 Description CS.VTHRESH is the velocity threshold for the controlled stop algorithm. Kollmorgen | December 2010...
  • Page 324 Set velocity threshold for controlled stop at 100 rpm: -->CS.VTHRESH 100 Related Topics 10.10 Controlled Stop 10.1 Digital Inputs and Outputs 17.1 Fault and Warning Messages (this table indicates faults for which a controlled stop occurs) Kollmorgen | December 2010...

  • Page 325: Din Parameters

    Units Range 0 to 99 Default Value Data Type Integer See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description DIN.ROTARY reads the rotary knob value. Related Topics 10.1 Digital Inputs and Outputs Kollmorgen | December 2010...

  • Page 326: Din.states

    Modbus M_01-03-00-000 Description DIN.STATES reads the states of the seven digital inputs. The leftmost bit represents digital input 1 (DIN1) and the rightmost bit represents digital input 7 (DIN7). Related Topics 10.1 Digital Inputs and Outputs Kollmorgen | December 2010...

  • Page 327: Din1.Inv To Din7.Inv

    DIN7.INV Description Sets the indicated the polarity of a digital input mode. Example DIN1.INV = 0 : Input is active high. DIN1.INV = 1 : Input is active low. Related Topics 10.1 Digital Inputs and Outputs Kollmorgen | December 2010...

  • Page 328: Din1.Mode To Din7.Mode

    5 - Background Start jog 6 - Background Reserved 7 - Background Zero latch 8 - Background Command buffer 9 - Background Control fault relay 10 - Background Home reference 11 - 1 kHz Reserved 12 - None Kollmorgen | December 2010...
  • Page 329 Opmode and Command Source switch 22 - Background Related Topics 10.2 Command Buffer 10.1 Digital Inputs and Outputs 10.1.3 Digital Inputs 10.10 Controlled Stop 12.1 Homing 12.2 Motion Tasks 10.7 Electronic Gearing 17.2 Clearing Faults CS Parameters Kollmorgen | December 2010...

  • Page 330: Din1.Param To Din7.Param

    The digital input mode "Start motion task" is used to start a motion task. This mode uses an extra parameter as the ID of the motion task to be started. Related Topics 10.1 Digital Inputs and Outputs Kollmorgen | December 2010...

  • Page 331: Din1.State To Din7.State

    Object Start Version DIN1.STATE DIN2.STATE DIN3.STATE Modbus DIN4.STATE M_01-03-00-000 DIN5.STATE DIN6.STATE DIN7.STATE Description DIN1.STATE to DIN7.STATE reads the state of one digital input according to the number identified in the command. Related Topics 10.1 Digital Inputs and Outputs Kollmorgen | December 2010...
  • Page 332 AKD User Guide | DIN Parameters This page intentionally left blank. Kollmorgen | December 2010...

  • Page 333: Dout Parameters

    Data Type Boolean See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description DOUT.CTRL sets the source of the digital outputs: 0 = Firmware controlled 1 = Fieldbus controlled Related Topics 10.1.4 Digital Outputs Kollmorgen | December 2010...

  • Page 334: Kollmorgen | December

    If DOUT.RELAYMODE= 0 and faults do not exist, then the relay is closed. If DOUT.RELAYMODE = 1 and the drive is disabled, then the relay is open. If DOUT.RELAYMODE = 1 and the drive is enabled, then the relay is closed. Related Topics 10.1.4 Digital Outputs Kollmorgen | December 2010...
  • Page 335 Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description DOUT.STATES reads the states of the two digital outputs. The rightmost bit represents DOUT2 and the left- most bit represents DOUT1. Related Topics 10.1.4 Digital Outputs Kollmorgen | December 2010...
  • Page 336 Position greater than x Position less than x Drive produced warning Drive enabled Motor brake Drive produced fault Absolute velocity greater than x Absolute velocity less than x Homing complete PLS.STATE bits or connected Related Topics 10.1.4 Digital Outputs Kollmorgen | December 2010...

  • Page 337: Dout1.Param And Dout2.Param

    Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version 198 (64-bit) DOUT1.PARAM Modbus M_01-03-00-000 208 (64-bit) DOUT2.PARAM Description DOUT1.PARAM and DOUT2.PARAM set the extra parameter needed for the digital outputs calculations, respectively. Related Topics 10.1.4 Digital Outputs Kollmorgen | December 2010...

  • Page 338: Dout1.State And Dout2.State

    DOUT1.STATE and DOUT2.STATE read the state of one digital output according to the value stated in the com- mand. These parameters can also be used to set a value of one digital output (only if the output mode is idle). Related Topics 10.1.4 Digital Outputs Kollmorgen | December 2010...

  • Page 339: Dout1.Stateu And Dout2.Stateu

    DOUT2.STATEU Description DOUT1.STATEU and DOUT2.STATEU set the state of the digital output node as follows: 0 = deactivated 1 = activated DOUT1.STATEU and DOUT2.STATEU are used when DOUTx.MODE = 0 (user mode). Related Topics 10.1.4 Digital Outputs Kollmorgen | December 2010...
  • Page 340 AKD User Guide | DOUT Parameters This page intentionally left blank. Kollmorgen | December 2010...

  • Page 341: Drv Parameters And Commands

    1,047.496 rad/s² Linear: 0.166 counts/s² 166.714*MOTOR.PITCH mm/s² 166,714.191*MOTOR.PITCH µm/s² 833.571 (PIN/POUT)/s² Data Type Float See Also DRV.DEC, UNIT.ACCLINEAR, UNIT.ACCROTARY Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 3501h/0 M_01-00-00-000 and CANopen Modbus 216 (64-bit) M_01-03-00-000 Kollmorgen | December 2010...
  • Page 342 AKD User Guide | DRV Parameters and Commands Description Describes the acceleration ramp for the velocity central loop. Related Topics 10.7.5 Limits Kollmorgen | December 2010...

  • Page 343: Drv.active

    If an axis is not enabled (DRV.ACTIVE is 0), but DRV.EN is 1 and the hardware enable is high, read the value of DRV.DISSOURCES to query the reason that the drive is not enabled. Related Topics 3.2 Display Codes 10.9 Enable/Disable Kollmorgen | December 2010...

  • Page 344: Drv.blinkdisplay

    Start Version M_01-00-00-000 Description DRV.BLINKDISPLAY causes the drive display located on the front of the drive to blink for 10 seconds. This command allows the user to identify the drive that is currently communicating with WorkBench. Kollmorgen | December 2010...

  • Page 345: Drv.clrfaulthist

    Data Type See Also DRV.FAULTHIST Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description DRV.CLRFAULTHIST clears the fault history from the nonvolatile memory of the drive. This command erases all faults returned by DRV.FAULTHIST. Kollmorgen | December 2010...

  • Page 346: Drv.clrfaults

    However, if the fault still exists in the system, DRV.CLRFAULTS fails and the fault is re-reg- istered in the fault handler. Note that executing a drive disable (DRV.DIS) followed by a drive enable (DRV.EN) has the same effect as executing DRV.CLRFAULTS. Related Topics 17.2 Clearing Faults Kollmorgen | December 2010...

  • Page 347: Drv.cmddelay

    Example If the script is: DRV.EN IL.CMDU 0.1 then DRV.CMDDELAY is used between the two entries to delay execution 5 ms until the drive is enabled: DRV.EN DRV.CMDDELAY 5 IL.CMDU 0.1 Related Topics 10.2 Command Buffer Kollmorgen | December 2010...

  • Page 348: Drv.cmdsource

    Example To set the command source to the TCP/IP channel and the operation mode to velocity: -->DRV.CMDSOURCE 0 -->DRV.OPMODE 1 Related Topics 11 Using Command Source and Operating Modes Kollmorgen | December 2010...

  • Page 349: Drv.crashdump

    (NV) memory within the drive. After the drive is restarted, you can use the DRV.CRASHDUMP com- mand to retrieve this diagnostic information, which can be emailed to Kollmorgen for further support. If the drive crashes (display flashes an F and three bars), it saves the diagnostic information to a specific block of the drive NV memory.

  • Page 350: Drv.dbilimit

    Description This parameter sets the maximum amplitude of the current for dynamic braking. Example Setting DRV.DBILIMIT to 2 limits the dynamic brake current to 2 Arms. Related Topics 10.10 Controlled Stop CS Parameters 10.11 Dynamic Braking Kollmorgen | December 2010...

  • Page 351: Drv.dec

    DRV.DEC sets the deceleration value for the velocity loop command (VL.CMDU) and for the analog velocity command (AIN.VALUE). The operation mode (DRV.OPMODE) must be set to velocity mode for this command to function. Related Topics 10.10 Controlled Stop 10.7.5 Limits Kollmorgen | December 2010...

  • Page 352: Drv.dir

    The drive status changes to "Axis not homed" as soon as the DRV.DIR parameter changes value (see DRV.MOTIONSTAT). You must verify the settings of the hardware limit switches. If necessary, switch the positive and negative hardware limit switches by swapping the wires at the digital inputs. Kollmorgen | December 2010...
  • Page 353 AKD User Guide | DRV Parameters and Commands Kollmorgen | December 2010...

  • Page 354: Drv.dis

    If DRV.DIS is commanded the emergency timeout is started. If the drive does not disable or activate dynamic brake within DRV.DISTO, fault "703" (=> p. 215) is reported. Related Topics 17.2 Clearing Faults 10.10 Controlled Stop 10.2 Command Buffer Kollmorgen | December 2010...

  • Page 355: Drv.dismode

    If these settings are not coordinated, then vertical loads may have no stopping or holding force when the drive is disabled and the load could fall. Related Topics 10.10 Controlled Stop CS Parameters 10.11 Dynamic Braking Kollmorgen | December 2010...

  • Page 356: Drv.dissources

    Hardware disable (remote enable input is low) In-rush disable (the in-rush relay is opened) Initialization disable (the drive did not finish the initialization process) Controlled stop disable from a digital input. Related Topics 10.10 Controlled Stop Kollmorgen | December 2010...

  • Page 357: Drv.disto

    DRV.DISMODE setting. If the actual state does not match the DRV.DISMODE setting, a fault is reported and the hardware immediately executes the DRV.DISMODE setting (for instance, disable or activate dynamic brake). Setting DRV.DISTO to 0 will disable the timeout. Related Topics 10.10 Controlled Stop Kollmorgen | December 2010...

  • Page 358: Drv.emuedir

    DRV.EMUEDIR is set to 0 (meaning an increase in the motor feedback will result an increase of the encoder emu- lation output and vice-versa). If these parameters have different values, then DRV.EMUEDIR is set to 1 (meaning an increase in the motor feedback will result in a decrease of the encoder emulation output and vice-versa). Kollmorgen | December 2010...

  • Page 359: Drv.emuemode

    Input, A/B signals. Input, step and direction signals. Input, up-down signals. Output, with once per rev index and Input, step and direction. Output, with absolute index and Input, step and direction Related Topics 8.4.1 Encoder Emulation Kollmorgen | December 2010...

  • Page 360: Drv.emuemturn

    M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description If the EEO mode with absolute index is selected (DRV.EMUEMODE=2), the index will be output when the feed- back position (in counts) matches this parameter. Related Topics 8.4.1 Encoder Emulation Kollmorgen | December 2010...

  • Page 361: Drv.emueres

    (when this port is configured as an output), or how many lines will be considered a full revolution of the handwheel (when this port is configured as an input). Related Topics 8.4.1 Encoder Emulation Kollmorgen | December 2010...

  • Page 362: Drv.emuezoffset

    When EEO multiturn is selected (DRV.EMUEMODE=1), this parameter sets a position of the EEO index. When the primary feedback position (within a revolution) equals this value, an index pulse will output. Related Topics 8.4.1 Encoder Emulation Kollmorgen | December 2010...

  • Page 363: Drv.en

    DRV.DIS). If the drive software enable bit is low and DRV.EN is executed, then drive faults are auto- matically cleared during the software enable process. Related Topics 17.2 Clearing Faults 10.2 Command Buffer 10.9 Enable/Disable Kollmorgen | December 2010...

  • Page 364: Drv.endefault

    Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description DRV. ENDEFAULT sets the default state of the software enable on power up for drives without fieldbuses (DRV.CMDSOURCE other than 1). Related Topics 10.9 Enable/Disable Kollmorgen | December 2010...

  • Page 365: Drv.faulthist

    Reads the last 10 faults from NV memory. Units Range Default Value Data Type See Also DRV.FAULTS, DRV.CLRFAULTHIST Start Version M_01-00-00-000 Description DRV.FAULTHISTORYreturns thelast50faults thatoccurredinthedrive.Thefaults areshownwiththeirfaultnumber (whichmatches theonedisplayedonthedrivedisplay)andatimestampthatindicates whentheylastoccurred. Issue a DRV.CLRFAULTHIST to clear this fault log. Kollmorgen | December 2010...

  • Page 366: Drv.faults

    To clear the faults, either issue a DRV.CLRFAULTS or issue a DRV.DIS followed by DRV.EN. If no active faults are in the system, then after executing DRV.CLRFAULTS the value read by DRV.FAULTS is "No faults active". Example -->DRV.FAULTS 502: Bus under voltage. --> Kollmorgen | December 2010...

  • Page 367: Drv.handwheel

    2 (X7)), this parameter represents the secondary feedback position (where 4,294,967,296 is a full revolution, then the value rolls over). FB2.ENCRES defines how many counts define a revolution for the secondary feedback. Related Topics 8.4.1 Encoder Emulation Kollmorgen | December 2010...

  • Page 368: Drv.help

    In most cases, except special parameters, this command tells you the minimum, maximum, default, and actual value of a parameter. Exceptions are commands that do not have these values (such as DRV.EN) or information commands (such as DRV.VER). Related Topics 16.1 Terminal Kollmorgen | December 2010...

  • Page 369: Drv.helpall

    DRV.HELPALL returns the minimum, maximum, default, and actual value for each parameter and command. Exceptions include parameters and commands that do not have these values (such as DRV.EN) or pure INFO commands (such as DRV.VER). Related Topics 16.1 Terminal Kollmorgen | December 2010...

  • Page 370: Drv.hwenmode

    1 = The rising edge of the hardware enable will not clear the drive faults. The high/low state of the hardware enable is always used to control the active enable state of the drive. Related Topics 10.9 Enable/Disable Kollmorgen | December 2010...

  • Page 371: Drv.icont

    Modbus M_01-03-00-000 Description DRV.ICONT returns the drive continuous rated current in Arms. The value of the continuous current is read automatically on drive boot from the power EEPROM of the drive. This value cannot be modified. Kollmorgen | December 2010...

  • Page 372: Drv.info

    Product manufacturing date code : 65535 Power board serial number Power board manufacturing date code: 0 Control board serial number: 0 Control board manufacturing date code: 0 Option board serial number: 0 Option board manufacturing date code: 0 Kollmorgen | December 2010...

  • Page 373: Drv.ipeak

    DRV.IPEAK returns the drive peak rated current in Arms. The value of the peak current is read automatically on drive boot from the power EEPROM of the drive. This value cannot be modified. Related Topics 8.8 Foldback 8.3.9 Using Wake and Shake (WS) Kollmorgen | December 2010...

  • Page 374: Drv.izero

    Drive peak current to 0 Arms Default Value 0 Arms Data Type Float See Also DRV.ZERO Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter sets the current that is used during the DRV.ZERO procedure. Kollmorgen | December 2010...

  • Page 375: Drv.list

    To filter this list, enter DRV.LIST followed by the prefix of the commands and parameters that you wish to display. Example Return a list of all available commands in the system: -->DRV.LIST Return all commands with the prefix DRV: -->DRV.LIST DRV Kollmorgen | December 2010...

  • Page 376: Drv.logicvolts

    = 2.5V :2488 mv ch2 = 3.3V :3274 mv ch3 = 5V :4950 mv ch4 = 12V :11892 mv ch5 = -12V :-11912 mv ch6 = 3.3AV :3300 mv ch7 = R ohm :100000 ohm Kollmorgen | December 2010...

  • Page 377: Drv.memaddr

    The input value can be either decimal or hexadecimal with 0x prefix. Type extension can be one of the following: U8,S8,U16,S16,U32,S32,U64,S64. Examples Setting to an internal parameter: -->DRV.MEMADDR CCommandHandler.Debug1 Setting to an internal address: -->DRV.MEMADDR 0xffabcde.u16 Kollmorgen | December 2010...

  • Page 378: Drv.memdata

    DRV.MEMDATA reads a value from the address that was set by DRV.MEMADDR or writes a value to this address. The input value can be either decimal or hexadecimal with 0x prefix. Examples Read a value from internal address: -->DRV.MEMDATA 01 Write a hexadecimal value to an internal address: -->DRV.MEMADDR 0x01 Kollmorgen | December 2010...

  • Page 379: Drv.motionstat

    ** A possible error condition for an invalid motion task could be that a motion task tried to trigger automatically fol- lowing motion task that has never been initialized (called an "empty motion" task). Kollmorgen | December 2010...

  • Page 380: Drv.name

    You can assign a unique name to any drive. This name is one way to identify the drive in a multiple drive network (for instance, in a TCP/IP network on which multiple drives reside). From the terminal screen, DRV.NAME returns the name of the drive as ASCII characters. Kollmorgen | December 2010...

  • Page 381: Drv.nvlist

    Range Default Value Data Type See Also Start Version M_01-00-00-000 Description DRV.NVLIST lists all the drive parameters that reside in NV memory. The list includes each parameter name, followed by its current value from the RAM. Kollmorgen | December 2010...

  • Page 382: Drv.nvload

    Loads all data from the NV memory of the drive into the RAM parameters. Units Range Default Value Data Type See Also DRV.NVLOAD DRV.NVLIST Start Version M_01-00-00-000 Description DRV.NVLOAD loads all data from the NV memory of the drive into the RAM parameters. Kollmorgen | December 2010...

  • Page 383: Drv.nvsave

    The drive parameters that were saved to the NV are read from the NV on the next drive boot, causing the values to be automatically set to the saved values on every drive boot. Executing DRV.RSTVAR does not modify the values of the NV, but instead sets the drive values in RAM to their defaults. Kollmorgen | December 2010...

  • Page 384: Drv.ontime

    Returns how long the drive has been running since first activated. Start Version M_0-0-59 Description This parameter returns the length of time that the drive has been running for the current session (since the last power up). Kollmorgen | December 2010...

  • Page 385: Drv.opmode

    -->DRV.CMDSOURCE 0 -->DRV.OPMODE 1 Related Topics 11 Using Command Source and Operating Modes 10.10 Controlled Stop 11.3 Current Loop 10.1 Digital Inputs and Outputs 11.4 Velocity Loop 11.5 Position Loop 8.3.9 Using Wake and Shake (WS) Kollmorgen | December 2010...

  • Page 386: Drv.readformat

    Data Type Integer See Also Start Version M_01-00-00-000 Description DRV.READFORMAT sets the return values type to either decimal or hexadecimal. Format Description Sets the read values to decimal format Sets the read values to hexadecimal format Kollmorgen | December 2010...

  • Page 387: Drv.rstvar

    DRV.RSTVAR causes the drive to return to the default values without the need to re-boot the drive first and with- out resetting the NV memory. Use DRV.RSTVAR to return to the default settings and recover a working drive. Kollmorgen | December 2010...

  • Page 388: Drv.runtime

    Start Version M_01-00-00-000 Description DRV.RUNTIME returns the length of time that the drive has been running since it was first activated. This time includes the current session and the total amount of time from all previous sessions. Kollmorgen | December 2010...

  • Page 389: Drv.setupreqbits

    Please note that if MOTOR.AUTOSET is set to 1 (parameters automatically calculated from motor ID data), then all values in the list will be initialized from the feedback device. Otherwise, the parameters must be set manually. Example -->DRV.SETUPREQBITS --> Kollmorgen | December 2010...

  • Page 390: Drv.setupreqlist

    Please note that if MOTOR.AUTOSET is set to 1 (parameters automatically calculated from motor ID data), then all values in the list will be initialized from the feedback device. Otherwise, the parameters must be set manually. Example -->DRV.SETUPREQLIST IL.KP 0 MOTOR.ICONT 0 MOTOR.IPEAK 0 MOTOR.POLES 0 --> Kollmorgen | December 2010...

  • Page 391: Drv.stop

    This command stops all drive motion. Units Range Default Value Data Type See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 35FEh/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description This command stops all drive motion. Kollmorgen | December 2010...

  • Page 392: Drv.temperatures

    Example Below is an example of the output for this command : Control Temperature: 39 °C Power1 Temperature: 31 °C Power2 Temperature: Sensor does not exist. Power3 Temperature: Sensor does not exist. Kollmorgen | December 2010...

  • Page 393: Drv.type

    You cannot use EtherCAT and CANopen at the same time. Use FBUS.TYPE or DRV.INFO to identify the field- bus currently in use. Related Topics 2 AKD Models Kollmorgen | December 2010...

  • Page 394: Drv.ver

    The version data presented is hard coded in the firmware code. Example Below is an example of the output for this command: Danaher Motion - Digital Servo Drive ------------------------------------- FPGA version : FP0004_0001_00_07 Firmware Version : M_0-0-15_T_2009-01-19_10-36-28_IR Kollmorgen | December 2010...

  • Page 395: Drv.verimage

    .i00 file. Example Below is an example of the output for this parameter: Danaher Motion - Digital Servo Drive ------------------------------------ Resident Firmware: R_0-0-11 Operational Firmware: M_0-0-15 Resident FPGA: FPB004_0001_00_07 Operational FPGA : FP0004_0001_00_07 Kollmorgen | December 2010...

  • Page 396: Drv.warnings

    AKD User Guide | DRV Parameters and Commands DRV.WARNINGS General Information Type R/O Parameter Description Reads the active warnings. Units Range Default Value Data Type See Also Start Version M_01-00-00-000 Description DRV.WARNINGS returns a list of all currently active warnings in the system. Kollmorgen | December 2010...

  • Page 397: Drv.zero

    The zero procedure is a sequence in which phase commutation is initialized. During this procedure, the motor is held at a certain known electrical position (by applying a current defined by DRV.IZERO). After the motor rests at this position, the commutation angle is calculated and set automatically. Kollmorgen | December 2010...

  • Page 398: Fb1 Parameters

    26 or 32 for a BiSS Mode C Renishaw encoder. The required value for this parameter is provided by the feedback device manufacturer for the particular device being used. Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 399: Fb1.Encres

    1024*4 = 4096. For this motor FB1.ENCRES must be set to 4096. Forlinear motors,the valueof FB1.ENCRESis setto thenumber ofencoder pitches per motorpole pitch. Fora motor with32 mmpole pitch,and a40 µmencoder pitch,the valuefor FB1.ENCRESshould beset to32 mm/40µm =800. Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 400: Fb1.Hallstate

    Units Binary Range 0 0 0 to 1 1 1 Default Value Data Type String See Also Start Version M_01-00-00-000 Description FB1.HALLSTATE reads the Hall switch values (encoder feedback only). Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 401: Fb1.Identified

    Sine Encoder , with marker pulse and Hall Sine encoder , with marker pulse & No Halls EnDat 2.1 with Sine Cosine EnDat 2.2 BiSS with Sine Cosine HIPERFACE BiSS Mode C Renishaw Resolver Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 402: Fb1.Initsigned

    1. Reads the position feedback. 2. Adds the origin to the feedback. 3. Determines modulo from Step 2 by the actual feedback bits. 4. Sets the position feedback sign according to FB1.INITSIGNED. Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 403: Fb1.Mechpos

    See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description FB1.MECHPOS reads the mechanical angle which is equal to the lower 32 bits in the 64-bit position feedback word. Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 404: Fb1.Memver

    Description Returns the memory feedback version. Units Range Default Value Data Type Integer See Also Start Version M_01-00-00-000 Description FB1.MEMVER returns the memory feedback version (only applicable for feedbacks with memory). Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 405: Fb1.Offset

    FB1.OFFSET is a value added to the position feedback (PL.FB). Example If PL.FB is 10 deg and FB1.OFFSET is set to –10 deg, then the next read of PL.FB will return ~0 deg. Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 406: Fb1.Origin

    4. Sets the position feedback sign according to FB1.INITSIGNED. Example This example uses UNIT.PROTARY set to 2 (degrees) It also assumes that the drive is connected to a single turn feedback device with memory. FB1.ORIGIN is set to 22 and saved into NV memory. Kollmorgen | December 2010...
  • Page 407 Drive boots and reads from feedback device position 340 degrees. According to the description section above, calculation will be: (340 + 22) modulo 360 = 2 degrees. Therefore the initial feedback value will be set to 2 degrees. Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 408: Fb1.Pfind

    See Also FB1.PFINDCMDU Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description A procedure that allows the user to find the commutation angle for encoder feedback (which has no Halls). Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 409: Fb1.Pfindcmdu

    0 to DRV.IPEAK Default Value Data Type Float See Also PFB.PFIND Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description FB1.PFINDCMDU sets the current value used during the phase finding procedure. Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 410: Fb1.Poles

    (not pole pairs). The division value of motor poles (MOTOR.POLES) and feedback poles (FB1.POLES) must be an integer when moving drive to enable, otherwise a fault is issued. Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 411: Fb1.Pscale

    The lower 32 bits represent the mechanical angle of the feedback. The upper 32 bits represent the number of turns. FB1.PSCALE = 20 The 32-bit position is: 0x0231234A FB1.PSCALE = 16 The 32-bit position is: 0x00231234 Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 412: Fb1.Resktr

    Object Start Version Modbus M_01-03-00-000 Description This parameter sets the resolver nominal transformation ratio. It affects the resolver excitation output amplitude. The value can be obtained from the resolver data sheet. Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 413: Fb1.Resrefphase

    Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter sets the electrical degrees of phase lag in the resolver. See the motor resolver datasheet for the value for this parameter . Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 414: Fb1.Select

    FB1.IDENTIFIED is automatically set to 0 (no feedback iden- tified). Manually sets the type to Hyperface. This input sets the value of FB1.IDENTIFIED to 33. If the feedback setting fails, FB1.IDENTIFIED is automatically set to 0 (no feed- back identified). Kollmorgen | December 2010...
  • Page 415 Sine Encoder , with marker pulse and Hall Sine encoder , with marker pulse & No Halls EnDat 2.1 with Sine Cosine EnDat 2.2 BiSS with Sine Cosine HIPERFACE BiSS Mode C Renishaw Resolver Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 416: Fb1.Trackingcal

    Object Start Version Modbus M_01-03-00-000 Description This parameter turns the tracking calibration algorithm on or off for sine-cosine or resolver. 0 = Tracking calibration is off. 1 = Tracking calibration is on. Related Topics 8.2 Feedback 1 Kollmorgen | December 2010...

  • Page 417: Fb2 Parameters

    FB2.MODE, FB2.SOURCE Start Version M_01-03-00-000 Description This parameter sets the feedback 2 (FB2) resolution and defines how many counts input into the secondary feed- back will be considered a full revolution. Related Topics 8.4 Feedback 2 Kollmorgen | December 2010...

  • Page 418: Fb2.Mode

    Start Version M_01-03-00-000 Description This parameter sets the feedback 2 input type as follows: 0 = Input A/B Signals 1 = Input Step and Direction Signals 2 = Input, up-down signals Related Topics 8.4 Feedback 2 Kollmorgen | December 2010...

  • Page 419: Fb2.Source

    I/O Connector (X7) as follows: 0 = None 1 = Feedback Source X9 (EEO connector) 2 = Feedback Source X7 (High Speed Opto Inputs on the I/O Connector) Related Topics 8.4 Feedback 2 Kollmorgen | December 2010...

  • Page 420: Fbus Parameters

    FBUS.PARAM01 FBUS.PARAM02 FBUS.PARAM03 FBUS.PARAM04 FBUS.PARAM05 FBUS.PARAM01 334 FBUS.PARAM11 FBUS.PARAM02 336 FBUS.PARAM12 FBUS.PARMA FBUS.PARAM13 FBUS.PARAM04 340 FBUS.PARAM14 FBUS.PARAM05 342 FBUS.PARAM15 Modbus M_01-03-00-000 FBUS.PARAM06 FBUS.PARAM16 FBUS.PARAM07 346 FBUS.PARAM17 FBUS.PARAM08 348 FBUS.PARAM18 FBUS.PARAM09 350 FBUS.PARAM19 FBUS.PARAM10 352 FBUS.PARAM20 Description Kollmorgen | December 2010...
  • Page 421 Bit 0 = 0: Workbench/Telnet can software enable the drive. Bit 3 = 1: DS402-state machine is not influenced, if the software-enable is taken away via Telnet. Bit 0 = 0: DS402-state machine is influenced, if the software-enable is taken away via Telnet. Kollmorgen | December 2010...

  • Page 422: Fbus.pllstate

    This state is related to the PLL activated, but unlocked fieldbus master, as well as to the fieldbus mode of operation. PLL activated and locked PLL is fully operational and locked For more information, see the AKD CANopen Manual, Phase Locked Loop. Kollmorgen | December 2010...

  • Page 423: Fbus.pllthresh

    Default Value Data Type Integer, U32 See Also Appendix B: Fieldbus Manuals Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter sets number of successful synchronized cycles needed to lock the PLL. Kollmorgen | December 2010...

  • Page 424: Fbus.sampleperiod

    10 seconds (for instance, -3 stands for milliseconds) and the units are the counts of these units. Koll- morgen recommends the following standard cycle rates, 250 us (4), 500 us (8), 1 ms (16), 2 ms (32), 4 ms (64). Kollmorgen | December 2010...

  • Page 425: Fbus.syncact

    Default Value 0 ns Data Type Integer, U 32 See Also Appendix B: Fieldbus Manuals Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter reads actual distance from the desired sync distance. Kollmorgen | December 2010...

  • Page 426: Fbus.syncdist

    0 to 250,000 ns Default Value 100,000 ns Data Type Integer, U32 See Also Appendix B: Fieldbus Manuals Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter sets time target for synchronization. Kollmorgen | December 2010...

  • Page 427: Fbus.syncwnd

    Default Value 50,000 ns Data Type Integer, U2 See Also Appendix B: Fieldbus Manuals Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter sets symmetrically arranged window around the desired sync distance. Kollmorgen | December 2010...

  • Page 428: Fbus.type

    Data Type See Also Fieldbus Manuals Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description FBUS.TYPE shows the active fieldbus type. 0 = No fieldbus available 1 = SynqNet 2 = EtherCAT 3 = CANopen Kollmorgen | December 2010...

  • Page 429: Gear Parameters

    See Also UNIT.ACCROTARY, UNIT.ACCLINEAR, GEAR.DECMAX Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus 366 (64-bit) M_01-03-00-000 Description This parameter limits the acceleration of the slave to a numerical higher value. Related Topics 10.7 Electronic Gearing Kollmorgen | December 2010...

  • Page 430: Kollmorgen | December

    See Also UNIT.ACCROTARY, UNIT.ACCLINEAR, GEAR.ACCMAX Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus 370 (64-bit) M_01-03-00-000 Description This parameter limits the deceleration of the slave to a numerical higher value. Related Topics 10.7 Electronic Gearing Kollmorgen | December 2010...

  • Page 431: Gear.in

    Be sure that you set the external master source number of signals per revolution correctly. Also, select the gear ratio so that the maximum electronic gearing velocity (GEAR.VELMAX) is not exceeded. Master velocitymax * GEAR.OUT/GEAR.IN < GEAR.VELMAX Related Topics 10.7 Electronic Gearing Kollmorgen | December 2010...

  • Page 432: Gear.mode

    The slave position is forwarded to the position loop. Ensure that DRV.OPMODE has been set to 2 and DRV.CMDSOURCE has been set to 2. The slave is able to reach the master velocity according to the GEAR.VMAX setting. GEAR.VMAX does not limit the slave velocity. Kollmorgen | December 2010...
  • Page 433 The slave has reached the master velocity and is from now on considered as syn- t=t2 chronized. Synchronization means that the slave will not lose any more position counts coming from the master. t>t2 The slave follows the master input signals. Related Topics 10.7 Electronic Gearing Kollmorgen | December 2010...

  • Page 434: Gear.move

    Object Start Version Modbus M_01-03-00-000 Description The command GEAR.MOVE starts the electronic gearing procedure according to the selected electronic gearing mode. The electronic gearing process can be stopped using the DRV.STOP command. Related Topics 10.7 Electronic Gearing Kollmorgen | December 2010...

  • Page 435: Gear.out

    Make sure that the external master source has been set properly. Also, be certain to select a gear ratio such that the maximum electronic gearing velocity (GEAR.VELMAX) will not be exceeded. Master velocitymax * GEAR.OUT/GEAR.IN < GEAR.VELMAX Related Topics 10.7 Electronic Gearing Kollmorgen | December 2010...

  • Page 436: Gear.vmax

    50 mm/s 50,000.004MOTOR.PITCH µm/s 250.000 (PIN/POUT)/s Data Type Float See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter limits the maximum velocity of the slave drive. Related Topics 10.7 Electronic Gearing Kollmorgen | December 2010...

  • Page 437: Gui Parameters

    See Also Start Version M_01-00-00-000 Description This parameter reports to the GUI what the drive currently is displaying. For all GUI commands, the data is com- pressed and formatted for the GUI, not for the user. Kollmorgen | December 2010...

  • Page 438: Gui.param01

    Used by the GUI to store data. Units Range 2,147,483,648 to 2,147,483,647 Default Value Data Type Integer See Also Start Version M_01-00-00-000 Description The GUI uses this parameter to store data. Only the GUI can modify this data (not the user). Kollmorgen | December 2010...

  • Page 439: Gui.param04

    Used by the GUI to store data. Units Range 2,147,483,648 to 2,147,483,647 Default Value Data Type Integer See Also Start Version M_01-00-00-000 Description The GUI uses this parameter to store data. Only the GUI can modify this data (not the user). Kollmorgen | December 2010...

  • Page 440: Gui.param07

    Used by the GUI to store data. Units Range 2,147,483,648 to 2,147,483,647 Default Value Data Type Integer See Also Start Version M_01-00-00-000 Description The GUI uses this parameter to store data. Only the GUI can modify this data (not the user). Kollmorgen | December 2010...

  • Page 441: Gui.param10

    Used by the GUI to store data. Units Range 2,147,483,648 to 2,147,483,647 Default Value Data Type Integer See Also Start Version M_01-00-00-000 Description The GUI uses this parameter to store data. Only the GUI can modify this data (not the user). Kollmorgen | December 2010...
  • Page 442 AKD User Guide | GUI Parameters This page intentionally left blank. Kollmorgen | December 2010...

  • Page 443: Home Parameters

    Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version 3502h/0 EtherCAT COE M_01-00-00-000 and CANopen 609Ah/0 Modbus 384 (64-bit) M_01-03-00-000 Description This parameter determines the acceleration of the motor during the homing procedure. Related Topics 12.1 Homing Kollmorgen | December 2010...

  • Page 444: Home.automove

    From now on the drive will not attempt to trigger any addi- tional homing procedure. HOME.AUTOMOVE is not functional in release M_01-03-00-000 for homing procedures which require an exter- nal index signal (HOME.MODE 3, 6, 10, and 11). Related Topics: 12.1 Homing Kollmorgen | December 2010...

  • Page 445: Home.dec

    Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version 3524h/0 EtherCAT COE M_01-00-00-000 and CANopen 609Ah/0 Modbus 390 (64-bit) M_01-03-00-000 Description This parameter sets the deceleration of the motor during the homing procedure. Related Topics: 12.1 Homing Kollmorgen | December 2010...

  • Page 446: Home.dir

    Modbus M_01-03-00-000 Description This parameter determines the direction in which the motor should start to move during a homing procedure. 0 = Movement in negative direction. 1 = Movement in positive direction. Related Topics 12.1 Homing Kollmorgen | December 2010...

  • Page 447: Home.dist

    HOME.DIST. A value not equal to 0 triggers an additional movement of the selected homing distance after the general homing procedure. A value of 0 for HOME.DIST causes no additional movement. Related Topics 12.1 Homing Kollmorgen | December 2010...

  • Page 448: Home.feedrate

    This parameter is used in order to reduce the velocity during the index search (index = zero-pulse of a feedback device). This parameter determines the percentage of the homing velocity (HOME.V) that should be used during the index-search. Related Topics 12.1 Homing Kollmorgen | December 2010...

  • Page 449: Home.ipeak

    HOME.IPEAK is active as soon as the homing procedure starts and remains active until the home position is found. Previous current limit settings are re-activated before the motor covers the homing distance (HOME.DIST ≠ 0). Related Topics 12.1 HomingHoming mode 8: Move Until Position Error Exceeded Kollmorgen | December 2010...

  • Page 450: Home.mode

    Find home input Find home input then find zero angle Find home input then find index Find zero angle Move until position error exceeded Move until position error exceeded, then find zero angle Related Topics 12.1 Homing Kollmorgen | December 2010...

  • Page 451: Home.move

    See Also Start Version M_01-00-00-000 Description The HOME.MOVE command starts a homing procedure. The DRV.OPMODE must be set to 2 (closed position loop) and DRV.CMDSOURCE must be set to 0 (TCP/IP command). Related Topics 12.1 Homing Kollmorgen | December 2010...

  • Page 452: Home.p

    This parameter sets the home position. The command and actual position of the drive will be set to this value as soon as a homing event occurs. The homing events differ in each homing mode. Related Topics 12.1 Homing Kollmorgen | December 2010...

  • Page 453: Home.perrthresh

    This parameter is used for the homing modes against a mechanical stop (HOME.MODE = 8 and 9). The absolute value of the following error (PL.ERR) is compared with HOME.PERRTHRESH in order to detect a mechanical stop. Related Topics Homing mode 8: Move Until Position Error Exceeded Kollmorgen | December 2010...

  • Page 454: Home.set

    Motion in the current mode of operation (DRV.OPMODE=0) or velocity mode of operation (DRV.OPMODE=1) is not affected by the HOME.SET command. Motion in the position mode of operation (DRV.OPMODE=2) is immediately aborted when the HOME.SET command is issued. Related Topics 12.1 Homing Kollmorgen | December 2010...

  • Page 455: Home.v

    Float See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 6099h/1 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description This parameter sets the velocity of the motor during the homing procedure. Related Topics 12.1 Homing Kollmorgen | December 2010...

  • Page 456: Hwls Parameters

    Default Value Boolean Data Type HWLS.POSSTATE See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description HWLS.NEGSTATE reads the status of the negative HW limit switch as follows: 0 = Low 1 = High Kollmorgen | December 2010...

  • Page 457: Hwls.posstate

    Default Value Data Type Boolean See Also HWLS.NEGSTATE Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description HWLS.POSSTATE reads the status of the positive hardware limit switch as follows: 0 = Low 1 = High Kollmorgen | December 2010...
  • Page 458 AKD User Guide | HWLS Parameters This page intentionally left blank. Kollmorgen | December 2010...

  • Page 459: Il Parameters

    Range Default Value Data Type Float See Also IL.KBUSFF Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter displays the current feedforward value injected by the fieldbus. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 460: Il.cmd

    IL.CMD displays the q-component current command value of the current loop after any limitation (such as a parameter setting or I t calculation). IL.CMD is limited also by motor peak current, IL.LIMITN and IL.LIMITP. Related Topics 10.4 Analog Input 11.3 Current Loop Kollmorgen | December 2010...

  • Page 461: Il.cmdu

    The current command value, which is provided to the current loop (IL.CMD), can be limited further using a param- eter setting or I t calculation. IL.CMDU is limited also by motor peak current, IL.LIMITN and IL.LIMITP. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 462: Il.difold

    MITP), it becomes the active current limit. IL.DIFOLD decreases when the actual current is higher than drive continuous current and increases (up to a cer- tain level) when the actual current is lower than drive continuous current. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 463: Il.fb

    See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 3558h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description This parameter reads the measured, de-rotated actual current value of the motor. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 464: Il.ff

    Default Value Data Type Float See Also IL.KBUSFF, IL.KVFF, IL.OFFSET, IL.FRICTION, IL.KACCFF Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter displays the current loop overall feedforward value. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 465: Il.foldfthresh

    IL.FOLDFTHRESH, then a fault is generated and the drive is disabled. To avoid reaching the current foldback fault level, set IL.FOLDFTHRESHU well below the continuous current value for both the drive and the motor or set the IL.FOLDFTHRESHU value to zero. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 466: Il.foldfthreshu

    EtherCAT COE 3421h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description IL.FOLDFTHRESHU is the fault level of the current foldback algorithm. The value of IL.FOLDFTHRESH is the minimum of DRV.IPEAK, MOTOR.IPEAK, and IL.FOLDFTHRESHU. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 467: Il.foldwthresh

    To ensure that the current foldback warning level is never reached, IL.FOLDWTHRESH should be set well below the continuous current value for both the drive and the motor. You can also set the IL.FOLDFTHRESH value to zero. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 468: Il.friction

    M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 3422h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description Position command derivative sign is multiplied by this value to be injected to the current command. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 469: Il.ifold

    IL.DIFOLD is an artificial current, which can be higher or lower than the drive or motor peak current. When IL.IFOLD becomes lower than the existing current limit (such as IL.LIMITP), it becomes the active current limit. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 470: Il.iufb

    ± Drive peak current (DRV.IPEAK) Default Value Data Type Float See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter displays the measured current in the u-winding of the motor. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 471: Il.ivfb

    The drive measures 256 times the current in the u-wind- ing when powering-up the drive. Afterwards, the drive calculates the average value of the measured current and uses this value for the offset value. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 472: Il.kaccff

    This value sets the gain for the acceleration feedforward (a scaled second derivative of the position command is added to the current command value) . This parameter is valid only in the position mode (DRV.OPMODE = 2). Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 473: Il.kbusff

    This parameter scales the feedforward term added by the fieldbus to the current command. The nominal feed- forward value can be multiplied by this gain value. This parameter is only used in the position mode (DRV.OPMODE = 2). Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 474: Il.kp

    Index/Subindex Object Start Version EtherCAT COE 3598h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description IL.KP is used to modify the proportional gain of the PI-loop that controls the q-component of the current. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 475: Il.kpdratio

    Object Start Version EtherCAT COE 3596h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description This parameter allows the user to modify the proportional gain of the PI-loop, which controls the d-component of the current. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 476: Il.kvff

    This parameter sets the gain for the velocity loop feedforward. The nominal feedforward value can be multiplied by this gain value. This parameter is only used in position mode (DRV.OPMODE = 2). Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 477: Il.limitn

    This parameter sets the negative user limit clamp value of the torqueproducing q-component current command (IL.CMD ). The current command is additionally limited by the motor peak current setting (MOTOR.IPEAK) and by the present value of the foldback I²t peak motor current protection. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 478: Il.limitp

    This parameter sets the positive user limit clamp value of the torque-producing q-component current command (IL.CMD ). The current command is additionally limited by the motor peak current setting (MOTOR.IPEAK) and by the present value of the foldback I²t peak motor current protection. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 479: Il.mfoldd

    IL.MFOLDD sets the maximum time allowed for the motor to remain at peak current before starting to fold towards the motor continuous current. When at motor peak current, IL.MFOLDD is the amount of time before the foldback algorithm starts to reduce the current. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 480: Il.mfoldr

    IL.MFOLDR sets the recovery time for the motor foldback algorithm. If 0 current is applied for at least the recov- ery time duration, it is possible to apply motor peak current for the duration of IL.MFOLDD time. The IL.MFOLDR value is automatically calculated from other foldback parameters. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 481: Il.mfoldt

    See Also Foldback Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description IL.MFOLDT sets the time constant of the exponential drop (foldback) of the current towards motor continuous current. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 482: Il.mifold

    IL.MIFOLD decreases when the actual current is higher than motor continuous current and increases (up to a cer- tain level) when the actual current is lower than the motor continuous current. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 483: Il.offset

    See Also IL.FF Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 3423h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description This value is added to the overall current loop feedforward value. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 484: Il.vcmd

    Data Type Integer See Also IL.VDCMD Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description Sets the output of the current loop that controls the q-component of the current. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 485: Il.vufb

    –1200*VBusScale to +1200*VBusScale Default Value Data Type Integer See Also IL.VVFB Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description Reads the measured voltage on the u-winding of the motor. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 486: Il.vvfb

    The VBusScale parameter sets the drive model: MV/240 Vac: VBusScale = 1 HV/480 Vac: VBusScale = 2 VBusScale is used for multiple parameter ranges that are model dependent, such as IL.KP. Related Topics 11.3 Current Loop Kollmorgen | December 2010...

  • Page 487: Motor Parameters

    (read from memory-supporting feedback devices, such as SFD, Endat, and BISS). Automatically cal- culated parameters are read-only. A value of 0 disables the automatic calculation and you must set the param- eters manually. Manually set parameters are read-write. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 488: Motor.brake

    Motor brake exists and brake hardware circuitry checks are enabled. Enabling the MOTOR.BRAKE (value set to 1) when no motor brake exists creates a fault. The motor brake is polled every 16 ms. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 489: Motor.brakerls

    This command allows a user to release the motor brake. 0 = Drive controls the brake. 1 = Brake is released. Note: A digital input mode is also used for the same purpose. The two mechanisms are independent. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 490: Motor.brakestate

    See Also Start Version M_01-00-00-000 Description This parameter reads the actual status of the motor brake and can only show two states: 1 = Brake closed or not present 2 = Brake open Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 491: Motor.ctf0

    This parameter, together with MOTOR.IPEAK and MOTOR.ICONT, determine the motor foldback parameters IL.MFOLDD,IL.MFOLDT, and IL.MFOLDR. Calculating MOTOR.CTF0 Given a motor coil/winding thermal time constant T in seconds, then: MOTOR.CTF0 = 1/(2πT) Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 492: Motor.icont

    The valid values for this keyword are the following: Value Description Error in identification Success in identification Identification in process Identification not started yet Success recognizing feedback, but failed to varify OEM data integrity Related Topics Kollmorgen | December 2010...
  • Page 493 AKD User Guide | MOTOR Parameters 8.1 Motor Kollmorgen | December 2010...

  • Page 494: Motor.inertia

    100 kgcm² or kg Data Type Float See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 35ABh/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description This parameter sets the motor inertia. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 495: Motor.ipeak

    CANopen Modbus M_01-03-00-000 Description This parameter configures the drive for the motor's peak, instantaneous-rated current. MOTOR.IPEAK is used to limit clamp the magnitude of the torque producing q-component current command (IL.CMD ). Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 496: Motor.kt

    This parameter is the torque constant of the motor in Nm/A.The value can be online checked according to the fol- lowing equation: Kt = 60 *√3 * Ui/( 2 * π* n) Where: Ui = induced voltage of the motor n = actual rotor velocity Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 497: Motor.lqll

    Data Type Float See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 3455h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description This parameter is used to configure the motor line-to-line inductance. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 498: Motor.name

    Type NV Parameter Description Sets the motor name. Units Range 11 chars Default Value Data Type String See Also Start Version M_01-00-00-000 Description This parameter is used to set the motor name. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 499: Motor.phase

    0 to 360° Default Value 0° Data Type Integer See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 359Ch/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description This parameter sets the motor phase. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 500: Motor.pitch

    Default Value 1.000 µm Data Type Integer See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter defines the pole-to-pair pitch for the linear motor in micrometers. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 501: Motor.poles

    (not pole pairs). The division value of motor poles (MOTOR.POLES) and feedback poles (FB1.POLES) must be an integer when setting drive to enable, otherwise a fault is issued. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 502: Motor.r

    10 Ω Data Type Float See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 3456h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description MOTOR.R sets the stator winding resistance phase-to-phase in ohms. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 503: Motor.rtype

    M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter defines the type of thermal resistor used inside of the motor to measures motor temperature. 0 = PTC 1 = NTC Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 504: Motor.tbrakeapp

    This feature allows you to disable the drive and engage the brake on a vertical application without the load falling. Without this time delay, if you immediately disable the drive then the load falls during the time needed for the brake to mechanically engage. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 505: Motor.tbrakerls

    MOTOR.TBRAKERLS period of time the drive does not accept a motion command. This delay allows the brake to fully disengage before the drive begins a new motion. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 506: Motor.temp

    Index/Subindex Object Start Version EtherCAT COE 3612h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description This parameter is used to get the motor temperature which is represented as the resistance of the motor PTC. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 507: Motor.tempfault

    CANopen Modbus M_01-03-00-000 Description This parameter is used to configure the motor temperature fault level as a resistance threshold of the motor PTC. A zero value prevents any warning from being issued. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 508: Motor.tempwarn

    CANopen Modbus M_01-03-00-000 Description This parameter is used to configure the motor temperature warning level as a resistance threshold of the motor PTC. A zero value prevents any warning from being created. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 509: Motor.type

    See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description MOTOR.TYPE sets the drive control algorithms to different motor types as follows: 0 = Rotary motor 1 = Linear motor Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 510: Motor.vmax

    Integer See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 35A3h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description This parameter is used to configure the maximum speed of the motor. Related Topics 8.1 Motor Kollmorgen | December 2010...

  • Page 511: Motor.voltmax

    MOTOR.VOLTMAX setting is 400. This value also sets regen resistor and over voltage thresholds in the drive to acceptable values for the motor so that the motor windings are not damaged. Kollmorgen | December 2010...
  • Page 512 AKD User Guide | MOTOR Parameters This page intentionally left blank. Kollmorgen | December 2010...

  • Page 513: Mt Parameters And Commands

    MT.ACC specifies the motion task acceleration and is used by the MT.SET and MT.LOAD command. This parameter is a temporary value, since a motion task is only set after a MT.SET command. The motion task acceleration is further limited by the maximum allowed acceleration DRV.ACC Kollmorgen | December 2010...
  • Page 514 A value of 0 for MT.ACC should not be used when setting a motion task via MT.SET because this value causes a validity check of the MT.SET command to fail. A value of 0 for MT.ACC after an MT.LOAD command displays an empty (not initialized) motion task. Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 515: Mt.clear

    After performing a command such as MT.PARAMS 5, the drive displays the following: 0.000 Counts 0.000 rpm 0.000 rpm/s 0.000 rpm/s A value of 0 for velocity, acceleration, or deceleration displays motion task as uninitialized. Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 516: Kollmorgen | December

    If this bit is 1, a motion task with override functionality must be activated (see bit 5). Table 2: MT Type Bits 3, 2, 1, 0 Description 0000 Absolute MT. The target position is defined by the MT.P value. Kollmorgen | December 2010...
  • Page 517 MT to the target velocity of the next MT. Thus, the drive begins the next MT at the next MT target velocity. The MT.TNEXT setting is ignored if adjusted. Table 4: MT Acceleration Type Bits 11, 10 Description Trapezoidal acceleration and deceleration. Kollmorgen | December 2010...
  • Page 518 The MT.TNUM parameter defines which table to use for the 1:1 profile han- dling. See "AKD Customer Profile Application Note" on the Kollmorgen web site (www.kollmorgen.com) for additional details. Standard customer table motion task. The drive accelerates according to the shape of the customer table by stepping through the first half of the customer table.

  • Page 519: Mt.continue

    MT.TNUM, MT.MTNEXT MT.MTNEXT , MT.SET , MT.LOAD Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description MT.CONTINUE continues a motion task that has been stopped by the DRV.STOP command. Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 520: Mt.dec

    A value of 0 for MT.DEC should not be used when setting a motion task via MT.SET because this value causes a validity check of the MT.SET command to fail. A value of 0 for MT.DEC after an MT.LOAD command displays an empty (not initialized) motion task. Related Topics Kollmorgen | December 2010...
  • Page 521 AKD User Guide | MT Parameters and Commands 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 522: Mt.emergmt

    MT.EMERGMT selects the motion task to be triggered after an emergency stop procedure. A value of –1 shows that no motion task must be started after a ramp-down procedure in a closed position loop mode of operation. Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 523: Mt.list

    MT.NUM , MT.P, MT.V, MT.CNTL, MT.ACC, MT.DEC, MT.TNUM, MT.MTNEXT , and MT.TNEXT. A motion task is considered as initialized as soon as MT.V, MT.ACC, and MT.DEC of that specific motion task have values not equal to 0. Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 524: Mt.load

    MT.LOAD reads out a motion task number MT.NUM from the drive. A motion task consists of the following parameters: MT.NUM, MT.P, MT.V, MT.CNTL, MT.ACC, MT.DEC, MT.TNUM, MT.MTNEXT , MT.TNEXT. These parameters belong to the motion task number MT.NUM and are refreshed by MT.LOAD. Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 525: Mt.move

    MT.MOVE 3 -> Start motion task number 3. Related Topics 12.2 Motion Tasks Mode 2: Start Motion Task in 10.1 Digital Inputs and Outputs (see also Modes 3: Motion Task Select Bit and Mode 4: Motion Task Start Selected in this topic) Kollmorgen | December 2010...

  • Page 526: Mt.mtnext

    The motion task control word can be selected so that a following motion task is executed after a first motion task. This parameter displays which motion task should be started after the first motion task. Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 527: Mt.num

    MT.NUM specifies the motion task number, which is used by the MT.SET and MT.LOAD commands. This parameter is a temporary value. A motion task is only set after an MT.SET command is issued. Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 528: Mt.p

    (MT.CNTL), the MT.P command can either be the target position of the motion task or a relative distance. This parameter is a temporary value. A motion task is only set after an MT.SET command. Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 529: Mt.params

    MT.PARAMS without an argument, the drive returns the current or last active motion task. Example MT.PARAMS 5 The drive responds as follows: 5222.000 Counts 135.000 rpm 550.746 rpm/s 654.458 rpm/s 0 ms Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 530: Mt.set

    MT.SET sends a motion task to the drive. A motion task consists of the following parameters: MT.NUM , MT.P, MT.V, MT.CNTL, MT.ACC, MT.DEC, MT.TNUM, MT.MTNEXT , and MT.TNEXT. The motion task number (MT.NUM ) with the parameters above is sent to the drive only after the MT.SET com- mand. Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 531: Mt.tnext

    MT.SET and MT.LOAD command. This parameter is a temporary value. A motion task is only set after an MT.SET command. The motion task control word can be selected so that a following motion task is executed after a first motion task and this additional delay time. Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 532: Mt.tnum

    The motion task control word specifies if a customer profile table is used or not. This parameter has no impact when a trapezoidal motion task acceleration and deceleration profile is selected (see Table 4: MT Acceleration Typein the MT.CNTL description). Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 533: Mt.tposwnd

    Within DRV.MOTIONSTAT, MT.TPOSWND is used to indicate that the target position of a motion task has been reached. DRV.MOTIONSTAT displays a "Target Position Reached" bit as soon as the following statement becomes true: abs(actual_position – target_position) < MT.TPOSWND Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 534: Mt.tvelwnd

    Within DRV.MOTIONSTAT, MT.TVELWND is used to indicate that the target velocity of a motion task has been reached. DRV.MOTIONSTAT displays a "Target Velocity Reached" bit as soon as the following statement becomes true: (target velocity – MT.TVELWND) < actual velocity < (target velocity + MT) Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 535: Mt.v

    A value of 0 should not be used when setting a motion task via MT.SET because this value causes a validity check of the MT.SET command to fail. A value of 0 after an MT.LOAD command displays an empty (not initialized) motion task. Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 536: Mt.vcmd

    MT.VCMD is updated while the drive is in DRV.OPMODE 2 and is processing the following motion types: Motion tasking Homing Electronic gearing Service motion External trajectory coming from a fieldbus External trajectory calculated from an analog input signal Related Topics 12.2 Motion Tasks Kollmorgen | December 2010...

  • Page 537: Pl Parameters

    PL.FB Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus 570 (64-bit) M_01-03-00-000 Description PL.CMD returns the position command as it is received in the position loop entry. Related Topics 11.5 Position Loop 10.4 Analog Input Kollmorgen | December 2010...

  • Page 538: Pl.err

     (PL.CMD). If the drive is not in the position operating mode (DRV.OPMODE = 2), then the PL.ERR value is not generated by the drive and this parameter is read as 0. Related Topics 11.5 Position Loop Kollmorgen | December 2010...

  • Page 539: Pl.errfthresh

    If PL.ERRFTHRESH is set to 0, the maximum position error is ignored. Example Set position rotary units to 2 (degrees). Setting PL.ERRFTHRESH to 1000 states that is the position error is larger than 1000 degrees, the drive will generate a fault. UNIT.PROTARY 2 Kollmorgen | December 2010...
  • Page 540 AKD User Guide | PL Parameters PL.ERRFTHRESH 1000 Related Topics 11.5 Position Loop Kollmorgen | December 2010...

  • Page 541: Pl.errmode

    In this case the warning is generated, but the fault is not. Assuming PL.ERRMODE = 0, PL.ERRFTHRESH=1.2, PL.ERRWTHRESH=1, then PL.ERR reads 1.3. In this case the warning is generated, as well as the fault. Related Topics 11.5 Position Loop Kollmorgen | December 2010...

  • Page 542: Pl.errwthresh

    Set position rotary units to 2 degrees. If you set PL.ERRWTHRESH to 100 and the position error is larger than 100 degrees, then the drive will generate a warning. UNIT.PROTARY 2 PL.ERRWTHRESH 100 Related Topics 11.5 Position Loop Kollmorgen | December 2010...

  • Page 543: Pl.fb

    Note that this value is not the pure feedback value read from the feedback device, but also includes the value of the FB1.OFFSET and an internal offset set automatically by the FW when a homing switch is actuated. Related Topics 11.5 Position Loop Selecting and Using Homing Modes Kollmorgen | December 2010...

  • Page 544: Pl.fbsource

    Object Start Version Modbus M_01-03-00-000 Description This parameter determines the feedback source to be used by the position loop. A value of 0 selects the primary feedback, 1 selects the secondary feedback. Related Topics 11.5 Position Loop Kollmorgen | December 2010...

  • Page 545: Pl.intinmax

    PL.INSATOUT, this variable allows you to make the position loop integrator effective near the target position. Far from the target position, however,the integrator is not dominant in the loop dynamics. Related Topics 11.5 Position Loop Kollmorgen | December 2010...

  • Page 546: Pl.intoutmax

    When used in concert with PL.INTINMAX, this variable allows you to make the position loop integrator effective near the target position. Far from the target position, however, the integrator is not dominant in the loop dynamics. Related Topics 11.5 Position Loop Kollmorgen | December 2010...

  • Page 547: Pl.ki

    See Also PL.KP, PL.KD Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 3480h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description PL.KI sets the integral gain of the position regulator PID loop. Related Topics 11.5 Position Loop Kollmorgen | December 2010...

  • Page 548: Pl.kp

    See Also PL.KI, PL.KD Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 3542h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description PL.KP sets the proportional gain of the position regulator PID loop. Related Topics 11.5 Position Loop Kollmorgen | December 2010...

  • Page 549: Pl.modp1

    PL.MODP2. If you set PL.MODP1 equal to PL.MODP2, an error message occurs. Condition Beginning of the modulo-range End of the modulo-range PL.MODP1 < PL.MODP2 PL.MODP1 PL.MODP2 PL.MODP2 < PL.MODP1 PL.MODP2 PL.MODP1 Related Topics 11.5 Position Loop Kollmorgen | December 2010...

  • Page 550: Pl.modp2

    This parameter is either the beginning or the end of the modulo range, depending on whether this value is smaller or larger than PL.MODP1. Beginning of the modulo Condition End of the modulo range range PL.MODP1 < PL.MODP2 PL.MODP1 PL.MODP2 PL.MODP2 < PL.MODP1 PL.MODP2 PL.MODP1 Related Topics 11.5 Position Loop Kollmorgen | December 2010...

  • Page 551: Pl.modpdir

    The motor always moves in a positive direction relative to the target position of the absolute motion task. The motor always moves in a negative direction relative to the target position of the absolute motion task. Kollmorgen | December 2010...

  • Page 552: Pl.modpen

    The following figure shows the interface between the user and the drive for PL.MODPEN=1: Related Topics 11.5 Position Loop Kollmorgen | December 2010...

  • Page 553: Pls Parameters And Commands

    AKD User Guide | PLS Parameters and Commands PLS Parameters and Commands Kollmorgen | December 2010...

  • Page 554: Pls.en

    Bit Value Behavior Bit 0 = 0 Disables PLS 1 Bit 0 = 1 Enables PLS 1 Bit 7 = 0 Disables PLS 8 Bit 7 = 1 Enables PLS 8 Related Topics 10.8 Programmable Limit Switch Kollmorgen | December 2010...

  • Page 555: Pls.mode

    PLS 8 is monitored continuously. PLS 8 is monitored until it is triggered once (sin- Bit 7 = 1 gle-shot method). The PLS observation can be re- armed using the PLS.RESET command. Related Topics 10.8 Programmable Limit Switch Kollmorgen | December 2010...

  • Page 556: Pls.p1 To Pls.p8

    646 (64-Bit) PLS.P7 650 (64-Bit) PLS.P8 Description PLS.P1 to PLS.P8 define the trigger point of the PLS. For further information about how these parameters affect PLS behavior, see the PLS.UNITS parameter description. Related Topics 10.8 Programmable Limit Switch Kollmorgen | December 2010...

  • Page 557: Pls.reset

    Bit 0 = 1 is re-armed. The PLS 8 observation (PLS.STATE bit 7) Bit 7 = 0 is not re-armed. The PLS 8 observation (PLS.STATE bit 7) Bit 7 = 1 is re-armed. Related Topics 10.8 Programmable Limit Switch Kollmorgen | December 2010...

  • Page 558: Pls.state

    Bit 0 = 1: Programmable Limit Switch 1 (PLS 1) is active. Bit 7 = 0: Programmable Limit Switch 8 (PLS 8) is not active. Bit 7 = 1: Programmable Limit Switch 8 (PLS 8) is not active. Related Topics 10.8 Programmable Limit Switch Kollmorgen | December 2010...

  • Page 559: Pls.t1 To Pls.t8

    These parameters define the time of the PLS pulse for time-based PLS handling. For further information about the PLS functionality, especially the meaning of the PLS.T1 to PLS.T8 parameter, refer to the PLS.UNITS parameter. Related Topics 10.8 Programmable Limit Switch Kollmorgen | December 2010...

  • Page 560: Pls.units

    Continuous position-based PLS handling PLS.P1 = 720 PLS.WIDTH1 = 360 PLS.UNITS bit 0 (for PLS 1) = low; PLS.T1 is not considered. PLS.EN bit 0 (for PLS 1) = high PLS.MODE bit 0 (for PLS 1) = low Kollmorgen | December 2010...
  • Page 561 PLS.T1 = 10 PLS.UNITS bit 0 (for PLS 1) = low; PLS.WIDTH1 is not considered. PLS.EN bit 0 (for PLS 1) = high PLS.MODE bit 0 (for PLS 1) = low Related Topics 10.8 Programmable Limit Switch Kollmorgen | December 2010...

  • Page 562: Pls.width1 To Pls.width8

    These parameter define the width of the PLS pulse for position-based PLS handling. For further information about the PLS functionality, especially the meaning of the PLS.WIDTH1 to PLS.WIDTH8 parameter, refer to the PLS.UNITS parameter. Related Topics 10.8 Programmable Limit Switch Kollmorgen | December 2010...

  • Page 563: Rec Parameters And Commands

    Object Start Version Modbus M_01-03-00-000 Description REC.ACTIVE indicates whether or not data recording is in progress. Recording is in progress if the trigger was met and the recorder is recording all data. Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 564: Rec.ch1 To Rec.ch6

    Set 0, CLR, or CLEAR. This setting clears the recording channel. Set one of the recordable commands. The list of recordable commands can be obtain by executing REC.RECPRMLIST. Set an internal value or variable of the drive (same as for DRV.MEMADDR input). Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 565: Rec.done

    REC.DONE indicates that the recorder has finished recording. This value is reset to 0 when the recorder trigger is set. The drive also resets this value when the recording has finished or when REC.OFF is executed. Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 566: Rec.gap

    Object Start Version Modbus M_01-03-00-000 Description REC.GAP specifies the gap between consecutive samples. The recording base rate is 16 kHz, thus a gap of 1 means that a sample is recorded every 62.5 µs. Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 567: Rec.numpoints

    1 to 65,535 Default Value 1,000 Data Type Integer See Also REC.TRIG Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description REC.NUMPOINTS specifies the number of points (samples) to record. Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 568: Rec.off

    M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description REC.OFF turns the recorder off. In order to set the recorder again, the recorder must first be armed and then a trigger set. Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 569: Rec.recprmlist

    This command returns the list of recordable parameters. You can use recordable parameter as an input to any of the recording channels. Note that an internal address or a registered variable can be used as input to any of the channels in addition to the list. Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 570: Rec.retrieve

    The following format is the retrieve reply format (for N samples, G sample gap, and M parameters, where M<=6): Recording <N>,<G> <parameter name 1> … <parameter name M> Value11 … Value1M Value N1 … ValueNM Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 571: Rec.retrievedata

    A new REC.TRIG command automatically sets the index to 0. Example The following example retrieves data from index 100 in the size of 10 (hence places 100 to 109 in the buffer) REC.NUMPOINTS 1000 REC.RETRIVESIZE 10 REC.TRIG REC.RETRIEVEDATA 100 Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 572: Rec.retrievefrmt

    10,1 IL.FB,VL.CMD,VL.FB F3-0x56,F30x0,F30xA65 F30x0,F30x0,F30xE15 F30x1D,F30x0,F3-0x1E6 Related Topics 15 Scope REC.RETRIEVEHDR General Information Type R/O Parameter Description Retrieves the recorded header without the data. Units Range Default Value Data Type See Also REC.RETRIEVE, REC.RETRIEVEDATA Start Version M_01-00-00-000 Kollmorgen | December 2010...
  • Page 573 This command retrieves the recorded header without the data of the recording. WorkBench uses this parameter to retrieve the header once before continuously reading the data for RT recoding. Use REC.RETRIEVE for complete recording information view. Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 574: Rec.retrievesize

    This parameter sets the number of samples that REC.RETRIEVEDATA returns. WorkBench also uses this parameter to set the number of samples returned when retrieving the data con- tinuously for RT recoding. Use REC.RETRIEVE for the complete recording information view. Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 575: Rec.stoptype

    This parameter sets the stop type for the recording. 0 = Recorder runs, continuously filling the recording circular buffer. 1 = Recorder fills in the buffer once. To stop RT recording, execute REC.OFF. Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 576: Rec.trig

    After calling REC.TRIG, the data that was recorded by previous recording is deleted and cannot be retrieved. No REC parameters can be set after a call to REC.TRIG until the recorder has finished or until REC.OFF is executed. Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 577: Rec.trigparam

    1. One of the set drive parameters list that can be set as a trigger. The available parameters for trigger are: PL.ERR, PL.CMD, PL.FB, VL.CMD, VL.FB, IL.CMD, and IL.FB. 2. Internal value or variable of the drive (same as for DRV.MEMADDR input). Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 578: Rec.trigpos

    In the WorkBench scope, the 0 time point is clear. When collecting the data using REC.RETRIEVE or similar com- mands, the time is not returned, so some caution should be used when the trigger point is important to understand. Related Topics Kollmorgen | December 2010...
  • Page 579 AKD User Guide | REC Parameters and Commands 15 Scope Kollmorgen | December 2010...

  • Page 580: Rec.trigprmlist

    This command returns the list of trigger parameters. Each one of those parameters can serve as the trigger parameter (input to REC.TRIGPARAM). Note that an internal address or a registered variable can be used as input to REC.TRIGPARAM in addition to the list that this parameter returns. Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 581: Rec.trigslope

    See Also REC.TRIG, REC.NUMPOINTS Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description REC.TRIGSLOPE sets the recorder trigger slope. This parameter is only used when REC.TRIGTYPE = 2 or 3. Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 582: Rec.trigtype

    REC.TRIGPOS. Recording starts per the values of REC.TRIGPARAM, REC.TRIGVAL, REC.TRIGSLOPE, and REC.TRIGPOS. Recording starts when the value of REC.TRIGPARAM is 0 for REC.TRIG- SLOPE = 0 or 1 for REC.TRIGSLOPE = 1 Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 583: Rec.trigval

    730 (64-bit) M_01-03-00-000 Description REC.TRIGVAL is the value that must be met by REC.TRIGPARAM for the trigger to occur. The units of this parameter are set according to the units of REC.TRIGPARAM. Related Topics 15 Scope Kollmorgen | December 2010...

  • Page 584: Regen Parameters

    Fieldbus Index/Subindex Object Start Version 3416h/0 EtherCAT COE M_01-00-00-000 and CANopen Modbus 734 (64-bit) M_01-03-00-000 Description This parameter reads regen resistor's calculated power, which is determined as follows: / R) * DutyCycle Related Topics 7.2 Regeneration Kollmorgen | December 2010...

  • Page 585: Regen.rext

    Index/Subindex Object Start Version EtherCAT COE 35C2h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description REGEN.REXT sets the external user-defined regen resistor resistance. This variable is needed for the regen resistor temperature estimation algorithm. Related Topics 7.2 Regeneration Kollmorgen | December 2010...

  • Page 586: Regen.text

    The external regen resistor is rated for 250 W continuous, is 33 ohm, and has a joule rating of 500 joules. To use this resistor, the drive settings become: REGEN.TYPE = -1 (External Regen) REGEN.REXT = 33 REGEN.WATTEXT = 250 REGEN.TEXT = (1.1)*(500 j)/(250 W) = 2.2 sec Related Topics 7.2 Regeneration Kollmorgen | December 2010...

  • Page 587: Regen.type

    Type Description –1 External user-defined regen resistor Internal regen resistor If you specify a user-defined regen resistor, then you must also define this resistor's resistance (REGEN.REXT), heatup time (REGEN.REXT), and power (REGEN.WATTEXT). Related Topics 7.2 Regeneration Kollmorgen | December 2010...

  • Page 588: Regen.wattext

    Sets the regen resistor's power fault level for an external regen resistor (when REGEN.TYPE = -1). Above this fault level, the regen resistor's PWM wil be 0 and a fault will be issued. Related Topics 7.2 Regeneration Kollmorgen | December 2010...

  • Page 589: Sm Parameters

    See Also SM.V2, SM.VPM1, SM.VPM2 Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description SM.I1 defines the current that is used in service motion modes 0 and 1 (see SM.MODE). Related Topics 12.3 Service Motion Kollmorgen | December 2010...

  • Page 590: Sm.i2

    SM.ACCTYPE, SM.I1, SM.MODE, SM.MOVE, SM.T1, SM.T2, SM.V1, See Also SM.V2, SM.VPM1, SM.VPM2 Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description SM.I2 defines the current that is used in service motion mode 1 (see SM.MODE). Related Topics 12.3 Service Motion Kollmorgen | December 2010...

  • Page 591: Sm.mode

    (if SM.T1>0) or endless (if SM.T1=0). The drive generates acceleration and decel- eration ramps according to the DRV.ACC and DRV.DEC setting in this mode of oper- ation. The service motion can be stopped by using the DRV.STOP command. Kollmorgen | December 2010...
  • Page 592 The drive uses DRV.ACC and DRV.DEC for the ramps in DRV.OPMODE 1 (closed velocity) and 2 (closed posi- tion). The drive does not generate any ramps in service motion mode 0 and 1. Service Motion for DRV.OPMODE 0 and SM.MODE 1 Service motion for DRV.OPMODE 1 or 2 and SM.MODE 1 Kollmorgen | December 2010...
  • Page 593 The deceleration process from SM.V1 or SM.V2 to 0 is not included in SM.T1 and SM.T2, respectively. SM.T1 and SM.T2 start as soon as the command value has reached the velocity 0. Related Topics 12.3 Service Motion Kollmorgen | December 2010...

  • Page 594: Sm.move

    Default Value Data Type See Also SM.MODE Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This command starts the service motion that has been selected by the SM.MODE parameter. Related Topics 12.3 Service Motion Kollmorgen | December 2010...

  • Page 595: Sm.t1

    SM.T1 defines the time of the service motion that is used in all service motion modes (see SM.MODE). For an alternating service motion mode, SM.T1 may not be set to 0. Related Topics 12.3 Service Motion Kollmorgen | December 2010...

  • Page 596: Sm.t2

    Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description SM.T2 defines the time of the service motion that is used in service motion modes 1, 3, and 5 (see SM.MODE). Related Topics 12.3 Service Motion Kollmorgen | December 2010...

  • Page 597: Sm.v1

    Object Start Version Modbus M_01-03-00-000 Description SM.V1 defines the velocity that is used in service motion modes 0 and 1 (see SM.MODE) in the closed velocity and position mode of operation. Related Topics 12.3 Service Motion Kollmorgen | December 2010...

  • Page 598: Sm.v2

    Index/Subindex Object Start Version Modbus M_01-03-00-000 Description SM.V2 defines the velocity that is used in service motion mode 1 (see SM.MODE) in the closed velocity and posi- tion mode of operation. Related Topics 12.3 Service Motion Kollmorgen | December 2010...

  • Page 599: Sto Parameters

    STO.STATE returns the status of the safe torque off. 1 - Safe torque on (no safe torque off fault). 0 - Safe torque off (safe torque off fault ). Related Topics 10.7.5 Limits 10.13 Safe Torque Off (STO) Kollmorgen | December 2010...

  • Page 600: Swls Parameters

    This parameter enables the software travel limit switches. The software limit switches are only active if the axis is homed. Example Bit 0 = 0: Disable SWLS.LIMIT0 Bit 0 = 1: Enable SWLS.LIMIT0 Bit 1 = 0: Disable SWLS.LIMIT1 Bit 1 = 1: Enable SWLS.LIMIT1 Related Topics 10.7.5 Limits 12.1 Homing HOME Parameters Kollmorgen | December 2010...

  • Page 601: Swls.limit0

    The software limit switches are only active if the axis is homed. For more information about homing, please refer to the HOME Parameters and DRV.M- OTIONSTAT. Related Topics 10.7.5 Limits 12.1 Homing HOME Parameters Kollmorgen | December 2010...

  • Page 602: Swls.limit1

    The software limit switches are only active if the axis is homed. For more information about homing, please refer to the HOME Parameters and DRV.MOTIONSTAT. Related Topics 10.7.5 Limits 12.1 Homing HOME Parameters Kollmorgen | December 2010...

  • Page 603: Swls.state

    Bit 0 = 1: SWLS.LIMIT0 is active. Bit 1 = 0: SWLS.LIMIT1 is not active. Bit 1 = 1: SWLS.LIMIT1 is active. Bits 2 to 7 are currently not in use. Related Topics 10.7.5 Limits 12.1 Homing HOME Parameters Kollmorgen | December 2010...
  • Page 604 AKD User Guide | SWLS Parameters This page intentionally left blank. Kollmorgen | December 2010...

  • Page 605: Unit Parameters

    UNIT.ACCLINEAR sets the units type for the acceleration and deceleration parameters, when the motor type (MOTOR.TYPE) is linear. Type Description [PIN/POUT]/s millimeters per second squared (mm/s micrometers per second squared (µm/s Feedback counts/s Related Topics 9 Selecting Units for Your Application Kollmorgen | December 2010...

  • Page 606: Unit.accrotary

    Object Start Version EtherCAT COE 3659h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description UNIT.ACCROTARY sets the acceleration/deceleration units when the motor type (MOTOR.TYPE) is rotary. Type Description rpm/s rps/s deg/s (PIN/POUT)/s Related Topics 9 Selecting Units for Your Application Kollmorgen | December 2010...

  • Page 607: Unit.label

    This name is shown in derived units as velocity and acceleration. This parameter is descriptive only and does not influence drive internal functions in any way. Related Topics 9 Selecting Units for Your Application Kollmorgen | December 2010...

  • Page 608: Unit.pin

    For position, this parameter sets the units as [PIN/POUT]/rev. For velocity, this parameter sets the units as [PIN/POUT]/s. For acceleration/deceleration, this parameter sets the units as [PIN/POUT]/s Related Topics 9 Selecting Units for Your Application Kollmorgen | December 2010...

  • Page 609: Unit.plinear

    UNIT.PLINEAR sets the units type for the position parameters when the motor type (MOTOR.TYPE) is linear. Type Description 32-bit counts Millimeters (mm) Micrometers (µm) (PLINEAR/POUT) per revolution 16-bit counts Related Topics 9 Selecting Units for Your Application Kollmorgen | December 2010...

  • Page 610: Unit.pout

    UNIT.POUT. This parameter is used as follows in the drive unit conversion: For position, this parameter sets the units as [PIN/POUT]/rev. For velocity, this parameter sets the units as [PIN/POUT]/s. For acceleration/deceleration, this parameter sets the units as [PIN/POUT]/s Related Topics 9 Selecting Units for Your Application Kollmorgen | December 2010...

  • Page 611: Unit.protary

    EtherCAT COE 3660h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description UNIT.PROTARY sets the position units when the motor type (MOTOR.TYPE) is rotary. Value Units counts radians degrees [PIN/POUT] 16-bit counts Related Topics 9 Selecting Units for Your Application Kollmorgen | December 2010...

  • Page 612: Kollmorgen | December

    UNIT.VLINEAR sets the units type for the velocity parameters when the motor type (MOTOR.TYPE) is linear. Type Description (PIN/POUT) per second Micrometers per second Millimeters per second Counts per second Related Topics 9 Selecting Units for Your Application Kollmorgen | December 2010...

  • Page 613: Unit.vrotary

    Object Start Version EtherCAT COE 365Fh/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description UNIT.VROTARY sets the velocity units when the motor type (MOTOR.TYPE) is rotary. Value Units deg/s (PIN/POUT)/s Related Topics 9 Selecting Units for Your Application Kollmorgen | December 2010...

  • Page 614: Vbus Parameters

    Object Start Version Modbus M_01-03-00-000 Description VBUS.OVFTHRESH reads the over voltage fault level for the DC bus. This value is read from the drive EEPROM and varies according to the drive type. Related Topics 7.2 Regeneration Kollmorgen | December 2010...

  • Page 615: Vbus.ovwthresh

    0 to 900 Vdc Default Value 0 Vdc (warning disabled) Data Type See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description If VBUS.VALUE value exeeds VBUS.OVWTHRESH, then a warning is generated. Related Topics 7.2 Regeneration Kollmorgen | December 2010...

  • Page 616: Vbus.rmslimit

    This parameter reads the limit of the bus capacitor load. When the bus capacitor loads exceeds this limit, the drive generates fault F503. Excessive bus capacitor load may indicate a disconnected main supply phase. Related Topics 7.2 Regeneration Kollmorgen | December 2010...

  • Page 617: Vbus.uvfthresh

    VBUS.UVFTHRESH sets the undervoltage fault level of the DC bus. The default value is read from the EEPROM, but can by modified by the user and stored on the NV RAM. This value varies according to drive type. Related Topics 7.2 Regeneration Kollmorgen | December 2010...

  • Page 618: Vbus.uvmode

    When VBUS.UVMODE = 1, an undervoltage fault is issued whenever the DC bus goes below the under voltage threshold and the controller attempts to enable the drive (software or hardware enable). Related Topics 7.2 Regeneration Kollmorgen | December 2010...

  • Page 619: Vbus.uvwthresh

    (VBUS.UVFTHRESH). The default value of VBUS.UVFTHRESH is hard- ware dependent. Data Type See Also VBUS.UVFTHRESH Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description If VBUS.VALUE value drops below VBUS.UVWTHRESH, then a warning is generated. Related Topics 7.2 Regeneration Kollmorgen | December 2010...

  • Page 620: Vbus.value

    Default Value Data Type Float See Also Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 361Ah/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description VBUS.VALUE reads the DC bus voltage. Related Topics 7.2 Regeneration 7.2 Regeneration Kollmorgen | December 2010...

  • Page 621: Vl Parameters

    The following block diagram describes the AR filter function; note that AR1 and AR2 are in the forward path, while AR3 and AR4 are applied to feedback: AR1, AR2, AR3, and AR4 are used in velocity and position mode, but are disabled in torque mode. Discrete time transfer function (applies to all AR filters) Kollmorgen | December 2010...
  • Page 622 The continuous time transfer function is converted to the discrete time domain by a backward Euler mapping: s ≈ (1-z )/t, where t = 62.5 µs The poles are prewarped to F and the zeros are prewarped to F Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 623: Vl.arpq1 To Vl.arpq4

    The continuous time transfer function is converted to the discrete time domain by a backward Euler mapping: s ≈ (1-z )/t, where t = 62.5 µs The poles are prewarped to F and the zeros are prewarped to F Related Topics Kollmorgen | December 2010...
  • Page 624 AKD User Guide | VL Parameters 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 625: Vl.artype1 To Vl.artype4

    VL.ARZFx, and VL.ARZQx. A value of 0 indicates that the coefficients are set directly. This parameter has no effect on the filter itself, but is only used to determine the original design parameters. Currently, only the value of 0 is supported. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 626: Vl.arzf1 To Vl.arzf4

    The continuous time transfer function is converted to the discrete time domain by a backward Euler mapping: s ≈ (1-z )/t, where t = 62.5 µs The poles are prewarped to F and the zeros are prewarped to F Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 627: Vl.arzq1 To Vl.arzq4

    The continuous time transfer function is converted to the discrete time domain by a backward Euler mapping: s ≈ (1-z )/t, where t = 62.5 µs. The poles are prewarped to F and the zeros are prewarped to F Related Topics Kollmorgen | December 2010...
  • Page 628 AKD User Guide | VL Parameters 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 629: Vl.busff

    VL.FF, VL.KBUSFF Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 60B1h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description This parameter displays the velocity loop feedforward value injected by the fieldbus. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 630: Vl.cmd

    VL.CMD returns the actual velocity command as it is received in the velocity loop entry after all velocity limits (such as VL.LIMITN and VL.LIMITP). See velocity loop design diagram for more details. Related Topics 10.4 Analog Input 11.4 Velocity Loop 11.5 Position Loop Block Diagrams Kollmorgen | December 2010...

  • Page 631: Vl.cmdu

    When DRV.OPMODE is set to 1 (velocity loop) and DRV.CMDSOURCE is set to 0 (TCP/IP channel), then set- ting this value when the drive is enabled will cause the drive to rotate at the required velocity. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 632: Vl.err

    Object Start Version 3407h/4 EtherCAT COE M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description VL.ERR sets the velocity error. It is calculated in the velocity loop as the difference between VL.CMD and VL.FB. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 633: Vl.fb

    Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version 3618h/0 EtherCAT COE M_01-00-00-000 and CANopen 606Ch/0 Modbus M_01-03-00-000 Description VL.FB returns the velocity feedback as it is received in the velocity loop. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 634: Vl.fbfilter

    Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version EtherCAT COE 3407h/1 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description This parameter returns the same value as VL.FB, filtered through a 10 Hz filter. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 635: Vl.fbsource

    Object Start Version Modbus M_01-03-00-000 Description This parameter determines the feedback source to be used by the velocity loop. A value of 0 selects the primary feedback, 1 selects the secondary feedback. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 636: Vl.ff

    0 to VL.LIMITP Default Value Data Type Float See Also VL.KBUSFF, VL.KVFF, VL.ACCFFGAIN Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter displays the velocity loop overall feedforward value. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 637: Vl.genmode

    This parameter is used to select the velocity generator mode. Mode Description d/dt mode: The derivative of the mechanical angle of the drive is fed to a first order low pass. Luenberger Observer mode Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 638: Vl.kbusff

    The nominal feedforward value can be multiplied by this gain value. This will have affect only when using position mode (DRV.OPMODE = 2). Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 639: Vl.ki

    VL.KI is set to 160 and VL.KP is set to 1, will take (1000/160)*2π ms to increase the integral gain to 1. Therefore, the total gain is 2 at this time (see velocity loop structure below). Velocity Loop Structure Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 640: Vl.ko

    VL.KO is used to scale the observer model to match the load. When VL.KO is tuned properly, Reads the observer velocity signal; active in opmodes 1 (velocity) and 2 (position) only. will match VL.FB, except when there is an unspecified offset between the two. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 641: Vl.kp

    This parameter sets the gain for the velocity feedforward (a scaled derivative of the position command is added to the velocity command value). The nominal feedforward value can be multiplied by this gain value. This parameter is only used in the position mode (DRV.OPMODE = 2). Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 642: Vl.limitn

    VL.LIMITN sets the velocity command negative limit. If the input to the velocity loop is lower than VL.LIMITN, then the actual velocity command VL.CMD is limited by the value of VL.LIMITN. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 643: Vl.limitp

    VL.LIMITP sets the velocity command positive limit. If the input to the velocity loop is higher than VL.LIMITP, then the actual velocity command VL.CMD is limited by the value of VL.LIMITP. Related Topics 11.4 Velocity Loop VL.LMJR Kollmorgen | December 2010...
  • Page 644 See Also IL.KACCFF, IL.FF Start Version M_01-00-00-000 Fieldbus Index/Subindex Object Start Version Modbus M_01-03-00-000 Description This parameter is used in the internal calculation of the current loop acceleration feed forward gain value. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 645: Vl.model

    Object Start Version Modbus M_01-03-00-000 Description VL.MODEL is the observer velocity output. When VL.KO is tuned properly, VL.MODEL will match VL.FB, except when there is an unspecified offset between the two. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 646: Vl.obsbw

    This parameter sets the bandwidth of the observer in Hz. The observer passes the velocity feedback through a PID control loop that behaves like a low-pass filter with a bandwidth of VL.OBSBW. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 647: Vl.obsmode

    VL.FB is used as the velocity feedback signal to the velocity loop. When VL.OBSMODE = 1, the observer is part of the control loop; VL.MODEL is used as the velocity feedback signal. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 648: Vl.thresh

    The value is considered as an absolute value, hence it applies for both negative and positive velocities. Example VL.THRESH is set to 600 rpm. A velocity command of 700 rpm will generate an over speed fault. Related Topics 11.4 Velocity Loop Kollmorgen | December 2010...

  • Page 649: Ws Parameters

    If WS.STATE is 0 and the drive is disabled, WS.STATE will change to 1 after issuing WS.CALC. With this command wake and shake can be repeated if desired. Related Topics 8.3.9 Using Wake and Shake (WS) Kollmorgen | December 2010...

  • Page 650: Ws.distmin

    The larger this value, the more movement is needed in order to avoid F473: "Wake and Shake: Too little movement". Related Topics 8.3.9 Using Wake and Shake (WS) Kollmorgen | December 2010...

  • Page 651: Ws.imax

    The maximum of this parameter is the lower value of MOTOR.IPEAK and DRV.IPEAK. The default value of this parameter is the half of its maximum. This value depends on the specific application. Related Topics 8.3.9 Using Wake and Shake (WS) Kollmorgen | December 2010...

  • Page 652: Ws.mode

    The motor poles are set to 0, current mode is activated, and WS.IMAX is applied. The angle in which the motor settles is used for commutation. Other settings are restored (such as motor poles and operation mode). Related Topics 8.3.9 Using Wake and Shake (WS) Kollmorgen | December 2010...

  • Page 653: Ws.distmax

    F475, "Wake and Shake. Too much movement", may occur before wake and shake is finished. The bigger this value, the more movement is allowed for wake and shake. This value is application dependent. Related Topics 8.3.9 Using Wake and Shake (WS) Kollmorgen | December 2010...

  • Page 654: Ws.numloops

    EtherCAT COE 36E2h/0 M_01-00-00-000 and CANopen Modbus M_01-03-00-000 Description Max. number of wake and shake repetitions. MOTOR.PHASE is calculated as mean value of all wake and shake repetitions. Related Topics 8.3.9 Using Wake and Shake (WS) Kollmorgen | December 2010...

  • Page 655: Ws.state

    - check if difference between coarse and fine cal- culation is lower than 30°, else generate fault "Wake and Shake.Fine-Coarse delta too big." - if this was not the last loop switch to current mode and go to 2 Kollmorgen | December 2010...
  • Page 656 - if W&S was successful apply motor.phase and restore other parameters, else restore all parameters 9 (and larger - fault state. Generate fault and apply all original param- values) eters Related Topics 8.3.9 Using Wake and Shake (WS) Kollmorgen | December 2010...

  • Page 657: Ws.t

    Modbus M_01-03-00-000 Description This parameter defines the duration for each different current-vector while the coarse angle calculation. The move distance is proportional to the WS.T and WS.IMAX value. Related Topics 8.3.9 Using Wake and Shake (WS) Kollmorgen | December 2010...

  • Page 658: Ws.tdelay1

    WS.TDELAY1 defines the delay time of the wake and shake function. This time is a delay time between the switching of different current vectors during the wake and shake procedure. This time should be increased in the case of movement interferences between single current vectors. Related Topics 8.3.9 Using Wake and Shake (WS) Kollmorgen | December 2010...

  • Page 659: Ws.tdelay2

    This time should be increased in the case of interferences between the coarse calculation done in current mode and the fine calculation done in velocity mode. Choosing too large a value increases the wake and shake duration. Related Topics 8.3.9 Using Wake and Shake (WS) Kollmorgen | December 2010...

  • Page 660: Ws.tdelay3

    WS.TDELAY3 defines the delay between complete loops in mode 0 only. Decreasing this value makes the wake and shake procedure faster, but may lead to problems if the motor moves too long. Increasing this value will make wake and shake significantly longer. Related Topics 8.3.9 Using Wake and Shake (WS) Kollmorgen | December 2010...

  • Page 661: Ws.vthresh

    (WS.STATE 1 or greater). If at any time while wake and shake is running a velocity higher than this value is detected, a fault is generated. For a detailed description of the wake and shake feature, see the User Guide (Using Wake and Shake (WS)). Kollmorgen | December 2010...
  • Page 662 AKD User Guide | WS Parameters This page intentionally left blank. Kollmorgen | December 2010...
  • Page 663 E-Mail technik@kollmorgen.com Tel.: +49(0)203 - 99 79 - 0 Fax: +49(0)203 - 99 79 - 155 North America Kollmorgen Customer Support North America Internet www.kollmorgen.com E-Mail support@kollmorgen.com Tel.: +1 - 540 - 633 - 3545 Fax: +1 - 540 - 639 - 4162...

  • Page 664: Appendix B

    AKD User Guide | Appendix B Appendix B Fieldbus Manuals AKD CANopen Manual AKD EtherCAT Manual AKD Modbus Manual Kollmorgen | December 2010...
  • Page 665 AKD User Guide | Appendix B This page intentionally left blank. Kollmorgen | December 2010...
  • Page 666 Edition: Revision B, December 2010 Valid for Hardware Revision A Part Number 903-200004-00 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. Kollmorgen | December 2010...
  • Page 667 Kollmorgen | December 2010...
  • Page 668 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 distributed by electronic means without the written permission of Kollmorgen.
  • Page 669 6 Using WorkBench 6.1 Welcome Screen 6.1.1 Online 6.1.2 Offline 6.2 AKD Overview 6.3 Online and Offline 6.3.1 Online Drive 6.3.2 Offline Drive 6.3.3 Switching Between Online and Offline 6.4 Watch 6.5 Settings 6.5.1 Navigation Tree Kollmorgen | December 2010...
  • Page 670 8.3.9.2 Configuring WS Wake and Shake, More View Special Cases for WS Operation with Motor Brake End of Travel Limits Large Load Inertia or High Friction System 8.3.9.3 Using WS: Advanced Maximizing WS Reliability 8.3.9.4 Related Parameters Kollmorgen | December 2010...
  • Page 671 8.11.2.4 Setting the Capture Edge (CAP0.EDGE) 8.11.2.5 Setting the Pre-Condition Event: (CAP0.EVENT) 8.11.2.6 Setting up a Pre-Condition for complex capture Setting the Precondition Edge: (Terminal Command: CAP0.PREEDGE) Setting the Pre-Condition Select: (Terminal Command: CAP0.PRESELECT) 8.11.3 Related Parameters Kollmorgen | December 2010...
  • Page 672 10.8.2 Using Programmable Limit Switches 10.8.3 Single Shot Mode 10.8.4 Related Parameters and Commands 10.9 Enable/Disable 10.9.1 Overview 10.9.2 Enable Modes 10.9.2.1 Hardware Enable Mode 10.9.2.2 Software Enable Default 10.9.3 Disable Modes 10.9.4 Drive Status 10.9.5 Controlled Stop Kollmorgen | December 2010...
  • Page 673 11.5.3 Position Loop Default Behavior and Changes 11.5.3.1 Position Loop Changes Based on Slider Tuning 11.5.3.2 Position Loop Changes Based on Autotuner 12 Creating Motion 12.1 Homing 12.1.1 Overview 12.1.2 Using Homing 12.1.2.1 Home Default Window Mode Selection: Settings: Controls: Kollmorgen | December 2010...
  • Page 674 13 Saving Your Drive Configuration 13.1 Save Options 13.2 Save On Exit 13.3 Save On Disconnect 13.4 Save On Firmware Download 14 Tuning Your System 14.1 Slider Tuning 14.1.0.1 Gentle, Medium, and Stiff 14.1.0.2 The Slider 14.1.0.3 Inertia Ratio Kollmorgen | December 2010...
  • Page 675 Current Amplitude Velocity Amplitude Measurement Injection Point Excitation Type FFT Points Excite Gap Number Points Velocity Max 14.3.4.4 Plot Options Coherence 14.3.4.5 Cursors 14.3.4.6 Resizing Bode Plots Reading and Understanding the Bode Plot 14.4 Tuning Guide Kollmorgen | December 2010...
  • Page 676 15.3.8 Unit display on Y axis 16 Using Parameters and the Terminal Screen 16.1 Terminal 16.1.1 Overview 16.1.2 Using the Terminal 16.1.3 Macros 16.1.3.1 Creating a Macro from Terminal commands 16.1.3.2 Macro Editor 16.2 Viewing Parameters 16.3 Parameter List Kollmorgen | December 2010...
  • Page 677 19.19 Up / Down signal connection 19.19.1 Up / Down input 5 V (X9) 19.19.2 Up / Down input 24 V (X7) 19.20 Feedback Connector (X10) Block Diagrams 19.21 Block Diagram for Current Loop 19.22 Block Diagram for Position/Velocity Loop Kollmorgen | December 2010...
  • Page 678 AIO.ISCALE AIO.PSCALE AIO.VSCALE AOUT Parameters AOUT.DEBUGADDR AOUT.DEBUGSCALE AOUT.ISCALE AOUT.MODE AOUT.OFFSET AOUT.PSCALE AOUT.VALUE AOUT.VALUEU AOUT.VSCALE BODE Parameters BODE.EXCITEGAP BODE.FREQ BODE.IAMP BODE.IFLIMIT BODE.IFTHRESH BODE.INJECTPOINT BODE.MODE BODE.MODETIMER BODE.PRBDEPTH BODE.VAMP BODE.VFLIMIT BODE.VFTHRESH CAP Parameters CAP0.EDGE, CAP1.EDGE CAP0.EN, CAP1.EN CAP0.EVENT, CAP1.EVENT Kollmorgen | December 2010...
  • Page 679 DIN1.STATE TO DIN7.STATE DOUT Parameters DOUT.CTRL DOUT.RELAYMODE DOUT.STATES DOUTx.MODE DOUT1.PARAM AND DOUT2.PARAM DOUT1.STATE AND DOUT2.STATE DOUT1.STATEU AND DOUT2.STATEU DRV Parameters and Commands DRV.ACC DRV.ACTIVE DRV.BLINKDISPLAY DRV.CLRFAULTHIST DRV.CLRFAULTS DRV.CMDDELAY DRV.CMDSOURCE DRV.CRASHDUMP DRV.DBILIMIT DRV.DEC DRV.DIR DRV.DIS DRV.DISMODE DRV.DISSOURCES DRV.DISTO Kollmorgen | December 2010...
  • Page 680 DRV.HELP DRV.HELPALL DRV.HWENMODE DRV.ICONT DRV.INFO DRV.IPEAK DRV.IZERO DRV.LIST DRV.LOGICVOLTS DRV.MEMADDR DRV.MEMDATA DRV.MOTIONSTAT DRV.NAME DRV.NVLIST DRV.NVLOAD DRV.NVSAVE DRV.ONTIME DRV.OPMODE DRV.READFORMAT DRV.RSTVAR DRV.RUNTIME DRV.SETUPREQBITS DRV.SETUPREQLIST DRV.STOP DRV.TEMPERATURES DRV.TYPE DRV.VER DRV.VERIMAGE DRV.WARNINGS DRV.ZERO FB1 Parameters FB1.BISSBITS FB1.ENCRES FB1.HALLSTATE FB1.IDENTIFIED Kollmorgen | December 2010...
  • Page 681 FB2.ENCRES FB2.MODE FB2.SOURCE FBUS Parameters FBUS.PARAM1 TO FBUS.PARAM20 FBUS.PLLSTATE FBUS.PLLTHRESH FBUS.SAMPLEPERIOD FBUS.SYNCACT FBUS.SYNCDIST FBUS.SYNCWND FBUS.TYPE GEAR Parameters GEAR.ACCMAX GEAR.DECMAX GEAR.IN GEAR.MODE GEAR.MOVE GEAR.OUT GEAR.VMAX GUI Parameters GUI.DISPLAY GUI.PARAM01 GUI.PARAM02 GUI.PARAM03 GUI.PARAM04 GUI.PARAM05 GUI.PARAM06 GUI.PARAM07 GUI.PARAM08 GUI.PARAM09 Kollmorgen | December 2010...
  • Page 682 HOME.P HOME.PERRTHRESH HOME.SET HOME.V HWLS Parameters HWLS.NEGSTATE HWLS.POSSTATE IL Parameters IL.BUSFF IL.CMD IL.CMDU IL.DIFOLD IL.FB IL.FF IL.FOLDFTHRESH IL.FOLDFTHRESHU IL.FOLDWTHRESH IL.FRICTION IL.IFOLD IL.IUFB IL.IVFB IL.KACCFF IL.KBUSFF IL.KP IL.KPDRATIO IL.KVFF IL.LIMITN IL.LIMITP IL.MFOLDD IL.MFOLDR IL.MFOLDT IL.MIFOLD IL.OFFSET IL.VCMD Kollmorgen | December 2010...
  • Page 683 MOTOR.KT MOTOR.LQLL MOTOR.NAME MOTOR.PHASE MOTOR.PITCH MOTOR.POLES MOTOR.R MOTOR.RTYPE MOTOR.TBRAKEAPP MOTOR.TBRAKERLS MOTOR.TEMP MOTOR.TEMPFAULT MOTOR.TEMPWARN MOTOR.TYPE MOTOR.VMAX MOTOR.VOLTMAX MT Parameters and Commands MT.ACC MT.CLEAR MT.CNTL MT.CONTINUE MT.DEC MT.EMERGMT MT.LIST MT.LOAD MT.MOVE MT.MTNEXT MT.NUM MT.P MT.PARAMS MT.SET MT.TNEXT MT.TNUM Kollmorgen | December 2010...
  • Page 684 PLS Parameters and Commands PLS.EN PLS.MODE PLS.P1 TO PLS.P8 PLS.RESET PLS.STATE PLS.T1 TO PLS.T8 PLS.UNITS PLS.WIDTH1 TO PLS.WIDTH8 REC Parameters and Commands REC.ACTIVE REC.CH1 to REC.CH6 REC.DONE REC.GAP REC.NUMPOINTS REC.OFF REC.RECPRMLIST REC.RETRIEVE REC.RETRIEVEDATA REC.RETRIEVEFRMT REC.RETRIEVEHDR REC.RETRIEVESIZE REC.STOPTYPE REC.TRIG REC.TRIGPARAM Kollmorgen | December 2010...
  • Page 685 SM.I2 SM.MODE SM.MOVE SM.T1 SM.T2 SM.V1 SM.V2 STO Parameters STO.STATE SWLS Parameters SWLS.EN SWLS.LIMIT0 SWLS.LIMIT1 SWLS.STATE UNIT Parameters UNIT.ACCLINEAR UNIT.ACCROTARY UNIT.LABEL UNIT.PIN UNIT.PLINEAR UNIT.POUT UNIT.PROTARY UNIT.VLINEAR UNIT.VROTARY VBUS Parameters VBUS.OVFTHRESH VBUS.OVWTHRESH VBUS.RMSLIMIT VBUS.UVFTHRESH VBUS.UVMODE VBUS.UVWTHRESH VBUS.VALUE Kollmorgen | December 2010...
  • Page 686 VL.KVFF VL.LIMITN VL.LIMITP VL.LMJR VL.MODEL VL.OBSBW VL.OBSMODE VL.THRESH WS Parameters WS.ARM WS.DISTMIN WS.IMAX WS.MODE WS.DISTMAX WS.NUMLOOPS WS.STATE WS.T WS.TDELAY1 WS.TDELAY2 WS.TDELAY3 WS.VTHRESH Appendix B 20 CANopen Manual 20.1 General 20.1.1 About this Manual 20.1.2 Target Group Kollmorgen | December 2010...

  • Page 687: Safety Instructions

    Application of the Emergency Object Composition of the Emergency Object 20.5.4.5 Service Data Objects (SDO) Composition of the Service Data Object Initiate SDO Download Protocol Download SDO Segment Protocol Initiate SDO Upload Protocol Upload SDO Segment Protocol Abort SDO Protocol Kollmorgen | December 2010...
  • Page 688 Object 2026h: ASCII Channel Object 20A0h: Latch position 1, positive edge Object 20A1h: Latch position 1, negative edge Object 20A2h: Latch position 2, positive edge Object 20A3h: Latch position 2, negative edge Object 20A4h: Latch Control Register Kollmorgen | December 2010...
  • Page 689 Relationship between Physical and Internal Units 20.6.5.2 Objects for position calculation Object 608Fh: Position encoder resolution (DS402) Object 6092h: Feed constant (DS402) 20.6.6 Profile Velocity Mode (pv) (DS402) 20.6.6.1 General Information Objects that are defined in this section Kollmorgen | December 2010...
  • Page 690 Object 60C1h: Interpolation data record Object 60C2h: Interpolation time period Object 60C4h: Interpolation data configuration 20.6.10 Homing Mode (hm) (DS402) 20.6.10.1 General information Objects that are defined in this section Objects that are defined in other sections 20.6.10.2 Object Description Kollmorgen | December 2010...
  • Page 691 Example: Jog Mode via PDO Example: Torque Mode via PDO Example: Homing via SDO Example: Using the Profile Position Mode Example: ASCII Communication Test for SYNC telegrams 20.7.2.2 Examples, special applications Example: External Trajectory with Interpolated Position Mode Kollmorgen | December 2010...

  • Page 692: Safety Instructions

    21.4.4.3 Status Machine Bits (status word) 21.4.5 Fixed PDO Mappings 21.4.6 Supported Cyclical Setpoint and Actual Values 21.4.7 Supported Operation Modes 21.4.8 Adjusting EtherCAT Cycle Time 21.4.9 Maximum Cycle Times depending on operation mode 21.4.10 Synchronization Kollmorgen | December 2010...
  • Page 693 22 Modbus 22.1 Overview 22.2 Modbus Installation and Setup 22.3 Overview of Messaging 22.4 Supported Functions 22.5 Read Holding Registers (0x03) 22.6 Write Multiple Registers (0x10) 22.7 Exception Response Codes 23 Modbus Parameter Table 24 Index Kollmorgen | December 2010...
  • Page 694 AKD User Guide | Table of Contents This page intentionally left blank. Kollmorgen | December 2010...
  • Page 695 AKD User Guide | 20.1 General Kollmorgen | December 2010...
  • Page 696 A digital version of this manual (pdf format) is available on the CD-ROM included with your drive. Manual updates can be downloaded from the Kollmorgen website. Related documents for the AKD series include: AKD Quick Start (also provided in hard copy). This guide provides instructions for basic drive setup and connection to a network.
  • Page 697 NSTOP Limit switch for negative (left) rotation Personal Computer Process Data Object PSTOP Limit switch for positive (right) rotation Volatile memory Incremental position encoder RXPDO Receive PDO Service Data Object SYNC Synchronization Objects TXPDO Transmit PDO Kollmorgen | December 2010...
  • Page 698 AKD User Guide | 20.2 Safety Kollmorgen | December 2010...
  • Page 699 The drive may not be used with a machine that does not comply with appropriate national directives or standards. The use of the drive in the following environments is also prohibited: potentially explosive areas environments with corrosive and/or electrically conductive acids, alkaline solutions, oils, vapors, dusts ships or offshore applications Kollmorgen | December 2010...
  • Page 700 AKD User Guide | 20.3 Installation and Setup Kollmorgen | December 2010...
  • Page 701 Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account. If the final limit speed of the motor must be altered, then all the parameters that were previously entered for position control and motion blocks must be adapted. Kollmorgen | December 2010...
  • Page 702 6. Test communication. Check for the bootup-message, when you switch on the drive. Do an SDO read access on index 0x1000 subindex 0 (DeviceType). 7. Setup position controller. Setup the position controller, as described in the WorkBenchonline help. 20.4 CANopen Basics Kollmorgen | December 2010...

  • Page 703: Basic Features Implemented By Canopen

    A BUSOFF is only signaled by the AKD, if another CAN node is connected and at least one object was suc- cessfully transmitted to start off with. The BUSOFF condition is signaled by the error message 702. If the output stage is enabled at the moment when this fault occurs, the output stage is disabled. Kollmorgen | December 2010...

  • Page 704: Canopen Communication Profile

    AKD User Guide | 20.5 CANopen Communication Profile Kollmorgen | December 2010...

  • Page 705: General Description Of Can

    CTRL Data Segment Start of message COB-ID Communication Object Identifier (11-bit) Remote Transmission Request CTRL Control Field (e.g. Data Length Code) Data Segment 0 to 8byte (Data-COB) 0byte (Remote-COB) Cyclic Redundancy Check Acknowledge slot End of message Kollmorgen | December 2010...

  • Page 706: Construction Of The Communication Object Identifier

    RPDO 4 1010 1281..1407 501..57F 1403 SDO (tx*) 1011 1409..1535 581..5FF SDO (rx*) 1100 1537..1663 601..67F Nodeguard 1110 1793..1919 701..77F (100E) *tx = direction of transmission: AKD => Master rx = direction of transmission: Master => AKD Kollmorgen | December 2010...

  • Page 707: Definition Of The Used Data Types

    Octet number UNSIGNED8 UNSIGNED16 UNSIGNED24 UNSIGNED32 UNSIGNED40 to b UNSIGNED48 to b to b UNSIGNED56 to b to b to b UNSIGNED64 to b to b to b to b Kollmorgen | December 2010...

  • Page 708: Signed Integer

    Mixed data types combine basic data types (INTEGERn, UNSIGNEDn, REAL). Two types of mixed data are dis- tinguished: STRUCT: This data type is composed of elements with different data types. ARRAY: This data type is composed of elements of the same data type. Kollmorgen | December 2010...

  • Page 709: Extended Data Types

    All services require faultless operation of the Data Link and Physical Layer. AKD supports communication objects that are described in detail in the following sections: Network Management Objects (NMT) Synchronization Object (SYNC) Emergency Object (EMCY) Process Data Object (PDO) Service Data Object (SDO) Nodeguard/Heartbeat Kollmorgen | December 2010...

  • Page 710: Network Management Objects (Nmt)

    The usage of this protocol is explained in the appendix from page . You can use the SYNC object to start motion task of several axes simultaneously for example. 20.5.4.3 Time-Stamp Object (TIME) This communication object is not supported by the AKD. Kollmorgen | December 2010...

  • Page 711: Emergency Object (Emcy)

    2 indicates if a possible further error is present. If the error register contains 00, the error status is error-free. Byte 3 contains the category. The interpretations of the error numbers (error code) and the error categories are described in the section Emergency Messages. The error register is defined through object 1001. Error register´. Kollmorgen | December 2010...

  • Page 712: Service Data Objects (Sdo)

    0x4F - 1 byte. If an error occurs, scs is set to 4, the response byte is 0x80 and the error information is in the four byte data field. The decoding of the error => p. 55 Kollmorgen | December 2010...
  • Page 713 These components are used for the exchange of user data. In read-request telegrams to the AKD they are set to 0. They have no content in a write confirmation from the AKD if the transfer was successful, but if the write oper- ation was faulty they contain an error => p. 55. Kollmorgen | December 2010...

  • Page 714: Initiate Sdo Download Protocol

    Parameter value too high 0609 0032h Parameter value too low 0800 0020h Data cannot be transmitted or saved 0800 0022h Data cannot be transmitted or saved because of device status Abort Codes not listed above are reserved. Kollmorgen | December 2010...

  • Page 715: Kollmorgen | December

    1.Mapping parameters, to determine which data are available (mapped) in the selected PDO and to define, which data are contained. 2.Communication parameters, that define whether the PDOs operate in synchronized mode, or event-driven (objects 1400h to 1403h, 1800h to 1803h). Kollmorgen | December 2010...

  • Page 716: Transmission Modes

    PDO can be transmitted again via the inhibit time (Communication parameter, Subindex 03h) Event Timer driven: If a PDO shall be sent within a defined time interval, even if it doesn’t change, this interval can be defined by a special SDO. Kollmorgen | December 2010...

  • Page 717: Nodeguard

    = toggle Bit, changes its status with every slave telegram s = status of the NMT slave status machine Node guarding is carried out by the Master through RTR telegrams with the COB-ID 700h + slave node address. Kollmorgen | December 2010...

  • Page 718: Heartbeat

    Object 1016h/1017h. The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat Consumer Time. If the Heartbeat is not received within the Heartbeat Consumer Time a Heartbeat Event will be generated. Heartbeat protocol: Kollmorgen | December 2010...

  • Page 719: Canopen Drive Profile

    AKD User Guide | 20.6 CANopen Drive Profile Kollmorgen | December 2010...

  • Page 720: Canopen Emergency Messages And Error Codes

    Motor open circuit 0x7183 Motor short circuit 0x7184 Motor brake closed 0x7303 Resolver 1 fault 0x7305 Incremental sensor 1 fault 0x7380 Feedback 1, analogue fault 0x7381 Feedback 1, EnDat communication fault 0x7382 Feedback 1, illegal hall Kollmorgen | December 2010...
  • Page 721 Axis dpoles 0xFF0A Power stage fault 0xFF0B Safe torque off 0xFF10 Warning: SFD single corrupted position. 0x8380 Warning: Drive foldback 0x8387 Warning: Motor foldback 0xFF13 Warning: Control position deviation 0x8582 Warning: Positive software position limit is exceeded. Kollmorgen | December 2010...
  • Page 722 Warning: Control temperature sensor 1 low. 0x4396 Warning: Power temperature sensor 2 low. 0x4392 Warning: Power temperature sensor 3 low. 0x3280 Warning: Bus under voltage. 0x3780 Warning: Input phase loss. 0x3287 Warning: Dynamic Braking I 0x8787 Warning: Fieldbus PLL unlocked. Kollmorgen | December 2010...

  • Page 723: General Definitions

    0. A read access delivers 0x00002192 at the moment. Index 1000h Name device type Object code Data type UNSIGNED32 Category mandatory Access PDO mapping not possible Value range UNSIGNED32 Default value no Kollmorgen | December 2010...

  • Page 724: Object 1001H: Error Register (Ds301)

    Error reasons to be signaled:If a bit is set to 1 the specified error has occurred. The generic error is signaled at any error situation. Bit Description Bit Description 0 generic error 4 communication error (overrun, error state) 1 current 5 device profile specific 2 voltage 6 reserved (always 0) 3 temperature 7 manufacturer specific Kollmorgen | December 2010...

  • Page 725: Object 1002H: Manufacturer Status Register (Ds301)

    12 reserved 28 1 = digital input 4 set 13 1 = Safety selected 29 1 = digital input hardware enable set 14 1 = Power stage enabled 30 reserved 15 1 = Error state 31 reserved Kollmorgen | December 2010...

  • Page 726: Object 1003H: Predefined Error Field (Ds301)

    PDO mapping not possible Value range 0 to 10 Default value 0 Subindex 1 to 10 Description Standard error field (=> p. 55) Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value no Kollmorgen | December 2010...

  • Page 727: Object 1005H: Cob-Id Of The Sync Message (Ds301)

    This object can be used to define the period (in µs) for the transmission of the SYNC telegram. Index 1006h Name Period of the communication cycle Object code Data type UNSIGNED32 Category Access PDO mapping not possible Value range UNSIGNED32 Default value 00h Kollmorgen | December 2010...

  • Page 728: Object 1008H: Manufacturer Device Name (Ds301)

    The object contains the manufacturer software version (here: the CANopen-part of the drive firmware). Index 100Ah Name Manufacturer Software Version Object code Data type Visible String Category Optional Access const PDO mapping not possible Value range 0.01 to 9.99 Default value no Kollmorgen | December 2010...

  • Page 729: Object 100Ch: Guard Time (Ds301)Response Monitoring

    The product of Guard Time and Life Time Factor gives the life time for the nodeguarding protocol. If it’s 0, the pro- tocol is not used. Index 100Dh Name Lifetime Factor Object code Data type UNSIGNED8 Category conditional; (mandatory, if heartbeat not supported) Access PDO mapping not possible Value range UNSIGNED8 Default value 0 Kollmorgen | December 2010...

  • Page 730: Object 1010H: Store Parameters (Ds301)

    1010 sub 1. In general the drive does not save parameters autonomously with the exception of e.g. the special treatment of the homing of multiturn absolute encoders. Storing of parameters is only done if a special signature ("save") is written to subindex 1. "save" is equivalent to the unsigned32 - number 65766173h. Kollmorgen | December 2010...

  • Page 731: Object 1014H: Cob-Id For Emergency Message (Ds301)

    Access PDO Mapping not possible Value range unsigned 32 Default value no Definition of the entry value of Subindex 1 Value reserved (value: 00) Node-ID heartbeat time Encoded as UNSIGNED8 UNSIGNED16 24 23 16 15 Kollmorgen | December 2010...

  • Page 732: Object 1017H: Producer Heartbeat Time

    Subindex 2 contains four ASCII - characters, which determine the voltage range and current class of the device. The voltage range is one character L, M or H for low, medium and high voltage. The next three characters are showing the continuos current of the drive. Kollmorgen | December 2010...
  • Page 733 0..14: Board serial number (production in week of year) bits 15..20: week of production bits 21..24: year of production - 2009 bits 25..31: ASCII-code of MFR-ID Subindex Description Serial Number Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value no Kollmorgen | December 2010...

  • Page 734: Object 1026H: Os Prompt

    Access PDO mapping possible Value range UNSIGNED8 Default value — Subindex 2 is used to receive one character from the drive. Subindex Description StdOut Category mandatory Access PDO mapping possible Value range UNSIGNED8 Default value 0 Kollmorgen | December 2010...

  • Page 735: Manufacturer Specific Objects

    4_low Mode independent Access PDO mapping not possible Unit — Value range UNSIGNED32 Default value FFFFFFFFh Subindex Description tx_mask1 to 4_high Mode independent Access PDO mapping not possible Unit — Value range UNSIGNED32 Default value FFFFFFFFh Kollmorgen | December 2010...

  • Page 736: Object 2018H: Firmware Version

    Description revision Mode independent Access PDO mapping not possible Unit — Value range UNSIGNED16 Default value 0 Subindex Description branch revision Mode independent Access PDO mapping not possible Unit — Value range UNSIGNED16 Default value 0 Kollmorgen | December 2010...

  • Page 737: Object 2026H: Ascii Channel

    PDO mapping no Value range Visible String Default value — Subindex 2 is used to receive four characters from the drive. Subindex Description Response Category mandatory Access PDO mapping no Value range Visible String Default value - Kollmorgen | December 2010...

  • Page 738: Object 20A0H: Latch Position 1, Positive Edge

    CAP1.TRIGGER. The latch enable must be active for that purpose(see object 20A4 and 20A5). Index 20A2h Name Latch position 2, positive edge, CAP1.PLFB Time capture, CAP1.T Object code Data type INTEGER32 Category optional Access PDO mapping possible Value range INTEGER32 Kollmorgen | December 2010...
  • Page 739 AKD User Guide | Default value 0 Kollmorgen | December 2010...

  • Page 740: Object 20A3H: Latch Position 2, Negative Edge

    Read external latch 1 (negative rise) 00000011 00000000 03xx Read external latch 2 (positive rise) 00000100 00000000 04xx Read external latch 2 (negative rise) 00000101 00000000 05xx Read latched position of encoder index pulse 13 to 15 Reserve Kollmorgen | December 2010...
  • Page 741 The latch enable must be active for that purpose (see object 20A4 and 20A5). Index 20A6h Name Latch position 1, positive or negative, CAP0.PLFB Object code Data type INTEGER32 Category optional Access PDO mapping possible Value range INTEGER32 Default value 0 Kollmorgen | December 2010...
  • Page 742 60FD. Bit 0 to 6 are used to reset the information of the digital input 1 to 7. Index 20B8h Name Reset of changed input information Object code Data type UNSIGNED16 Category optional Access PDO mapping possible Value range UNSIGNED16 Default value 0 Kollmorgen | December 2010...
  • Page 743 1 and 2. Index 60FEh Name digital outputs Object code Array Data type UNSIGNED32 Category optional Subindex Description number of entries Category mandatory Access PDO mapping not possible Value range Default value 2 Kollmorgen | December 2010...
  • Page 744 Name supported drive modes Object code Data type UNSIGNED32 Category optional Access PDO mapping possible Value range UNSIGNED32 Default value 0x65 (ip hm pv pp) 16 15 manufacturer specific reserved hm reserved tq pv vl pp Kollmorgen | December 2010...
  • Page 745 3. Write the number of mapped objects to subindex 0 of the mapping Object. COB-ID Control byte Index Sub- Data Comment Low byte High byte index 02 00 00 00 Check for the right number of entries Mapping shall be done before the network management is switched to OPERATIONAL. Kollmorgen | December 2010...
  • Page 746 RTR allowed on this PDO, not to be used (Can in Automation organisation) RTR not allowed on this PDO 11 bit-ID (CAN 2.0A) 29 bit-ID (CAN 2.0B), not supported 28 to 11 Identifier-bits with 29 bit-ID, not relevant 10 to 0 Bits 10-0 of COB-ID Kollmorgen | December 2010...
  • Page 747 Subindex 1 - 8 Name PDO - mapping for the n-th application object Category Conditional, depends on number and size of object be mapped Access PDO Mapping not possible Value Range UNSIGNED32 Default Value See below Kollmorgen | December 2010...
  • Page 748 60 40 00 10 Control word 60 7A 00 20 Target Position (Mode PP) RXPDO 4: Subindex Value Meaning Two PDO-mapping entries 60 40 00 10 Control word 60 FF 00 20 Target Velocity (Mode PV) Kollmorgen | December 2010...
  • Page 749 Default Value Index 1800h: 180h + Node-IDIndex 1801h: 280h + Node-ID Index 1802h: 380h + Node-ID Index 1803h: 480h + Node-ID Subindex Name transmission type Category mandatory Access PDO Mapping not possible Value Range UNSIGNED8 Default Value FFh Kollmorgen | December 2010...
  • Page 750 0 to 240 cause a SYNC-Telegram controlled sending of the PDO. Values from 1 to 240 define how often the SYNC-telegram leads to a sending of a PDO. The value 0 means, that only the next SYNC-telegram leads to a sending of the so configured PDOs. Kollmorgen | December 2010...
  • Page 751 Subindex 1 - 8 Name PDO - mapping for the n-th application object Category Conditional, depends on number and size of object be mapped Access PDO Mapping not possible Value Range UNSIGNED32 Default Value See below Kollmorgen | December 2010...
  • Page 752 Two PDO-mapping entries 60 41 00 10 Status word 60 64 00 20 Position actual value TXPDO 4: Subindex Value Meaning Two PDO-mapping entries 60 41 00 10 Status word 60 6C 00 20 Velocity actual value Kollmorgen | December 2010...
  • Page 753 (=> p. 91). The mode setting is made through the object "Modes of Operation” (=> p. 94). The states of the status machine can be revealed by using the status word (=> p. 92). 20.6.4.1 Status Machine (DS402) Kollmorgen | December 2010...
  • Page 754 Drive has been stopped with the emergency ramp, output stage is enabled, motion functions are not enabled. Fault Reaction Active A fault has occured and the drive is stopped with the quickstop ramp. Fault A fault is active, the drive has been stopped and disabled. Kollmorgen | December 2010...
  • Page 755 Bit 2 is set Motion function is enabled again. If the drive is operated through the control word/status word, then no control com- mands may be sent through another communication channel (RS232, CANopen, ASCII channel, Option board). Kollmorgen | December 2010...
  • Page 756 Reset Operation Stop Voltage Shutdown 2, 6, 8 Switch on Disable Voltage 7, 9, 10, 12 Quick Stop 7, 10, 11 Disable Operation Enable Operation 4, 16 Fault Reset Bits marked by an X are irrelevant. Kollmorgen | December 2010...
  • Page 757 10 Target reached 3 Fault 11 Internal limit active 4 Voltage enabled 12 Operation mode specific (reserved) 5 Quick stop 13 Operation mode specific (reserved) 6 Switch on disabled 14 Manufacturer-specific (reserved) 7 Warning 15 Manufacturer-specific (reserved) Kollmorgen | December 2010...
  • Page 758 Bit 11: internal_limit_active This bit specifies that a movement was or is limited. In different modes, different warnings cause the bit to be set. The following assignments exist: Mode of operation Warnings which set Bit 11 n04, n06, n07, n10, n11, n14 0x1 (PP), 0x88 n03, n08, n09, n20 Kollmorgen | December 2010...
  • Page 759 1, 3, 4, 6, 7, 8 Default value — Supported modes (negative values are manufacturer specific modes): Value (hex) Mode Profile position mode Profile velocity mode Profile torque mode Homing mode Interpolated position mode Cyclic sync position mode Kollmorgen | December 2010...
  • Page 760 For a unit with decimal scaling and notation index < 64, the notation index defines the exponent/decimal place of the unit. For a unit with non-decimal scaling and notation index > 64, the notation index defines the subindex of the physical dimension of the unit. Kollmorgen | December 2010...
  • Page 761 Default Value 2 Subindex Name Encoder increments Category mandatory Access PDO Mapping possible Value Range UNSIGNED 32 Default Value 2^20 Subindex Name Motor revolutions Category mandatory Access PDO Mapping possible Value Range UNSIGNED 32 Default Value 1 Kollmorgen | December 2010...
  • Page 762 Default Value 2 Subindex Name Feed Category mandatory Access PDO Mapping possible Value Range UNSIGNED 32 Default Value 1 Subindex Name Shaft revolutions Category mandatory Access PDO Mapping possible Value Range UNSIGNED 32 Default Value 1 Kollmorgen | December 2010...
  • Page 763 VL.FB Object code Data type INTEGER32 Mode Access PDO mapping possible Unit velocity units (SDO is in user units and the PDO is in RPM Value range ) to (2 Default value — EEPROM Kollmorgen | December 2010...
  • Page 764 The speed setpoint (target velocity) represents the setpoint for the ramp generator. Index 60FFh Name target velocity, VL.CMDU Object code Data type INTEGER32 Mode Access PDO mapping possible Unit increments Value range ) to (2 Default value — EEPROM Kollmorgen | December 2010...
  • Page 765 This value represents the maximum permissible torque creating current in the motor and is given per thousand (0.001%) of rated current. Index 6073h Name Max current Object code Data type UNSIGNED16 Category optional Access PDO mapping possible Value range UNSIGNED16 Default value 0 Kollmorgen | December 2010...
  • Page 766 The torque actual value corresponds to the instantaneous torque in the drive motor. The value is given per thou- sand (0.001%) of rated torque. Index 6077h Name Torque actual value Object code Data type INTEGER16 Category optional Access PDO mapping possible Value range INTEGER16 Default value 0 Kollmorgen | December 2010...
  • Page 767 The resolution is defined with Object 608F as power-of-two number. Index 6063h Name position actual value Object code Data type INTEGER32 Mode pc, pp Access PDO mapping possible PRBASE Unit increments (1 turn = 2 Value range ) to (2 Default value 2 EEPROM Kollmorgen | December 2010...
  • Page 768 This object returns the current value of the following error in units defined by the user. Index 60F4h Name Following error actual value Object code Data type Integer32 Category optional Access PDO mapping possible Value range INTEGER32 Default value 0 Kollmorgen | December 2010...
  • Page 769 In the AKD the linear interpolation between position setpoints is supported. The only allowed value is 0. Index 60C0h Name Interpolation sub mode select Object code Data type INTEGER16 Category optional Access PDO mapping possible Value range Default value 0 Kollmorgen | December 2010...
  • Page 770 UNSIGNED8 Category mandatory Access PDO mapping not possible Value range Default value no Subindex Description x1the first parameter of ip function fip(x1, .. xN) Category mandatory Access PDO mapping possible Value range INTEGER32 Default value no Kollmorgen | December 2010...
  • Page 771 Subindex Description number of entries, FBUS.SAMPLEPERIOD Category mandatory Access PDO mapping not possible Value range Default value 2 Subindex Description Interpolation time units Category mandatory Access PDO mapping possible Value range UNSIGNED8 Default value 1 Kollmorgen | December 2010...
  • Page 772 Default value 0 Subindex Description Actual buffer size Category mandatory Access PDO mapping possible Value range UNSIGNED32 Default value 0 Subindex Description Buffer organization Category mandatory Access PDO mapping possible Value range UNSIGND8 Default value 0 Kollmorgen | December 2010...
  • Page 773 Subindex Description Size of data record Category mandatory Access PDO mapping possible Value range 1 to 254 Default value 1 Subindex Description Buffer clear Category mandatory Access PDO mapping possible Value range UNSIGNED8 Default value 0 Kollmorgen | December 2010...
  • Page 774 Access PDO mapping possible Unit user-defined Value range ) to (2 Default value 0 Object 6098h: homing method (DS402) Index 6098h Name homing method, HOME.MODE, HOME.DIR Object code Data type INTEGER8 Mode Access PDO mapping possible Kollmorgen | December 2010...
  • Page 775 AKD User Guide | Unit position units Value range -128 to 127 Default value 0 Kollmorgen | December 2010...
  • Page 776 31 to 32 reserved — homing within a single turn, negative count direction HOME.MODE=7, HOME.DIR=0 homing within a single turn, positive count direction HOME.MODE=7, HOME.DIR=1 set reference point at present position HOME.MODE=0, HOME.DIR=0 36 to 127 reserved — Kollmorgen | December 2010...
  • Page 777 Default value 1/8 * Object 6099 sub 1 Object 609Ah: homing acceleration (DS402) Index 609Ah Name homing acceleration Object code Data type UNSIGNED32 Mode Access PDO mapping possible Unit acceleration units Value range 0 to (2 Default value 0 Kollmorgen | December 2010...
  • Page 778 Bit 13 Bit 12 Meaning reference point not set, or homing movement not yet finished reference point set, homing movement finished homing movement could not be successfully concluded (lag error) impermissible state Kollmorgen | December 2010...
  • Page 779 6084h VAR profile deceleration UNSIGNED32 R/W Objects that are defined in other sections Index Object Name Type Section 6040h VAR control word INTEGER16 dc (=> p. 91) 6041h VAR status word UNSIGNED16 dc (=> p. 92) Kollmorgen | December 2010...
  • Page 780 Description number of entries Category mandatory Access PDO mapping not possible Value range Default value 2 Subindex Description min position limit, SWLS.LIMIT0 Category mandatory Access PDO mapping possible Value range INTEGER32 Default value 0 (switched off) Kollmorgen | December 2010...
  • Page 781 The braking/deceleration ramp is handled in the same way as the acceleration ramp (" Object 6083h: profile accel- eration (DS402)" (=> p. 116)). Index 6084h Name profile deceleration, MT.DEC Object code Data type UNSIGNED32 Mode Access PDO mapping possible Unit deceleration units Value range 0 to (2 Default value 0 Kollmorgen | December 2010...
  • Page 782 "1" in the status word (3) after it has recognized and buffered the new valid data. Now the host can release new_setpoint (4) and subsequently the drive will signal through setpoint_ acknowledge = "0" its ability to accept new data again (5). Kollmorgen | December 2010...
  • Page 783 The velocity is not reduced to zero when the first setpoint is reached. Moving to a single target position The drive moves to the target position, whereby the velocity is reduced to zero. Reaching the target position is signaled by the bit for target_reached in the status word. Kollmorgen | December 2010...
  • Page 784 COB—ID for the Emergency Object — 1016h RECORD Consumer heartbeat time 1016h Number of entries — 1016h Consumer heartbeat time — 1017h Producer heartbeat time — 1018h RECORD Identity Object — 1018h Number of entries — 1018h Vendor ID — Kollmorgen | December 2010...
  • Page 785 1800h const reserved — 1800h Event timer — 1801h RECORD TXPDO2 communication parameter — 1801h Number of entries — 1801h TXPDO2 COB—ID — 1801h Transmission type TXPDO2 — 1801h Inhibit time — 1801h const reserved — Kollmorgen | December 2010...
  • Page 786 Number of entries — 1A02h 1 to 8 U32 Mapping for n—th application object — 1A03h RECORD Mapping parameter TXPDO4 — 1A03h Number of entries — 1A03h 1 to 8 U32 Mapping for n—the application object — Kollmorgen | December 2010...
  • Page 787 Natural frequency of pole of anti- VL.ARPF1 resonance (AR) filter 1 3406h 1000:1 Natural frequency of pole of anti- VL.ARPF2 resonance (AR) filter 2 3406h 1000:1 Natural frequency of pole of anti- VL.ARPF3 resonance (AR) filter 3 Kollmorgen | December 2010...
  • Page 788 VL.ARPQ1 filter 1 3406h 1000:1 Q of pole of anti-resonance (AR) VL.ARPQ2 filter 2 3406h 1000:1 Q of pole of anti-resonance (AR) VL.ARPQ3 filter 3 3406h 1000:1 Q of pole of anti-resonance (AR) VL.ARPQ4 filter 4 Kollmorgen | December 2010...
  • Page 789 Sets the motion task in the drive MT.SET 3440h ARRAY Controlled stop parameters — 3440h Number of entries — 3440h Sets the deceleration value for a CS.DEC controlled stop. 3440h Sets the velocity threshold for a CS.VTHRESH controlled stop. Kollmorgen | December 2010...
  • Page 790 AOUT.VALUEU put value. 3470h INT16 1000:1 Reads the value of the analog AIN.VALUE input signal. 3470h 1000:1 Sets velocity scale factor for AOUT.VSCALE analog output 3471h Sets the analog position scale fac- "AOUT.PSCALE" (=> p. 286) Kollmorgen | December 2010...
  • Page 791 Sets Limit Switch 3 Width PLS.WIDTH3 34A1h INT32 Sets Limit Switch 4 Width PLS.WIDTH4 34A1h INT32 Sets Limit Switch 5 Width PLS.WIDTH5 34A1h INT32 Sets Limit Switch 6 Width PLS.WIDTH6 34A1h INT32 Sets Limit Switch 7 Width PLS.WIDTH7 Kollmorgen | December 2010...
  • Page 792 1000:1 I2T Warning IL.FOLDWTHRESH 3562h INT32 Function of Digital Input 1 DIN1.MODE 3565h INT32 Function of Digital Input 2 DIN2.MODE 3568h INT32 Function of Digital Input 3 DIN3.MODE 356Bh INT32 Function of Digital Input 4 DIN4.MODE Kollmorgen | December 2010...
  • Page 793 3610h INT32 Ambient Temperature DRV.TEMPERATURES 3611h INT32 Heat Sink Temperature DRV.TEMPERATURES 3612h INT32 Motor Temperature MOTOR.TEMP 3618h INT32 Actual Velocity VL.FB 361Ah INT32 DC-bus voltage VBUS.VALUE 3622h INT32 Max. Velocity VL.LIMITP Kollmorgen | December 2010...
  • Page 794 FBUS.PARAM09 36EEh FBUS.PARAM10 36F6h INT32 Function of Digital Input 5 DIN5.MODE 36F9h INT32 Function of Digital Input 6 DIN6.MODE 36FCh Function of Digital Input 7 DIN7.MODE 3856h INT32 velocity window for profile posi- MT.TVELWND tion mode Kollmorgen | December 2010...
  • Page 795 — 6099h Speed while searching for limit HOME.V switch 6099h Speed while searching for zero mark HOME.FEEDRATE 609Ah Homing acceleration HOME.ACC HOME.DEC 60B1h INT32 Velocity offset "VL.BUSFF" (=> p. 629) 60B2h INT16 Torque offset (PDO only) Kollmorgen | December 2010...
  • Page 796 INT32 Following error actual value PL.ERR 60FDh Digital inputs DIN1.MODE TO DIN7.MODE 60FEh ARRAY Digital outputs 60FEh Number of entries 60FEh Physical outputs 60FEh Bit mask 60FFh INT32 Target velocity VL.CMDU 6502h Supported drive modes — Kollmorgen | December 2010...
  • Page 797 The voltage difference between CAN-H and CAN-L for a logical "0" is approx. 2-3 V. Does signal transmission stop if the master is connected? Check the master hardware. Check the master software! Kollmorgen | December 2010...
  • Page 798 Low byte High byte index — query status 33 02 00 00 response telegram Status = 0x0233 meaning: Bit 0, Bit 1, Bit 5 set => ready to Switch On, Bit 9 set => remote, operation possible via RS232 Kollmorgen | December 2010...
  • Page 799 0F 00 00 00 enable operation 00 00 00 00 response telegram 90 01 00 00 setpoint 400 mA 00 00 00 00 response telegram 0F 01 00 00 intermediate Stop 00 00 00 00 response telegram Kollmorgen | December 2010...
  • Page 800 00 00 00 00 response telegram 07 00 00 00 switch on 00 00 00 00 response telegram 0F 00 00 00 enable operation 00 00 00 00 response telegram 00 40 velocity setpoint send SYNC Kollmorgen | December 2010...
  • Page 801 AKD User Guide | COB-ID Control Index Sub- Data Comment byte Low byte High byte index FE 45 01 00 response A6 AB 1A 00 0F 01 00 00 intermediate stop 00 00 00 00 response telegram Kollmorgen | December 2010...
  • Page 802 0F 00 00 00 enable operation 00 00 00 00 response telegram 12 02 setpoint 530 mA send SYNC 19 02 actual value 537 mA 0F 01 00 00 intermediate stop 00 00 00 00 response telegram Kollmorgen | December 2010...
  • Page 803 =5000 counts/s from limit switch to zero mark 00 00 00 00 response telegram 10 27 00 00 Decel. and Accel. ramp 1000counts/s² 00 00 00 00 response telegram A8 61 00 00 Reference offset 25000counts 00 00 00 00 response telegram Kollmorgen | December 2010...
  • Page 804 37 02 00 00 response: homing not finished 00 00 00 00 read profile status, response: homing fin- ished 37 16 00 00 response:homing finished Bit 12 in SDO 6041 indicates, whether homing is finished. Reading of the profile status is not necessary. Kollmorgen | December 2010...
  • Page 805 00 00 00 00 response telegram 20 00 6C 60 TPDO2, entry 2: velocity_actual_value 00 00 00 00 response telegram 02 00 00 00 enter number of mapped objects 00 00 00 00 response telegram Kollmorgen | December 2010...
  • Page 806 02h A0 8C 00 00 3600 user units 00 00 00 00 response telegram After defining the PDOs they can be released with the NMT: COB-ID Data Comment 01 03 enable NMT 40 02 profile status Kollmorgen | December 2010...
  • Page 807 01 00 00 00 Profile Positioning Mode 00 00 00 00 response telegram 32 00 00 00 50ms acceleration time 00 00 00 00 response telegram 32 00 00 00 50ms deceleration time 00 00 00 00 response telegram Kollmorgen | December 2010...
  • Page 808 36 00 00 00 send ASCII code "6" 00 00 00 00 response telegram 0D 00 00 00 send ASCII code "CR" 00 00 00 00 response telegram 0A 00 00 00 send ASCII code "LF" 00 00 00 00 response telegram Kollmorgen | December 2010...
  • Page 809 00 00 00 00 03 00 00 00 TPDO2: send with every 3rd SYNC 00 00 00 00 SYNC-Object COB-ID Comment Object 181 (TPDO 1) appears at every 2 SYNC Object 281 (TPDO 2) appears at every 3 SYNC Kollmorgen | December 2010...
  • Page 810 The common PDO contains 2 IP (interolpated position) – setpoints and can be transmitted simultaneously to two stations, whereby each station can extract the relevant data. The other data can be made ignored by using dummy entries (Object 2100 sub 0). For this purpose both axes must react on the same RPDO-COB-ID. Kollmorgen | December 2010...
  • Page 811 Now both axis react to the same COB-identifier 0x301, axis 1 takes byte 0 to 3 as IP setpoint, axis 2 takes byte 4 to 7. The second TPDOs shall contain the actual position in increments and the manufacturer status. Kollmorgen | December 2010...
  • Page 812 Low byte High byte index 81 03 00 80 Switch off TPDO3 00 00 00 00 81 04 00 80 Switch off TPDO4 00 00 00 00 The same must be done for axis 2. Kollmorgen | December 2010...
  • Page 813 (e.g. axis 1): COB-ID Data Comment 06 00 Shutdown command 31 02 State Ready_to_switch_on 07 00 Switch_on command 33 02 State Switched_on 0F 00 Enable_operation command 37 02 State Operation_enabled 1F 00 Enable IP-mode 37 12 IP-mode enable Kollmorgen | December 2010...
  • Page 814 In this example, the first axis receives a trajectory value of 500 increments (Bytes 0 to 3) and the second axis receives a trajectory value of 1000 increments. The axes accept these values, and the positioning is made when the next SYNC telegram is received. Kollmorgen | December 2010...
  • Page 815 + manufacturer status register for axis2 Ifanerroroccurs duringoperation,theaxis concernedtransmits anEmergency message,whichcouldappearlikethis: Emergency Object COB-ID Emergency error Error register Category High 00 00 motor temperature, temperature, 00 00 manufacturer-specific 00 00 00 00 Kollmorgen | December 2010...
  • Page 816 AKD User Guide | This page intentionally left blank. Kollmorgen | December 2010...
  • Page 817 AKD-x01206 6040h AKD-x01206 & AKD-xzzz07 6041h Control word 6060h Control Word Commands 6061h Cycle Time 6063h Adjust 6064h Max.Values 6065h Cyclical Values 606Ch 6071h 6073h 6077h Data types 607Ah DC bus link, interface 607Ch deceleration 607Dh Kollmorgen | December 2010...
  • Page 818 Profile Velocity Mode Prohibited Use Pulse Direction, interface I/O-Connection 96, 239 Inputs Analog Receive PDOs Digital Response monitoring Enable Programmable Interpolated position mode Interrupt Event Safety Instructions Electrical Installation General scope KAS IDE channels settings and presets time-base Kollmorgen | December 2010...
  • Page 819 Slave Register Status machine Status Machine Status word Status Word Synchronization Synchronization Object Target group Terminal Time Stamp Object Transmission modes Transmit PDOs Trigger modes Trouble Shooting TwinCAT Unsigned Integer Up/Down Input Use as directed Warnings Kollmorgen | December 2010...
  • Page 820 AKD User Guide | This page intentionally left blank. Kollmorgen | December 2010...
  • Page 821 AKD User Guide | This page intentionally left blank. Kollmorgen | December 2010...
  • Page 822 E-Mail technik@kollmorgen.com Tel.: +49(0)203 - 99 79 - 0 Fax: +49(0)203 - 99 79 - 155 North America Kollmorgen Customer Support North America Internet www.kollmorgen.com E-Mail support@kollmorgen.com Tel.: +1 - 540 - 633 - 3545 Fax: +1 - 540 - 639 - 4162...
  • Page 823 21 Ethercat Manual AKD™ EtherCAT Communication Edition: Revision B, December 2010 Valid for Hardware Revision A Part Number 903-200005-00 Original Documentation Kollmorgen | December 2010...
  • Page 824 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. Kollmorgen | December 2010...
  • Page 825 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 distributed by electronic means without the written permission of Kollmorgen.
  • Page 826 6 Using WorkBench 6.1 Welcome Screen 6.1.1 Online 6.1.2 Offline 6.2 AKD Overview 6.3 Online and Offline 6.3.1 Online Drive 6.3.2 Offline Drive 6.3.3 Switching Between Online and Offline 6.4 Watch 6.5 Settings 6.5.1 Navigation Tree Kollmorgen | December 2010...
  • Page 827 8.3.9.2 Configuring WS Wake and Shake, More View Special Cases for WS Operation with Motor Brake End of Travel Limits Large Load Inertia or High Friction System 8.3.9.3 Using WS: Advanced Maximizing WS Reliability 8.3.9.4 Related Parameters Kollmorgen | December 2010...
  • Page 828 8.11.2.4 Setting the Capture Edge (CAP0.EDGE) 8.11.2.5 Setting the Pre-Condition Event: (CAP0.EVENT) 8.11.2.6 Setting up a Pre-Condition for complex capture Setting the Precondition Edge: (Terminal Command: CAP0.PREEDGE) Setting the Pre-Condition Select: (Terminal Command: CAP0.PRESELECT) 8.11.3 Related Parameters Kollmorgen | December 2010...
  • Page 829 10.8.2 Using Programmable Limit Switches 10.8.3 Single Shot Mode 10.8.4 Related Parameters and Commands 10.9 Enable/Disable 10.9.1 Overview 10.9.2 Enable Modes 10.9.2.1 Hardware Enable Mode 10.9.2.2 Software Enable Default 10.9.3 Disable Modes 10.9.4 Drive Status 10.9.5 Controlled Stop Kollmorgen | December 2010...
  • Page 830 11.5.3 Position Loop Default Behavior and Changes 11.5.3.1 Position Loop Changes Based on Slider Tuning 11.5.3.2 Position Loop Changes Based on Autotuner 12 Creating Motion 12.1 Homing 12.1.1 Overview 12.1.2 Using Homing 12.1.2.1 Home Default Window Mode Selection: Settings: Controls: Kollmorgen | December 2010...
  • Page 831 13 Saving Your Drive Configuration 13.1 Save Options 13.2 Save On Exit 13.3 Save On Disconnect 13.4 Save On Firmware Download 14 Tuning Your System 14.1 Slider Tuning 14.1.0.1 Gentle, Medium, and Stiff 14.1.0.2 The Slider 14.1.0.3 Inertia Ratio Kollmorgen | December 2010...
  • Page 832 Current Amplitude Velocity Amplitude Measurement Injection Point Excitation Type FFT Points Excite Gap Number Points Velocity Max 14.3.4.4 Plot Options Coherence 14.3.4.5 Cursors 14.3.4.6 Resizing Bode Plots Reading and Understanding the Bode Plot 14.4 Tuning Guide Kollmorgen | December 2010...
  • Page 833 15.3.8 Unit display on Y axis 16 Using Parameters and the Terminal Screen 16.1 Terminal 16.1.1 Overview 16.1.2 Using the Terminal 16.1.3 Macros 16.1.3.1 Creating a Macro from Terminal commands 16.1.3.2 Macro Editor 16.2 Viewing Parameters 16.3 Parameter List Kollmorgen | December 2010...
  • Page 834 19.19 Up / Down signal connection 19.19.1 Up / Down input 5 V (X9) 19.19.2 Up / Down input 24 V (X7) 19.20 Feedback Connector (X10) Block Diagrams 19.21 Block Diagram for Current Loop 19.22 Block Diagram for Position/Velocity Loop Kollmorgen | December 2010...
  • Page 835 AIO.ISCALE AIO.PSCALE AIO.VSCALE AOUT Parameters AOUT.DEBUGADDR AOUT.DEBUGSCALE AOUT.ISCALE AOUT.MODE AOUT.OFFSET AOUT.PSCALE AOUT.VALUE AOUT.VALUEU AOUT.VSCALE BODE Parameters BODE.EXCITEGAP BODE.FREQ BODE.IAMP BODE.IFLIMIT BODE.IFTHRESH BODE.INJECTPOINT BODE.MODE BODE.MODETIMER BODE.PRBDEPTH BODE.VAMP BODE.VFLIMIT BODE.VFTHRESH CAP Parameters CAP0.EDGE, CAP1.EDGE CAP0.EN, CAP1.EN CAP0.EVENT, CAP1.EVENT Kollmorgen | December 2010...
  • Page 836 DIN1.STATE TO DIN7.STATE DOUT Parameters DOUT.CTRL DOUT.RELAYMODE DOUT.STATES DOUTx.MODE DOUT1.PARAM AND DOUT2.PARAM DOUT1.STATE AND DOUT2.STATE DOUT1.STATEU AND DOUT2.STATEU DRV Parameters and Commands DRV.ACC DRV.ACTIVE DRV.BLINKDISPLAY DRV.CLRFAULTHIST DRV.CLRFAULTS DRV.CMDDELAY DRV.CMDSOURCE DRV.CRASHDUMP DRV.DBILIMIT DRV.DEC DRV.DIR DRV.DIS DRV.DISMODE DRV.DISSOURCES DRV.DISTO Kollmorgen | December 2010...
  • Page 837 DRV.HELP DRV.HELPALL DRV.HWENMODE DRV.ICONT DRV.INFO DRV.IPEAK DRV.IZERO DRV.LIST DRV.LOGICVOLTS DRV.MEMADDR DRV.MEMDATA DRV.MOTIONSTAT DRV.NAME DRV.NVLIST DRV.NVLOAD DRV.NVSAVE DRV.ONTIME DRV.OPMODE DRV.READFORMAT DRV.RSTVAR DRV.RUNTIME DRV.SETUPREQBITS DRV.SETUPREQLIST DRV.STOP DRV.TEMPERATURES DRV.TYPE DRV.VER DRV.VERIMAGE DRV.WARNINGS DRV.ZERO FB1 Parameters FB1.BISSBITS FB1.ENCRES FB1.HALLSTATE FB1.IDENTIFIED Kollmorgen | December 2010...
  • Page 838 FB2.ENCRES FB2.MODE FB2.SOURCE FBUS Parameters FBUS.PARAM1 TO FBUS.PARAM20 FBUS.PLLSTATE FBUS.PLLTHRESH FBUS.SAMPLEPERIOD FBUS.SYNCACT FBUS.SYNCDIST FBUS.SYNCWND FBUS.TYPE GEAR Parameters GEAR.ACCMAX GEAR.DECMAX GEAR.IN GEAR.MODE GEAR.MOVE GEAR.OUT GEAR.VMAX GUI Parameters GUI.DISPLAY GUI.PARAM01 GUI.PARAM02 GUI.PARAM03 GUI.PARAM04 GUI.PARAM05 GUI.PARAM06 GUI.PARAM07 GUI.PARAM08 GUI.PARAM09 Kollmorgen | December 2010...
  • Page 839 HOME.P HOME.PERRTHRESH HOME.SET HOME.V HWLS Parameters HWLS.NEGSTATE HWLS.POSSTATE IL Parameters IL.BUSFF IL.CMD IL.CMDU IL.DIFOLD IL.FB IL.FF IL.FOLDFTHRESH IL.FOLDFTHRESHU IL.FOLDWTHRESH IL.FRICTION IL.IFOLD IL.IUFB IL.IVFB IL.KACCFF IL.KBUSFF IL.KP IL.KPDRATIO IL.KVFF IL.LIMITN IL.LIMITP IL.MFOLDD IL.MFOLDR IL.MFOLDT IL.MIFOLD IL.OFFSET IL.VCMD Kollmorgen | December 2010...
  • Page 840 MOTOR.KT MOTOR.LQLL MOTOR.NAME MOTOR.PHASE MOTOR.PITCH MOTOR.POLES MOTOR.R MOTOR.RTYPE MOTOR.TBRAKEAPP MOTOR.TBRAKERLS MOTOR.TEMP MOTOR.TEMPFAULT MOTOR.TEMPWARN MOTOR.TYPE MOTOR.VMAX MOTOR.VOLTMAX MT Parameters and Commands MT.ACC MT.CLEAR MT.CNTL MT.CONTINUE MT.DEC MT.EMERGMT MT.LIST MT.LOAD MT.MOVE MT.MTNEXT MT.NUM MT.P MT.PARAMS MT.SET MT.TNEXT MT.TNUM Kollmorgen | December 2010...
  • Page 841 PLS Parameters and Commands PLS.EN PLS.MODE PLS.P1 TO PLS.P8 PLS.RESET PLS.STATE PLS.T1 TO PLS.T8 PLS.UNITS PLS.WIDTH1 TO PLS.WIDTH8 REC Parameters and Commands REC.ACTIVE REC.CH1 to REC.CH6 REC.DONE REC.GAP REC.NUMPOINTS REC.OFF REC.RECPRMLIST REC.RETRIEVE REC.RETRIEVEDATA REC.RETRIEVEFRMT REC.RETRIEVEHDR REC.RETRIEVESIZE REC.STOPTYPE REC.TRIG REC.TRIGPARAM Kollmorgen | December 2010...
  • Page 842 SM.I2 SM.MODE SM.MOVE SM.T1 SM.T2 SM.V1 SM.V2 STO Parameters STO.STATE SWLS Parameters SWLS.EN SWLS.LIMIT0 SWLS.LIMIT1 SWLS.STATE UNIT Parameters UNIT.ACCLINEAR UNIT.ACCROTARY UNIT.LABEL UNIT.PIN UNIT.PLINEAR UNIT.POUT UNIT.PROTARY UNIT.VLINEAR UNIT.VROTARY VBUS Parameters VBUS.OVFTHRESH VBUS.OVWTHRESH VBUS.RMSLIMIT VBUS.UVFTHRESH VBUS.UVMODE VBUS.UVWTHRESH VBUS.VALUE Kollmorgen | December 2010...
  • Page 843 VL.KVFF VL.LIMITN VL.LIMITP VL.LMJR VL.MODEL VL.OBSBW VL.OBSMODE VL.THRESH WS Parameters WS.ARM WS.DISTMIN WS.IMAX WS.MODE WS.DISTMAX WS.NUMLOOPS WS.STATE WS.T WS.TDELAY1 WS.TDELAY2 WS.TDELAY3 WS.VTHRESH Appendix B 20 CANopen Manual 20.1 General 20.1.1 About this Manual 20.1.2 Target Group Kollmorgen | December 2010...
  • Page 844 Application of the Emergency Object Composition of the Emergency Object 20.5.4.5 Service Data Objects (SDO) Composition of the Service Data Object Initiate SDO Download Protocol Download SDO Segment Protocol Initiate SDO Upload Protocol Upload SDO Segment Protocol Abort SDO Protocol Kollmorgen | December 2010...
  • Page 845 Object 2026h: ASCII Channel Object 20A0h: Latch position 1, positive edge Object 20A1h: Latch position 1, negative edge Object 20A2h: Latch position 2, positive edge Object 20A3h: Latch position 2, negative edge Object 20A4h: Latch Control Register Kollmorgen | December 2010...
  • Page 846 Relationship between Physical and Internal Units 20.6.5.2 Objects for position calculation Object 608Fh: Position encoder resolution (DS402) Object 6092h: Feed constant (DS402) 20.6.6 Profile Velocity Mode (pv) (DS402) 20.6.6.1 General Information Objects that are defined in this section Kollmorgen | December 2010...
  • Page 847 Object 60C1h: Interpolation data record Object 60C2h: Interpolation time period Object 60C4h: Interpolation data configuration 20.6.10 Homing Mode (hm) (DS402) 20.6.10.1 General information Objects that are defined in this section Objects that are defined in other sections 20.6.10.2 Object Description Kollmorgen | December 2010...
  • Page 848 Example: Jog Mode via PDO Example: Torque Mode via PDO Example: Homing via SDO Example: Using the Profile Position Mode Example: ASCII Communication Test for SYNC telegrams 20.7.2.2 Examples, special applications Example: External Trajectory with Interpolated Position Mode Kollmorgen | December 2010...
  • Page 849 21.4.4.3 Status Machine Bits (status word) 21.4.5 Fixed PDO Mappings 21.4.6 Supported Cyclical Setpoint and Actual Values 21.4.7 Supported Operation Modes 21.4.8 Adjusting EtherCAT Cycle Time 21.4.9 Maximum Cycle Times depending on operation mode 21.4.10 Synchronization Kollmorgen | December 2010...
  • Page 850 22 Modbus 22.1 Overview 22.2 Modbus Installation and Setup 22.3 Overview of Messaging 22.4 Supported Functions 22.5 Read Holding Registers (0x03) 22.6 Write Multiple Registers (0x10) 22.7 Exception Response Codes 23 Modbus Parameter Table 24 Index Kollmorgen | December 2010...
  • Page 851 AKD User Guide | Table of Contents This page intentionally left blank. Kollmorgen | December 2010...
  • Page 852 AKD User Guide | 21.1 General Kollmorgen | December 2010...
  • Page 853 AKD CANopen Communication. This manual includes setup information for the CAN interface and describes the CANopen profile. Additionally, an EtherCAT XML file, entitled AKD EtherCAT Device Description, describes the drive SDO and PDO. This file is available on the Kollmorgen website: http://www.kollmorgen.com/website/com/eng/products/drives/ac_servo_drives/akd_drives_akd_software_ tab.php 21.1.2 Target Group...
  • Page 854 Source Address: Source address of a message. Shielded Twisted Pair Transmission Control Protocol Transmit TXPDO Transmit PDO User Datagram Protocol: Non-secure multicast/broadcast frame. Unshielded Twisted Pair ZA ECAT Access mode EtherCAT ZA Drive Acces mode drive Kollmorgen | December 2010...
  • Page 855 AKD User Guide | 21.2 Safety Kollmorgen | December 2010...
  • Page 856 The connectors X5 and X6 of the AKD EtherCAT drive may not be used for any ethernet protocol except Ether- CAT (CoE, Can over EtherCAT). Kollmorgen | December 2010...
  • Page 857 AKD User Guide | 21.3 Installation and Setup Kollmorgen | December 2010...
  • Page 858 Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account. If the final limit speed of the motor must be altered, then all the parameters that were previously entered for position control and motion blocks must be adapted. Kollmorgen | December 2010...
  • Page 859 ON = running OFF = not running LED3 OUT port Link ON = active OFF = not active LED4 21.3.2.2 Connection technology You can connect to the EtherCAT network using RJ-45 connectors. 21.3.2.3 Network Connection Example Kollmorgen | December 2010...
  • Page 860 Manager, restart your PC, then install the option package NC/PTP-Mode. The XML description of the drive is available (the XML file on the CD-ROM or on the Kollmorgen website). An AKD EtherCAT slave is connected to the EtherCAT master PC.
  • Page 861 TwinCAT must be able to find the EtherCAT network card. An EtherCAT slave must be connected to the network card; otherwise TwinCAT will find a real-time EtherNET card instead of the EtherCAT card. Press the OK button. Kollmorgen | December 2010...
  • Page 862 TwinCAT should now have identified the AKD according to the Device Description file. TwinCAT next asks if the slaves should be connected to NC tasks. Click Yes to continue. An NC task can, for example, contain a PLC program, which can be programmed by the user. Kollmorgen | December 2010...
  • Page 863 TwinCAT check the con- figuration and use finally the button in order to step into run-mode. Confirm afterwards that TwinCAT is allowed to jump into run-mode. Kollmorgen | December 2010...
  • Page 864 The following setting enables the drive and allows command values in both directions. Afterwards the motor should move in positive or negative direction as soon as the clicks on the following yellow buttons within the Online window: Kollmorgen | December 2010...
  • Page 865 AKD User Guide | 21.3.5 Setup via KAS IDE If you are using a Kollmorgen Automation Suite (KAS) system, the AKD setup is completely integrated into the KAS Integrated Development Environment (IDE), as shown below: For further information on the setup for a KAS system, see the following sections in the KAS documentation: KAS IDE User Manual: See section 4.2.3 Add and Configure Drive.
  • Page 866 AKD User Guide | 21.4 EtherCAT Profile Kollmorgen | December 2010...
  • Page 867 0x1C00 Mail In Buffer (Object Channel Buffer Drive, byte-length is specified in the device description file) * ZA ECAT = Access mode EtherCAT * ZA Drive = Access mode drive Kollmorgen | December 2010...
  • Page 868 Activation of output event process data (PDO, (Pro Out Event) card's cyclical setpoints) Sync Manager 3 Event 0x205 Activation of input event process data (PDO, (Pro In Event) drive's cyclical actual values) 0x205 4 to 7 R/W Reserved Kollmorgen | December 2010...
  • Page 869 R/O R/W Process data input (PDO, drive's cyclical actual values) Sync Manager 4 – Sync Manager 7 Event 0x221 4 to 7 R/O R/W Reserved Sync Manager 8 – Sync Manager 15 0x222 0…7 R/O R/W Reserved Event Kollmorgen | December 2010...
  • Page 870 0x03: Bootstrap Mode 0x04: Safe Operational 0x08: Operational Status change 0x130 W/O R/O 0x00: Acknowledgement 0x01: Error, e.g. forbidden transition Reserved 0x130 7 to 5 W/O R/O - Applic. specific 0x130 15 to 8 W/O R/O - Kollmorgen | December 2010...
  • Page 871 0x08 The SnycManager 2 hardware interrupt will be enabled by the drive. (OS) 0x04 Deactivation of SyncManager 2 hardware interrupt. (OP) 0x02 Deactivation of SyncManager 2 hardware interrupt.. (OI) 0x01 Deactivation of SyncManager 2 hardware interrupt. Kollmorgen | December 2010...
  • Page 872 Quick Stop Active The drive follows a quick stop ramp. Fault Reaction Active The drive responds to a fault with an emergency stop ramp. Fault A fault is pending, the drive is stopped and disabled. Kollmorgen | December 2010...
  • Page 873 Bit 9,10: These bits are reserved for the drive profile (DS402). Bit 13, 14, 15: These bits are manufacturer-specific, and reserved at present. Kollmorgen | December 2010...
  • Page 874 Bit 10: target_reached This is set when the drive has reached the target position. Bit 11: internal_limit_active This bit specifies that a movement was or is limited. In different modes, different warnings cause the bit to be set. Kollmorgen | December 2010...
  • Page 875 0x1B21 Position Actual Internal Value (4 bytes), Status word (2 bytes) Velocity interface: 0x1702 Velocity command value (4 bytes), Control word (2 bytes), total (6 bytes) 0x1B02 Position actual value (4 bytes), Status word (2 bytes), total (6 bytes) Kollmorgen | December 2010...
  • Page 876 AKD. These command values are interpolated by the AKD according to the fieldbus sample rate. Homing mode DRV.OPMODE 2 0x6060 sub 0 data : 6 DRV.CMDSOURCE 0 In this mode an AKD-internal homing can be done. Kollmorgen | December 2010...
  • Page 877 The minimum cycle time for the drive is largely dependent on the drive configuration (second actual position value encoder latch functionality enabled and so on) Interface Cycle time AKD Position ≥ 0.25 ms (≥ 250 µs) Velocity ≥ 0.25 ms (≥ 250 µs) Torque ≥ 0.25 ms (≥ 250 µs) Kollmorgen | December 2010...
  • Page 878 AKD synchronizes to a SyncManager2 event instead of the DC event. A SyncManager2 event is created when the EtherCAT Master sends a new package of command values to the drive while the network is in the Operational state. This occurs once per fieldbus cycle. Kollmorgen | December 2010...
  • Page 879 Acknowledge value external latch 2 (negative rise) 12-15 00010000 00000000 1zzz Zustand Digital Input 4 00100000 00000000 2zzz Zustand Digital Input 3 01000000 00000000 4zzz Zustand Digital Input 2 10000000 00000000 8zzz Zustand Digital Input 1 Kollmorgen | December 2010...
  • Page 880 5. The drive deletes all data in the internal mailbox output array so that a new mailbox access attempt can be made. 6. The drive copies the response telegram from the internal mailbox input array to the mail-in buffer of the EtherCAT interface. Kollmorgen | December 2010...
  • Page 881 Byte 13 Data with a write access Byte 14 Data with a write access Byte 15 Data with a write access (High Byte) The drive answers every telegram with an answer in the Mailbox Input buffer. Kollmorgen | December 2010...
  • Page 882 Byte 9 Low Byte of the CAN object number (Index) Byte 10 High Byte of the CAN object number (Index) Byte 11 Subindex according to CANopen Specification for Kollmorgen drive Byte 12 Data (Low Byte) Byte 13 Data error code Fehlercode according to CANopen Specification in...
  • Page 883 0x12 SDO-Object 0x1C12 Byte 10 0x1C SDO-Object 0x1C12 Byte 11 0x01 Subindex 1 Byte 12 0x00 Data value 0x00000000 Byte 13 0x00 Data value 0x00000000 Byte 14 0x00 Data value 0x00000000 Byte 15 0x00 Data value 0x00000000 Kollmorgen | December 2010...
  • Page 884 Synchronization supervision is active when FBUS.PARAM 04 = 1 and the first CANOpen Sync message or first EtherCAT frame is received. When more than three CANOpen sync messages or seven Ether- CAT frames have not been received and the drive is enabled, fault F125 (“Synchronization lost“), occurs. Kollmorgen | December 2010...
  • Page 885 AKD User Guide | This page intentionally left blank. Kollmorgen | December 2010...
  • Page 886 AKD-x01206 6040h AKD-x01206 & AKD-xzzz07 6041h Control word 6060h Control Word Commands 6061h Cycle Time 6063h Adjust 6064h Max.Values 6065h Cyclical Values 606Ch 6071h 6073h 6077h Data types 607Ah DC bus link, interface 607Ch deceleration 607Dh Kollmorgen | December 2010...
  • Page 887 Profile Velocity Mode Prohibited Use Pulse Direction, interface I/O-Connection 96, 239 Inputs Analog Receive PDOs Digital Response monitoring Enable Programmable Interpolated position mode Interrupt Event Safety Instructions Electrical Installation General scope KAS IDE channels settings and presets time-base Kollmorgen | December 2010...
  • Page 888 Slave Register Status machine Status Machine Status word Status Word Synchronization Synchronization Object Target group Terminal Time Stamp Object Transmission modes Transmit PDOs Trigger modes Trouble Shooting TwinCAT Unsigned Integer Up/Down Input Use as directed Warnings Kollmorgen | December 2010...
  • Page 889 AKD User Guide | This page intentionally left blank. Kollmorgen | December 2010...
  • Page 890 AKD User Guide | This page intentionally left blank. Kollmorgen | December 2010...
  • Page 891 E-Mail technik@kollmorgen.com Tel.: +49(0)203 - 99 79 - 0 Fax: +49(0)203 - 99 79 - 155 North America Kollmorgen Customer Support North America Internet www.kollmorgen.com E-Mail support@kollmorgen.com Tel.: +1 - 540 - 633 - 3545 Fax: +1 - 540 - 639 - 4162...
  • Page 892 To allow only 32-bit and 64-bit access, the quantity of registers is limited to two registers for 32-bit variables and four registers for 64-bit variables. Other quantities return an exception response. 22.5 Read Holding Registers (0x03) This function code is used to read all registers of one drive parameter. Kollmorgen | December 2010...
  • Page 893 Quantity of Registers Hi 00 Quantity of Registers Response Function Byte Count Register 588 Hi Register 588 Lo Register 589 Hi Register 589 Lo Register 590 Hi Register 590 Lo Register 591 Hi Register 591 Lo Kollmorgen | December 2010...
  • Page 894 Quantity of Registers Hi 00 Quantity of Registers Byte Count Register 122 Hi Register 122 Lo Register 123 Hi Register 123 Lo Response Function Starting Address Hi Starting Address Lo Quantity of Registers Hi 00 Quantity of Registers Kollmorgen | December 2010...
  • Page 895 Illegal Block Size (must be two registers for 32-bit and four registers for 64-bit parameters) Unknown Parameter (bad address) Error Processing Command (such as "Data value is greater than maximum") Byte Count field is invalid in request Kollmorgen | December 2010...
  • Page 896 BODE.MODE DIN3.INV BODE.MODETIMER DIN3.MODE BODE.PRBDEPTH DIN3.PARAM 64-bit BODE.VAMP DIN3.STATE CAP0.EDGE DIN4.INV CAP0.ENABLE DIN4.MODE CAP0.EVENT DIN4.PARAM 64-bit CAP0.FILTER DIN4.STATE CAP0.MODE DIN5.INV CAP0.POSITION 64-bit DIN5.MODE CAP0.PREEDGE DIN5.PARAM 64-bit CAP0.PREFILTER DIN5.STATE CAP0.PRESELECT DIN6.INV CAP0.STATE DIN6.MODE CAP0.T DIN6.PARAM 64-bit CAP0.TRIGGER Kollmorgen | December 2010...
  • Page 897 DRV.DIR FBUS.PARAM01 DRV.DIS FBUS.PARAM02 DRV.DISMODE FBUS.PARAM03 DRV.DISSOURCES FBUS.PARAM04 DRV.DISTO FBUS.PARAM05 DRV.EMUEDIR FBUS.PARAM06 DRV.EMUEMODE FBUS.PARAM07 DRV.EMUEMTURN FBUS.PARAM08 DRV.EMUERES FBUS.PARAM09 DRV.EMUEZOFFSET FBUS.PARAM10 DRV.EN FBUS.PARAM11 DRV.ENDEFAULT FBUS.PARAM12 DRV.HANDWHEEL FBUS.PARAM13 DRV.HWENMODE FBUS.PARAM14 DRV.ICONT FBUS.PARAM15 DRV.IPEAK FBUS.PARAM16 DRV.IZERO FBUS.PARAM17 DRV.MOTIONSTAT FBUS.PARAM18 Kollmorgen | December 2010...
  • Page 898 64-bit MOTOR.KT HOME.PERRTHRESH 64-bit MOTOR.LQLL HOME.SET MOTOR.PHASE HOME.V MOTOR.PITCH HWLS.NEGSTATE MOTOR.POLES HWLS.POSSTATE MOTOR.R IL.BUSFF MOTOR.RTYPE IL.CMD MOTOR.TBRAKEAPP IL.CMDU MOTOR.TBRAKERLS IL.FB MOTOR.TEMP IL.FF MOTOR.TEMPFAULT IL.FOLDFTHRESH MOTOR.TEMPWARN IL.FOLDFTHRESHU MOTOR.TYPE IL.FOLDWTHRESH MOTOR.VMAX IL.FRICTION MOTOR.VOLTMAX IL.IFOLD MT.ACC 64-bit IL.IUFB MT.CLEAR Kollmorgen | December 2010...
  • Page 899 64-bit REC.TRIGTYPE PL.MODPDIR REC.TRIGVAL 64-bit PL.MODPEN REGEN.POWER 64-bit PLS.EN REGEN.REXT PLS.MODE REGEN.TEXT PLS.P1 64-bit REGEN.TYPE PLS.P2 64-bit REGEN.WATTEXT PLS.P3 64-bit SM.I1 PLS.P4 64-bit SM.I2 PLS.P5 64-bit SM.MODE PLS.P6 64-bit SM.MOVE PLS.P7 64-bit SM.T1 PLS.P8 64-bit SM.T2 Kollmorgen | December 2010...
  • Page 900 VBUS.UVWTHRESH VL.OBSMODE VBUS.VALUE VL.THRESH VL.ARPF1 WS.ARM VL.ARPF2 WS.DISTMAX 64-bit VL.ARPF3 WS.DISTMIN 64-bit VL.ARPF4 WS.IMAX VL.ARPQ1 WS.MODE VL.ARPQ2 WS.NUMLOOPS VL.ARPQ3 WS.STATE VL.ARPQ4 WS.T VL.ARTYPE1 WS.TDELAY1 VL.ARTYPE2 WS.TDELAY2 VL.ARTYPE3 WS.TDELAY3 VL.ARTYPE4 WS.VTHRESH VL.ARZF1 VL.ARZF2 VL.ARZF3 VL.ARZF4 VL.ARZQ1 VL.ARZQ2 Kollmorgen | December 2010...
  • Page 901 This page intentionally left blank. Kollmorgen | December 2010...
  • Page 902 AKD-x00306 to x00606 6040h AKD-x01206 6041h AKD-x01206 & AKD-xzzz07 6060h Control word 6061h Control Word Commands 6063h Cycle Time 6064h Adjust 6065h Max.Values 606Ch Cyclical Values 6071h 6073h 6077h Data types 607Ah DC bus link, interface 607Ch Kollmorgen | December 2010...
  • Page 903 Homing Mode Prohibited Use Pulse Direction, interface I/O-Connection 96, 239 Inputs Receive PDOs Analog Response monitoring Digital Enable Programmable Interpolated position mode Safety Instructions Interrupt Event Electrical Installation General scope channels KAS IDE settings and presets time-base Kollmorgen | December 2010...
  • Page 904 Slave Register Status machine Status Machine Status word Status Word Synchronization Synchronization Object Target group Terminal Time Stamp Object Transmission modes Transmit PDOs Trigger modes Trouble Shooting TwinCAT Unsigned Integer Up/Down Input Use as directed Warnings Kollmorgen | December 2010...
  • Page 905 AKD User Guide | 24  Index This page intentionally left blank. Kollmorgen | December 2010...
  • Page 906 E-Mail technik@kollmorgen.com Tel.: +49(0)203 - 99 79 - 0 Fax: +49(0)203 - 99 79 - 155 North America Kollmorgen Customer Support North America Internet www.kollmorgen.com E-Mail support@kollmorgen.com Tel.: +1 - 540 - 633 - 3545 Fax: +1 - 540 - 639 - 4162...

Table of Contents