Kollmorgen AKD-x00306 Manual
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Kollmorgen AKD-x00306 Manual

Synqnet communication
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®
AKD
SynqNet Communication
Edition October 2020, Revision F
Valid for firmware version 1.20
Part Number 903-2000011-00
Keep all manuals as a product component during the life span of the product.
Pass all manuals to future users/owners of the product.

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Summary of Contents for Kollmorgen AKD-x00306

  • Page 1 ® SynqNet Communication Edition October 2020, Revision F Valid for firmware version 1.20 Part Number 903-2000011-00 Keep all manuals as a product component during the life span of the product. Pass all manuals to future users/owners of the product.
  • Page 2 Printed in the United States of America This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be repro- duced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or dis- tributed by electronic means without the written permission of Kollmorgen.

  • Page 3: Table Of Contents

    6.3.1 Analog Output 6.3.2 Analog Input 7 Enable PWM Output on RS485 I/O 7.1 PWM Parameter Scaling 7.2 Brake Support for AKD SynqNet 7.3 AKD-SynqNet Compare FB1.INITSIGNED 8 SynqNet Drive Parameters 8.1 SynqNet Supported Parameters Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 4: General

    AKD SynqNet | 2   General 2 General 2.1 About this Manual 2.2 Target Group 2.3 Symbols Used 4 Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 5: About This Manual

    A digital version of this manual (pdf format) is available on the disk included with your drive. Manual updates can be downloaded from the Kollmorgen website. Related documents for the AKD series include: AKD Installation Manual This manual provides instructions for installation and drive setup.

  • Page 6: Symbols Used

    Warning of danger from electricity and its effects. Warning of danger from suspended loads. Warning of danger from high temperature. Warning of danger from automatic start. 6 Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 7: Safety

    AKD SynqNet | 3   Safety 3 Safety 3.1 Safety Instructions 3.2 Use as directed 3.3 Prohibited use Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 8: Safety Instructions

    The connectors X5 and X6 of the AKD SynqNet drive may not be used for any ethernet protocol except Syn- qNet. 8 Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 9: Important Things To Know

    After SynqNet discovers an AKD drive and enters cyclic operation, service motion is disabled from WorkBench. When SynqNet exits cyclic operation, the AKD drive remains disabled, causing service motion to remain disabled until the next drive reset. Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 10: Fieldbus Fault Cleared Only By Reset

    This fault is cleared by the reset at the beginning of the next SynqNet discovery cycle. WorkBench cannot clear this fieldbus fault, so service motion is not possible until the drive is reset or power cycled. 10 Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 11: Installation And Setup

    AKD SynqNet | 5   Installation and Setup 5 Installation and Setup 5.1 Safety Instructions 5.2 SynqNet Onboard 5.3 Synqnet Cables 5.4 LED functions 5.5 SynqNet Interconnection Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 12: Safety Instructions

    (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. 12 Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 13: Synqnet Onboard

    The following is recommended for SynqNet Cabling: Use shielded category 5 cabling. The RF immunity of 100BT networks when using unshielded cable is moderate. Kollmorgen recom- mends that only shielded cabling is used. Braid + foil shielding is the most effective, but foil + drain wire shielding is acceptable.

  • Page 14: Led Functions

    A String Topology has nodes connected to the controller’s OUT port or the controller’s IN port, but not both. A Dual String Topology has nodes that are discovered on both the controller’s OUT port and IN port. The String Topology does NOT support fault recovery. 14 Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 15: Dual String Topology

    String Topology than other network types. To reduce the discovery time, add a Loop-back Connector to the end of the topology (Dual String Topology with Termination). The Dual String topology does NOT support fault recovery. Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 16: String And Dual String Topology With Termination

    The advantage of using a terminator on the last node is that the network ini- tialization time is reduced, because the controller can deterministically find the last node on a network. 16 Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 17: Ring Topology

    In this example, the redundant link is shown between Node 1 and the controller. Although it may be any link in the network. The "farthest node" has the greatest number of downstream hops from the controller; in this case it is Node 1. Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 18: Akd Synqnet I/O Mapping

    Set DRV.EMUMODE = 10 (fieldbus) for SynqNet gpio output mode. Set DIO9.DIR=1, DIO10.DIR=1, DIO11.DIR=1 to enable individual outputs. GPIO input "Analog Z Pulse" not supported on AKD Rev 7 control boards (AKD-SQ prototypes only). 18 Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 19: Dedicated I/O

    GPIO input "Analog Z Pulse" not supported on AKD Rev 7 control boards (AKD-SQ prototypes only). 6.3 Node I/O AKD Firmware AKD Connector AKD Pin Name SynqNet MPI Name AOUT.VALUE X8-7/8 Analog Output Nodelo AnalogOut[0] output AIN.VALUE X8-10/9 Analog Input Nodelo AnalogIn[0] input Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 20: Analog Output

    When the AKD SynqNet drive enters normal cyclic operation, AIN.MODE is automatically set to 0 (Monitor), and the drive sends the raw AnalogInput value to the SynqNet controller as NodeIo AnalogIn. The offset and scale are bypassed. 20 Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 21: Enable Pwm Output On Rs485 I/O

    1. Set DRV.EMUEMODE parameter in WorkBench to 10 - General Purpose I/Os. 2. Set DOUT9.DIR in WorkBench to 1-Output. For SynqNet: DOUT9.INV forced to 0 (SynqNet controls output polarity) DOUT9.MODE forced to 0 (SynqNet controls output source) 3. Open MotionConsole. Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 22: Pwm Parameter Scaling

    AKD-SynqNet supports all MPI/SynqNet brake features. Brake delay (configured via MPI) is supported. AKD-SynqNet does NOT support all AKD drive brake features (controlled stop is not available since AKD-SQ velocity control is always from SynqNet). 22 Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 23: Akd-Synqnet Compare Fb1.Initsigned

    The check should run one time after each SynqNet initialization. Use the MPI objects to read the axis Actu- alPosition and axis Origin offset if any. If an offset exists, the difference between raw MPI position and FB1.P will be near 1 rev. | (ActualPosition-Orign) - FB1.P | ~= 2^32 Kollmorgen | kdn.kollmorgen.com | October 2020...

  • Page 24: Synqnet Drive Parameters

    Kollmorgen_AKD.dm file which may not be in your MPI release. Check the Kollmorgen web site, or contact Kollmorgen support if you need an updated Kollmorgen_AKD.dm file. Supported parameters for a drive may be different, depending on the version of firmware.
  • Page 25 AIN Parameters SynqNet Type SynqNet Range AIN.CUTOFF AIN.DEADBAND AIN.DEADBANDMODE AIN.ISCALE AIN.MODE AIN.OFFSET AIN.PSCALE NA (see AKD AIN.VALUE SynqNet I/O Mapping (➜ p. 18) ) AIN.VSCALE AIN.ZERO AOUT Parameters SynqNet Type SynqNet Range AOUT.CUTOFF AOUT.DEBUGADDR AOUT.DUBUGDATATYPE Kollmorgen | kdn.kollmorgen.com | October 2020...
  • Page 26 18) ) AOUT.VALUEU AOUT.VSCALE CAP Parameters SynqNet Type SynqNet Range CAPx.EDGE CAPx.EN CAPx.EVENT CAPx.FILTER CAPx.MODE CAPx.PLFB CAPx.PREEDGE CAPx.PREFILTER CAPx.PRESELECT CAPx.STATE CAPx.T CAPx.TRIGGER DIN Parameters SynqNet Type SynqNet Range DIN.HCMDx DIN.LCMDx DIN.ROTARY DIN.STATES DINx.FILTER DINx.INV DINx.MODE 26 Kollmorgen | kdn.kollmorgen.com | October 2020...
  • Page 27 DOUT Parameters SynqNet Type SynqNet Range DOUT.CTRL DOUT.RELAYMODE DOUT.STATES DOUTx.MODE DOUT1.PARAM DOUTx.STATE DOUT1.STATEU DRV Parameters SynqNet Type SynqNet Range DRV.ACC DRV.ACTIVE DRV.BLINKDISPLAY DRV.CLRCRASHDUMP DRV.CLRFAULTHIST DRV.CLRFAULTS DRV.CMDDELAY DRV.CMDSOURCE DRV.CRASHDUMP DRV.DBLIMIT DRV.DEC DRV.DIR DRV.DIS DRV.DISMODE DRV.DISSOURCES Kollmorgen | kdn.kollmorgen.com | October 2020...
  • Page 28 DRV.EMUEMODE DRV.EMUETURN DRV.EMUERES DRV.EMUEZOFFSET DRV.EN DRV.ENDEFAULT DRV.FAULTHIST DRV.FAULTS DRV.FEATURES INFO 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.NVCHECK DRV.NVLIST DRV.NVLOAD DRV.NVSAVE DRV.ONTIME DRV.OPMODE DRV.PWD DRV.READFORMAT DRV.RSTVAR 28 Kollmorgen | kdn.kollmorgen.com | October 2020...
  • Page 29 SynqNet Type SynqNet Range FBUS.PARAMx FBUS.PLLSTATE FBUS.PLLTHRESH FBUS.SAMPLEPERIOD FBUS.SYNCACT FBUS.SYNCDIST FBUS.SYNCWND FBUS.TYPE FB1 Parameters SynqNet Type SynqNet Range FB1.P 64-bit count IL Parameters SynqNet Type SynqNet Range IL.BUSFF IL.CMD IL.CMDU IL.DIFOLD IL.FB IL.FF IL.FOLDFTHRESH IL.FOLDFTHRESHU Kollmorgen | kdn.kollmorgen.com | October 2020...
  • Page 30 IL.MFOLDT IL.MI2T IL.MI2TWTHRESH IL.MIFOLD IL.MIMODE IL.OFFSET IL.VCMD IL.VUFB IL.VVFB Some MOTOR parameters change type to RO when MOTOR.AUTOSET is set to 1. MOTOR Parameters SynqNet Type MOTOR.AUTOSET = 1 SynqNet Range MOTOR.AUTOSET MOTOR.BRAKE MOTOR.BRAKERLS MOTOR.BRAKESTATE 30 Kollmorgen | kdn.kollmorgen.com | October 2020...
  • Page 31 MOTOR.RTYPE MOTOR.TBRAKEAPP MOTOR.TBRAKERLS MOTOR.TBRAKETO -1 to 30000 MOTOR.TEMP MOTOR.TEMPFAULT MOTOR.TEMPWARN MOTOR.TYPE MOTOR.VMAX MOTOR.VOLTMAX MOTOR.VOLTMIN MOTOR.VOLTRATED MOTOR.VRATED PWM0 Parameters SynqNet Type SynqNet Range PWM0.DUTYCYCLE 0 to 100000 PWM0.MODE 0 to 1 PWM0.PERIOD 1000 to 500000 Kollmorgen | kdn.kollmorgen.com | October 2020...
  • Page 32 SWLS.LIMIT1 SWLS.STATE USER Parameter SynqNet Type SynqNet Range USER.INT VBUS Parameters SynqNet Type SynqNet Range VBUS.HALFVOLT VBUS.OVFTHRESH VBUS.OVWTHRESH VBUS.RMSLIMIT VBUS.UVFTHRESH VBUS.UVMODE VBUS.UVWTHRESH VBUS.VALUE WS Parameters SynqNet Type SynqNet Range WS.ARM WS.DISARM WS.DISTMAX WS.DISTMIN 32 Kollmorgen | kdn.kollmorgen.com | October 2020...
  • Page 33 AKD SynqNet | 8   SynqNet Drive Parameters WS Parameters SynqNet Type SynqNet Range WS.IMAX WS.MODE WS.NUMLOOPS WS.STATE WS.T WS.TDELAY1 WS.TDELAY2 WS.TDELAY3 WS.VTHRESH Kollmorgen | kdn.kollmorgen.com | October 2020...
  • Page 34 About KOLLMORGEN  Kollmorgen is a leading provider of motion systems and components for machine builders. Through world- class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reli- ability and ease-of-use, giving machine builders an irrefutable marketplace advantage.

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