AKD™ EtherNet/IP Communication
Contents
1. 4 4 10 6 2 2 Command Assemblies 4 2 11 6 2 2 1 Command Assembly Data Structure 11 6 2 2 2 Control Word 222052220252 ook 12 6 2 2 3 Command Type 0x05 Torque 4 4 4 12 6 2 2 4 Command Type 0x06 Position Move 12 6 2 2 5 Command 0x07 Jog Move 13 6 2 2 6 Command Type 0x1B Set Attribute of Position Controller Object 13 6 2 2 7 Command Type Ox1F Read or Write Parameter Value 13 6 2 2 8 Get Attrib lte 13 6 2 3 Response Assemblies 22222 14 6 2 3 1 Response Assemly Data Structure 14 6 2 3 2 Status Word 1 2 2 2 24224022 24 24 24 21 1 14 6 2 3 3 Status 2 2 2 4 4 2 2 24 4 15 6 2 3 4 Response 0x05 15 6 2 3 5 Response Type 0x14 Command Respon2. 29 9 3 Registration Example Project 29 10 Appendix A Supported EtherNet IP Objects and Attributes 30 10 1 Position Controller Object 0x25 30 11 Appendix B Parameter Listing 31 12 Appendix C Software Distribution License 42 Kollmorgen August 2012 Ethernet IP Communications 2 About this Manual 2 About this Manual This manual describes the installation setup range of functions and software protocol for the AKD Eth erNet IP product series All AKD EtherNet IP drives have built in EtherNet IP functionality an additional option card is not required 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 e Using AKD EtherNet IP with RSLogix This manual provides easy start guide for RSLogix pro grams as well as a reference to the sample add on instructions e AKD Quick Start also provided in hard copy This guide provides instructions for initial drive setup and connection to a network Installation Manual also provided in hard copy This manual provides instruction
3. 6 4 EtherNet IP Features 222 7 4 1 Supported Features 22 2 7 4 2 Expected Packet Rate 24 222222 2 7 4 3 Connection Port _ 7 4 4 Network Topology 7 MCCC 8 5 1 Setting an IP Address in the Drive 8 5 2 Controller Setup _ 22 0 2 0 2 022 8 5 3 Setting Expected Packet Rate in the Controller 8 6 Communication 9 6 1 Explicit Messaging on demand 9 6 1 1 Supported Services 9 6 1 2 Supported Objects 4 4 0 0020 9 6 1 3 Data Types 2 42424244 2 222 2 7 12 10 CodeS E Oe 10 6 2 I O Assembly Messaging cyclic 10 6 2 1 Controller Configuration
4. Smooth Stop Setting this bit causes the amplifier to decelerate to a stop Direction This bit is used only in velocity mode Positive direction 1 and negative direction 0 Relative This bit is used in only in position mode This bit indicates whether a move executed with Command Type 1 Target Position or 6 Position Move should be absolute 0 or incre mental 1 Start Block Executes a Motion Task sequence previously generated and stored in the drive Put the starting block number in the Block Number field byte 1 and transition this bit high 1 The Load Start flag must be zero 0 while transitioning Start Block Load Start This bit is used for data handshaking between the controller and amplifier To transmit a command to the amplifier set the Command Type and load data into the data fields then toggle Load Start high The amplifier will accept data only when Load Start tran sitions from 0 to 1 If the command type matches the operating mode Target Position or Position Move in position mode Target Velocity or Jog in velocity mode Torque in torque mode the amplifier will start motion when the data is loaded When the data has been loaded successfully the amplifier will set the Load Complete response flag high 6 2 2 3 Command Type 0x05 Torque This command type is used to change the target torque This can only be used in torque mode Motion will begin as soon as the value is loaded 1 Put drive in torque mode b
5. shaking with the drive Block The block number is used to start a particular Motion Task in combination with the Start Block bit in the Control Word Command Type Specifies the desired command to execute such as Set Position or Set Parameter Specifies the desired response data to return in the Response Response Type 22 7 The command data for most Command Types 11 Position data for Command 6 Position Move 2 15 Velocity Velocity data for Command Type 6 Position Move and 7 Jog Acceleration data for Command Type 6 Position Move and 7 19 Acceleration 5 Jog 24 Deceleration data for Command Type 6 Position Move and 7 Jog Param Command Data for Command Type 0x1B Set Position Con eter Attribute Data troller Attribute and Ox1F Set Parameter 32 Attribute to Get Index of desired Position Controller Attribute value to return in the Response Assembly bytes 24 31 Least significant byte first for all data fields August 2012 11 1 3 2 4 6 0 Ethernet IP Communications 6 2 2 2 Control Word 6 2 2 2 Control Word Byte 0 Enable Reserved Pan Direction Relative aran Load Start Stop Stop Block Enable Setting this bit enables the amplifier Hard Stop Setting this bit causes the amplifier to execute a Controlled Stop The Enable bit must be cleared and reset in order to enable motion again
6. 240 Velocity un Float 42 Velocity us Float 224 integer 445 Velocity 146 None 7 Postion 229 Postion 251 Float 252 integer 453 integer 454 integer 455 integer 456 integer 257 integer 458 integer 459 Velocity 260 integer 261 integer m 4683 integer August 2012 39 Ethernet IP Communications 11 Appendix Parameter Listing Instance Parameter Data Size Data Type 467 268 469 470 None d REC integer 274 integer 275 integer 276 integer 277 integer 278 integer 275 integer 280 integer 281 integer 482 integer 483 integer 484 integer 285 integer 486 integer 487 integer 288 integer 489 integer 290 integer 4e1_ MODBUSUNTTLABEL 192 integer 193 integer 194 integer 295 integer 296 integer a7 integer 468 integer 499 integer 500 integer i integer 502 integer 503 integer 504 integer 505 integer 506 integer ese 508 Kollmorgen August 2012 Ethemet IP Communications 11 Appendix B Parameter Listing Instance Parameter Data Size Data Type 515 51 517 gr 515 520 523 527 August 2012 Ethernet IP Communications 12 Appendix C Software Distribution License 12 Appendix C Software Distribution License SOFTWARE DISTRIBUTION LICENSE FOR THE ETHERNET IP TM COMMUNICATION STACK ADAPTED BSD STYLE LICENSE Copyright c 2009 Rockwell Automation Inc ALL RIGHTS RESERVED EtherNet IP is a trademark of ODVA Inc
7. Redistribution of the Communications Stack Software for EtherNet IP and use in source and binary forms with or without modification are permitted provided that the following conditions are met Redistributions of source code must retain the above copyright and trademark notices this list of con ditions and the following disclaimer in the documentation and or other materials provided with the dis tribution Redistributions in binary form must reproduce the above copyright notice this list of conditions and the fol lowing disclaimer in the documentation and or other materials provided with the distribution Neither the name of Rockwell Automation ODVA nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission from the respective owners The Communications Stack Software for EtherNet IP or any portion thereof with or without mod ifications may be incorporated into products for sale However the software does not by itself convey any right to make have made use import offer to sell sell lease market or otherwise distribute or dis pose of any products that implement this software which products might be covered by valid patents or copyrights of ODVA Inc its members or other licensors nor does this software result in any license to use the EtherNet IP mark owned by ODVA To make have made use import offerto sell sell lease market or o
8. On Instructions A set of Add On instructions are provided for easy creation of programs with RSLogix The instructions are written to mirror the native instructions leveraging existing knowledge of the software They provide easy control of IO Assembly messages The native MSG instruction is used in RSLogix for sending Explicit Messages Add On Instructions include e AKD Enable e AKD Disable e AKD Home e AKD Jog e AKD Move e AKD Set Home Mode e AKD Set Mode e AKD Shutdown e AKD Shutdown Reset e Stop Smooth e AKD Get Attribute e Get Parameter e AKD Set Attribute e AKD Set Parameter e AKD Set Units 9 2 AKD Sample Project The sample project can help you to learn e how to enable the drive e how to write read a parameter via the acyclic channel e how the cyclic data exchange is done e how to run motion in position or velocity mode how to clear faults e how to load and execute motion task sequences 9 3 Registration Example Project This sample project can help you learn e How to configure the drive for registration using only EtherNet IP no Workbench setup required How to start a motion task sequence e How to control digital I O Kollmorgen August 2012 Ethemet IP Communications 10 Appendix A Supported EtherNet IP Objects and Attributes 30 10 Appendix A Supported EtherNet IP Objects and Attributes 10 1 Position Controller Object 0x25 Attribute Name Acc
9. point in the drive Target Velocity Acceleration Deceleration and Direction should all be loaded before setting the Load Start bit to initiate the move While in motion you may issue another Jog command to immediately change velocity and direction at the desired acceleration and deceleration rates While a jog is operating the In Motion bit in Status Word 1 will be set and In Position will be cleared The Direction status bit will reflect the actual direction of motion Set the Smooth Stop bit to stop the motor at the previously set deceleration rate and remain ena bled Set the Hard Stop bit to immediately stop at the Controlled Stop rate and disable To clear this Controlled Stop condition you must clear the Hard Stop and Enable bits then set the Enable bit Velocity move values can be verified in Workbench From the terminal the affected values are VL CMD Kollmorgen August 2012 Ethernet IP Communications 6 4 Position Mode 6 4 Position Mode In this mode the drive runs an internal trajectory generator for moving between commanded positions These positions can be sent directly from the controller point to point moves or pre programmed in Motion Task sequences 6 4 1 Setup Position Mode Before Position Move commands may be issued the following conditions must be met e Faults are cleared query the General Fault bit in Status Word 1 and issue an explicit message to clear faults if necessary e Drive is enab
10. velocity is loaded 1 Put drive in velocity mode by sending a message to Position Controller class 0x25 Instance 1 Attribute 3 Operation Mode 2 Load Target Velocity Acceleration and Deceleration into bytes 12 23 see Data Structure section 3 Setthe Load Start bit to begin the move Velocity and acceleration values are scaled according to EIP PROFUNIT 6 2 2 6 Command Type 0 1 Set Attribute of Position Controller Object This command type is used to set a value in the Position Controller object such as for con figuring and triggering a home move See the Drive Objects chapter for a listing of available attributes in this object 1 Set Command Type to Ox1B 2 Loadthe Attribute number which you wish to set into bytes 4 5 first half of the Data field least significant byte first 3 Loadthe desired value into bytes 24 31 Parameter Attribute Data see Data Struc ture section 4 Setthe Load Start bit to set the value in the drive 6 2 2 7 Command Type 0x1F Read or Write Parameter Value This command type is used to configure or read any parameter in the drive See Appendix B for alisting of parameter indexes data types and scaling Use this command to either read or write the desired parameter Byte 6 is used to determine whether this is a read or write command Some parameters can take a very long time to execute When the command has completed the Load Complete status bit will be set in the response or else
11. 20 7 Drive Objects 2 2 21 7 1 Position Controller Class 0x25 21 7 2 Position Controller Supervisor Class 0x24 25 7 3 Parameter Class OxOF 25 7 3 1 Supported Attributes 2 2 2 2 26 7 3 2 Read a Parameter Value 2 27 7 3 3 Write a Parameter Value 27 7 3 4 Execute a Command Parameter 24 4 2 27 8 UE ERE DERE RR a MEER UE EROR AREE 28 8 1 Position Units eio ack sexed condense bas nei 28 8 2 Velocity and Acceleration Units 28 8 3 Torque 28 8 4 Other Floating Point Values 28 9 RS Logix Sample Projects 29 9 1 Add On Instructions 29 9 2 Sample Project 22 2 2 22222222
12. AKD EtherNet IP Communication Edition August 2012 Revision C Valid for firmware version 1 7 Patents Pending Part Number 903 200008 00 Keep all manuals as a product component during the life span of the product Pass all manuals to future users owners of the product 00000 Because Motion Matters Ethernet IP Communications Record of Document Revisions Revision Remarks A 102011 C 08 2012 Minor updates to formatting EtherNet IP is a registered trademark of ODVA Inc Windows is a registered trademark of Microsoft Corporation AKD is a registered trademark of Kollmorgen Corporation Technical changes which improve the performance of the device may be made without prior notice Printed in the United States of America This document is the intellectual property of Kollmorgen All rights reserved No part of this work may be reproduced in any form by photocopying microfilm or any other method or stored processed copied or distributed by electronic means without the written permission of Kollmorgen 2 August 2012 Ethernet IP Communications 1 Table of Contents 1 Table of Contents 1 Table of Contents 222 2 2 2 3 2 About this 5 3 Overview
13. Data Handshake Error Code Additional Code hex EtherNet IP Error e 2 RESPONSE FF NVAUD ATTRIBUTE VALUE gt FF O amp JECTALREADYEXITS 6 2 4 Data Handshake Data handshaking is used to transmit data commands with I O Assembly Messaging To trans mit a command to the amplifier set the Command Type and load data into the data fields then toggle the Load Start bit high The amplifier will accept data only when Load Start transitions from 0 to 1 If the data is loaded successfully the amplifier will set the Load Complete response flag high Load Complete will be cleared by the amplifier after Load Start is cleared by the con troller If the data does not load successfully due to an error in the command assembly the amplifier will load an error response into the response assembly Response Type 0x14 byte 4 Error Code byte 5 Additional Code bytes 6 7 echo command assembly bytes 2 3 See Assembly Messaging Response Type 0x14 Command Response Error for more infor mation 1 0 Assembly Messaging Handshaking Example Sequence Load a Target Position command of 1000 C 0x80 0x00 0x21 0x20 OxE8 0x03 0x00 0x00 Enable 1 Load Start 0 Command Axis 1 Command Type 1 Response Axis 1 Response Type 0 none Data 1000 Respond with status flags No command 2 Amplifier clears the Load Complete flag in the yet R 0x84 0x00 0x00 0x20 0x00 0x00 r
14. ER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE Kollmorgen August 2012 About Kollmorgen Kollmorgen is a leading provider of motion systems and components for machine builders Through world class knowledge in motion industry lead ing quality and deep expertise in linking and integrating standard and custom products Kollmorgen delivers breakthrough solutions that are unmatched in performance reliability and ease of use giving machine builders an irref utable marketplace advantage For assistance with your application needs visit www kollmorgen com or contact us at North America Europe Asia KOLLMORGEN KOLLMORGEN Europe GmbH KOLLMORGEN 203A West Rock Road Pempelfurtstrafse 1 Rm 2205 Scitech Tower China Radford VA 24141 USA 40880 Ratingen Germany 22 Jianguomen Wai Street Internet www kollmorgen com Internet www kollmorgen com Internet www kollmorgen com E Mail support kollmorgen com E Mail technik kollmorgen com E Mail sales asia kollmorgen com Tel 1 540 633 3545 49 2102 9394 0 Tel 86 400 666 1802 Fax 1 540 639 4162 49 2102 9394 3155 86 10 6515 0263 RU KOLLMORGEN Because Motion Matters
15. P Communications 7 3 2 Read a Parameter Value Data Code Data Type Abbreviation Attribute 0x06 Data Length Access Non Volatile 7 3 2 Read a Parameter Value To read a parameter value through Explicit messaging use Service OxOE Read Value Class OxOF Parameter class Attribute 1 Parameter Value The instance number corresponds to the index of the desired parameter This number may be found in Appendix B 7 3 3 Write a Parameter Value To set a parameter value through Explicit messaging use Service 0x10 Write Value Class OxOF Parameter class Attribute 1 Parameter Value The instance number corresponds to the index of the desired parameter This number may be found in Appendix B The length of the data written must match the length of the parameter Read attribute 0x06 Data Length to determine the correct length to send In the case of 64 bit parameters it is also pos sible to write a 32 bit value 7 3 4 Execute a Command Parameter Some parameters are actually commands which do not take a value but execute a drive func tion such as HOME MOVE or DRV CLRFAULTS To execute a command write a value of 1 to the parameter The instance number of the desired parameter can be found in Appendix B To execute a command parameter through Explicit messaging use Service 0x10 Write Value Class OxOF Parameter class Attribute 1 Parameter Value Data 0x01 Kollmorgen August 2012 Eth
16. Postion Position Postion Postion Postion integer integer integer integer None integer None integer REC TRIGPRMUST integer integer Varies integer integer Float integer WOT O ato R 453 o gt 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 16 18 20 26 28 29 30 31 33 37 38 39 41 43 47 49 51 53 57 58 59 60 61 2 63 64 65 66 68 70 71 72 73 3 August 2012 38 Kollmorgen August 2012 Ethernet IP Communications 11 Appendix B Parameter Listing Instance Parameter Data Size Data Type 376 None 376 integer 375 integer 380 Velocity Bi Velocity integer 383 integer Postion Postion 388 integer 389 integer 390 integer i integer 392 integer 393 integer Em integer 395 integer 396 integer 7 Float 396 integer 399 integer 400 integer a0 integer 202 integer 205 integer 404 Float 205 Float 406 Float 207 Float 408 Float 209 Float 210 Float an Float 12 113 integer RET MES 26 integer 217 Float 18 Ethernet IP Communications 11 Appendix Parameter Listing Instance Parameter Data Size Data Type 420 221 223 Float Float Velocity 226 Velocity 427 Velocity 228 Velocity 429 Velocity 430 Velocity 231 integer 232 Velocity 433 Velocity 434 Float 455 Float 436 Float 457 Float 438 Float 459 Velocity
17. aking between the controller and amplifier see Data Handshaking Negative SW Limit This bit indicates when the position is less than or equal to the Negative Software Limit Position Positive SW Limit This bit indicates when the position is greater than or equal to the Positive Software Limit Position Negative HW Limit This bit indicates the state of the Negative Hardware Limit Input Positive HW Limit This bit indicates the state of the Positive Hardware Limit Input 6 2 3 4 Response Type 0x05 Actual Torque This I O response assembly is used to return the actual torque current of the motor in mil liarms Data will be received in the Data field bits 4 7 Set Response Type 0x05 in the com mand assembly to read this value 6 2 3 5 Response Type 0x14 Command Response Error This response identifies an error that has occurred This response will always be returned in response to an invalid Command Assembly The Response Type field of the response assembly usually echoes the matching field from the previous command assembly But in the case of an invalid command assembly the Response Assembly Type field of the response assembly will be set to 0x14 and error codes will be returned in the Data field Error Code Additional Code EtherNet IP Error hex hex oo RESPONSE_AXIS_INVALID SERVICE_NOT_SUPP COMMAND NOT SUPPORTED Kollmorgen August 2012 Ethemet IP Communications 6 2 4
18. als 1 in the class instance attribute mappings for the Position Controller Attribute 0x01 Number of Attributes Description tion Controller class Attribute 0x02 Attribute List Returns an array with a list of the attributes supported by this unit Description in the Position Controller Class The length of this list is specified in Number of Attributes Access Array size is defined by Attribute 1 Attribute 0x03 Operation This attribute is used to get or set the operating mode 0 Position Description DRV OPMODE 2 1 velocity DRV OPMODE 1 2 Torque DRV OPMODE 0 This attribute must be set before any move is Get Set Rule 0 Position Mode 1 Velocity Mode 2 Torque Mode 3 Other read only August 2012 Ethemet IP Communications 7 1 Position Controller Class 0x25 Attribute 0x04 Position Units This ratio value is the number of 32 bit actual position feedback Description 2 counts equal to one position unit Get Set Data Type m Default Non Vola See Aso Attribute 0x05 Profile Units This ratio value is the number of 32 bit actual position feedback Description counts per second velocity or second squared acceleration equal to one velocity or acceleration unit Access Rule Get Set Data Type Re Attribute 0x06 Target Position This attribute specifies the target position in counts Set Start Tra Descript
19. an Error Response Assembly will be returned 1 Set Command Type to Ox1F Load the parameter Index which you wish to access into bytes 4 5 first half of the Data field least significant byte first 3 Set byte 6 according to whether you wish to read or write the parameter 0 1 write 4 f writing a parameter load the desired value into bytes 24 31 Parameter Attribute Data 5 Set the Load Start bit to execute the command 6 If reading a parameter the value will be returned in bytes 24 31 of the response 6 2 2 8 Get Attribute Get Attribute field operates differently from the Command Types listed above as it does not make use of the Command Type field or require Load Start to be set To read an attribute of the Position Controller in each cycle just set byte 32 Attribute to Get to the desired attribute number The data will be returned in each response assembly in bytes 24 31 Parameter Data with the Attribute to Get mirrored in byte 32 of the response Kollmorgen August 2012 Ethernet IP Communications 6 2 3 Response Assemblies Note Attribute to Get and Command Type 0x1F Read Parameter Value both use bytes 24 31 of the response assembly When using command Ox1F to read a parameter set the Attribute to Get field to 0 1 Loadthe desired attribute number of the Position Controller Object into byte 32 Attrib ute to Get 2 The value will be updated each communication cycle in bytes 24 31 of the response asse
20. ate for EtherNet IP on AKD is 10 milliseconds For simultaneous operation of Workbench and an EtherNet IP controller communicating with an AKD the cycle rate should be reduced to 20 milliseconds 4 3 Connection Port The EtherNet IP network connection port with the AKD is the same RJ45 connector used forthe Telnet This port is numbered as X11 on the AKD side panel 4 4 Network Topology AKD can be connected on an EtherNet IP network in two manners 1 Asthelast node in the network since AKD has only one connector in a line topology 2 As another node on the network in star topology using a switch Kollmorgen August 2012 Ethernet IP Communications 5 Setup 5 Setup 5 1 Setting an IP Address in the Drive The IP address of the AKD must be configured properly on the same subnet as the controller The same address is used for both EtherNet IP and Workbench connections though they use different TCP IP ports See the AKD Quick Start or AKD Use Guide for instructions on setting this address 5 2 Controller Setup Some controllers request an EDS file electronic data sheet for configuring each EtherNet IP node The AKD EtherNet IP EDS file can be found on the Kollmorgen web site and on the product disk The IP address of the controller must be set to the same subnet as the AKD The controller will typically need to be setup to know the IP address of the AKD The process required will vary by controller 5 3 Setting Expecte
21. d Packet Rate in the Controller The controller is responsible for setting the Expected Packet Rate The AKD and controller will each send cyclic messages at this rate The fastest supported cyclic rate for EtherNet IP on AKD is 10 milliseconds For simultaneous operation of Workbench and an EtherNet IP controller communicating with an AKD the cycle rate should be reduced to 20 milliseconds If the rate is set to too short of a time communication may timeout between the drive and controller result ing in fault F702 Fieldbus Communication Lost In this case the EPR should be set to a larger value Kollmorgen August 2012 Ethernet IP Communications 6 Communication Profile 6 Communication Profile 6 1 Explicit Messaging on demand Typically Explicit Messages are used to configure the amplifier and setup drive parameters Explicit Messages allow you to access a single parameter value at a time The desired param eter is selected by specifying the class object number instance number and attribute number in an explicit message See chapter 2 Overview for an overview of Explicit versus Assembly messaging 6 1 1 Supported Services 0 10 Write Value e OxOE Read Value 6 1 2 Supported Objects AKD supports a number of standard and vendor specific objects for motion control See the Drive Objects chapter for information about these objects Parameter Object Class Code OxOF Instance The instance nu
22. e and the acceleration for con stant velocity DEC when in velocity opmode Units are determined by amplifier setup ACCUNIT Position controller Description attributes 40 41 All position moves initiated through a Command Assembly or Command Block Object use this deceleration rate To set different deceleration rates for multiple motion blocks tasks requires the motion block to be setup using the amplifier setup software Attribute 0x0A Move Type incremental in DRV OPMODE 2 0 Absolute Postion 1 Incremental Position Default Non Volatile August 2012 23 Ethemet IP Communications 7 1 Position Controller Class 0x25 Attribute 0x0B Trajectory Start Complete Desorption Set high 1 to start a trajectory move Reads high 1 while in motion and low 0 when motion is complete PECES Get Set Rule Data Boolean 0 Move Complete Renee 1 Start Trajectory In Motion Default NonVolaile No Attribute 0x3A Load Data Complete Indicated the drive has successfully loaded the previous com mand value It is used in combination with attribute OxOB Tra jectory Start Complete to handshake motion starts between the AKD and controller Access 0 Load not complete 1 Load complete Dea p NonVolalis No Description Attribute 0x11 Enable This flag is used to control the enable output Clearing this bit Description
23. eger 8 Varies integer integer 2 integer 3 Varies 5 integer integer 7 integer 8 Varies integer me Kollmorgen August 2012 Ethernet IP Communications 11 Appendix Parameter Listing Instance Parameter Data Size Data Type poore poursmars BoUTE MODE 100 Float 102 integer 103 integer integer Float integer 08 integer 09 Acceleration integer None None integer Float Acceleration integer None 120 integer integer integer integer integer integer 126 integer 127 integer 128 None E integer 130 integer integer Float Float Float integer integer 137 None 138 None 139 integer 140 integer August 2012 33 Ethernet IP Communications 11 Appendix Parameter Listing Instance Parameter Data Size Data Type 143 146 148 150 E 152 158 154 155 156 157 158 156 160 163 178 175 50 150 191 193 196 798 195 Integer Float Integer Integer Float Float Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Acceleration Acceleration Integer Integer None Integer Velocity Acceleration Integer Acceleration Integer Position Integer Float Integer None 34 Kollmorgen August 2012 206 B Byte Signed 208 HOME PERRTHRESH 8 Byte Signed Ethernet IP Communications 11 Appe
24. ench From the terminal the affected value is IL CMD 6 6 Handling Faults Drive fault conditions are reported with the General Fault bit in Status Word 1 of the response assembly Specific fault numbers can be read through fault registers using the Parameter Class The fault registers DRV FAULT1 DRV FAULTS are at indexes 478 480 FAULT1 will always list the highest priority fault Faults may be cleared by sending a message to the DRV CLRFAULTS index 113 of the Param eter Class Write a 1 byte value any value to the parameter to execute the command Kollmorgen August 2012 Ethernet IP Communications 6 7 Saving to Non volatile Memory Transmit the following explicit message Service 0x10 Write Class OxOF Parameter Instance 113 DRV CLRFAULTS Attribute 0x01 Value Data Length 4 bytes Data Value 1 6 7 Saving to Non volatile Memory Drive parameters are typically stored in RAM and only stored to non volatile memory when a Save is commanded through an Explicit Message to the Parameter Object Transmit the following explicit message Service 0x10 Write Class OxOF Parameter Instance 470 DRV NVSAVE Attribute 0x01 Value Data Length 4 bytes Data Value 1 Kollmorgen August 2012 Ethernet IP Communications 7 Drive Objects 7 Drive Objects 7 1 Position Controller Class 0x25 The following attributes are supported in the Position Controller class The instance number always equ
25. ernet IP Communications 8 Units 8 Units Position Velocity and Acceleration are scaled differently for EtherNet IP than for Workbench In Workbench these values are displayed as floating point numbers and can been configured in many ways In EtherNet IP these values are integers and are scaled as a ratio of position units to actual position counts 8 1 Position Units Position values are scaled according to the EtherNet IP Position Controller Device standard One Position Units scaling value is defined which gives the number of actual position feed back counts at 32 bits per revolution equal to one position unit From Workbench this scaling parameter is visible in the EtherNet IP screen or as EIP PO SUNIT in the terminal From EtherNet IP this value can be accessed at attribute 0x04 Position Units of the Position Controller object The default value is 2 16 65536 which provides 2 32 2 16 2 16 counts per revolution A value of 1 would provide 2 32 1 2 32 counts per revolution 8 2 Velocity and Acceleration Units Velocity and Acceleration values are scaled according to the EtherNet IP Position Controller Device standard One Profile Units scaling value is defined which affects both velocity and acceleration For velocity values Profile Units gives the number of actual position feedback counts at 32 bits per revolution per second equal to one velocity unit For acceleration values Profile Units gives the nu
26. esponse assembly when Load Start is low in 0x00 0x00 Enabled 1 In Position 1 Load the command assembly Complete 0 Response Axis 1 Response 1 Controller loads a valid Command Type and data into the command assembly with Load Start low 0 Type 0 none Data 0 3 Controller checks that the Load Complete Set the Load Data flag C 0x81 0x00 0x21 flag in the response assembly is low to ensure 0x20 OxE8 0x03 0x00 0x00 Enable 1 that the amplifier is ready to receive data Con Load Start 1 Command 1 Com troller sets the Load Data flag in the command Type 1 Response Axis 1 assembly Data 1000 Kollmorgen August 2012 Ethernet IP Communications 6 3 Velocity Mode Assembly Messaging Handshaking Sequence 4 Amplifier sees the Load Start flag transition high and attempts to execute the command specified in the Command Type field on the data in the Data bytes If successful the amplifier sets the Load Complete flag If the command fails or the command assembly is invalid the amplifier will set Response Type to Error and load error information in the response assembly Data fields If the command matches the oper ating mode e g Target Position in positioning If no error execute the requested command R 0x81 0x00 0x80 0x20 0x00 0x00 0x00 0x00 Enabled 1 In Motion 1 Load Com plete 1 Response Axis 1 Response Type 0 none Data 0 If there was an error e g data out of
27. ess Type Description ID Dec Rule imal 1 Number of Attrib Get USINT Returns the total number of attributes supported utes by this object in this device 2 Attribute List Get Array of Retums an array with a list of the attributes sup Get Set USINT Operating mode 0 Position mode default 1 mode 2 Torque mode Position Units Get Set DINT Position Units ratio value is the number of actual position feedback counts equal to one position unit default 1 5 Profile Units Get Set DINT Profile Units ratio value is the number of actual position feedback counts per second or second2 equal to one velocity acceleration or deceleration unit default 1 6 Target Position Get Set Specifies the target position in counts Target Velocity Get Set DINT Specifies the Target Velocity in counts per sec ond 8 Acceleration Get Set DINT Not used yet 8 eas Nat used yet Incremental Position Get Set Incremental Position Flag 0 absolute 1 incre Flag mental Load Data Profile Get Set BOOL Used to Load Command Data Start a Profile Handshake Move and indicate that a Profile Move is in prog ress 7 Enable Output same as DRV EN m ewe Output torque Load Data Complete Get Set Indicates that valid data for a valid command message type has been loaded into the position controller device Get Set See ho
28. et Connection Instance 101 Size 64 bytes Run Idle Header Yes Configuration Assembly Instance 100 Size 0 bytes Requested Packet Interval also called Expected Packet Rate 20ms or greater for simultaneous use with Workbench such as during commissioning 10ms or greater if simultaneous Workbench use is not required 10 Connection Type Multicast Class 1 Type 6 2 2 Command Assemblies Command assemblies contain a control word and several fields used for setting values requesting response data and commanding moves A command assembly may be used to send one data command at a time target position target velocity acceleration deceleration or torque The command type is specified in the Command Type field A command assembly also specifies a Response Type requesting a particular kind of data in the response assembly A command assembly may contain both a Command Type and a Response Type to transmit a command and request a particular response in the same assembly A valid Command Type is required to be set in each command assembly Data outside the allowed range will result in an Error Response Assembly The amplifier must be homed before motion is begun in position mode Failure to home the amplifier will result in a fault that must be cleared before amplifier operation can continue 6 2 2 1 Command Assembly Data Structure Byte Data Comment The control word contains bits for enabling moving and hand Control Word 4
29. ion jectory 1 attribute 11 or the Polled I O Start Trajectory Load Data bit to initiate the positioning move eem Get Set Rule Data Type Double Integer Range 2 to2 Non Volatile Sesso Attribute 0x07 Target Velocity This attribute specifies the target velocity in counts per second Description Use target velocity for position opmode and jog velocity attribute 22 for velocity opmode Units are determined by the amplifier Access Rule setup VUNIT Position controller attributes 40 41 Data Type Kollmorgen August 2012 Ethemet IP Communications 7 1 Position Controller Class 0x25 Attribute 0x08 Acceleration This attribute specifies the acceleration for positioning and hom ing when in position opmode and the acceleration for constant velocity DRV ACC when in velocity opmode Units are determined by the amplifier setup ACCUNIT Position con Description troller attributes 40 41 All position moves initiated through a Com mand Assembly or Command Block Object use this acceleration rate To set different acceleration rates for multiple motion blocks tasks requires the motion block to be setup using the amplifier setup software Non Volatile Attribute 0x09 Deceleration This attribute specifies the deceleration for positioning and hom ing DECR when in position opmod
30. is Out of Range 6 2 Assembly Messaging cyclic The cyclic data exchange includes the transmission and reception of data values like set point values e g Position set point velocity set point or control word and actual values actual posi tion value actual velocity or status word between the master and the drive The data commands and responses contain multiple values in pre defined data structures called assemblies AKD defines one Command Assembly sent from the controller to the drive and one Response Assembly sent from the drive to the controller Assemblies are transmitted on a timer according to the Expected Packet Rate Assembly Messages and Explicit Messages may be used simultaneously 6 2 1 Controller Configuration A controller must be configured with the correct assembly information in order to open an IO connection to the AKD This setup will differ depending on the controller type See the guide Using AKD with EtherNet IP and RSLogix for information specific to Allen Brad ley controllers In addition to configuring the IP address of the AKD in the controller setup the following values must be configured Input Assembly also called Response Assembly or Target to Originator Connection Instance 102 Size 64 bytes Run Idle Header No Kollmorgen August 2012 Ethernet IP Communications 6 2 2 Command Assemblies Output Assembly also called Command Assembly or Originator to Targ
31. led set Enable bit in the Control Word e Drive is in position mode set Attribute 3 Operational Mode of the Position Controller object e Smooth Stop and Hard Stop bits are cleared in Status Word 1 e Position Limits are cleared check bits in Status Word 2 e Drive is homed check Homed bit in Status Word 1 6 4 2 Homing Once all conditions listed under Setup Position Mode have been met with the exception of hom ing the drive may be homed The homing mode may be selected using attribute 0x64 Home Mode of the Position Controller object or by setting the homing mode directly in Workbench See the User Manual for a descrip tion of homing modes To execute homing write a value of 1 to attribute 0x65 Start Home Move When homing is complete the Homed flag in Status Word 1of the response assembly will be set 6 4 3 Position Moves point to point Once all conditions listed under Setup Position Mode have been met and the drive has been homed issue Position Move commands command type 0x06 to move to a desired position Target Position Velocity Acceleration Deceleration and Incremental bit in Command Word should all be loaded before setting the Load Start bit to initiate the move While in motion you may issue another Position Move command to interrupt the move with a new target position While a Position Move is operating the In Motion bit in Status Word 1 will be set and In Position will be cleared The Direction statu
32. mber of actual position feedback counts at 32 bits per revolution per 2 equal to one acceleration unit From Workbench this scaling parameter is visible in the EtherNet IP screen or as EIP PRO FUNIT in the terminal From EtherNet IP this value can be accessed at attribute 0x05 Profile Units of the Position Controller object The default value is 2 16 65536 which provides 2 32 2 16 2 16 counts per second per rev olution A value of 1 would provide 2 32 1 2 32 counts per second per revolution 8 3 Torque Units Torque commands and values are scaled in milliamps mA 8 4 Other Floating Point Values Other parameters which are displayed as floating point values in Workbench are provided with three digit accuracy over EtherNet IP For example a velocity loop gain VL KP of 1 200 would be read over EtherNet IP as 1200 28 August 2012 Ethernet IP Communications 9 RS Logix Sample Projects 9 RS Logix Sample Projects On www kollmorgen com you can find RSLogix sample projects and add on instructions which demonstrate an EtherNet IP network with a CompactLogix controller and the AKD The Using AKD EtherNet IP with RSLogix manual provides easy start guide for RSLogix pro grams as well as a reference to the sample add on instructions The sample projects are based on an L32E CompactLogix controller which easily can be changed to another controller which supports RSLogix 9 1 Add
33. mber references the desired parameter See Appendix B for a list of available parameters Description The parameter object gives direct access to amplifier configuration parameters Position Controller Supervisor Object Class Code 0x24 Instance 1 Description The position controller supervisor handles errors for the position controller Position Controller Object Class Code 0x25 Instance 1 Description The position controller object is used to set the operating mode torque velocity position configure motion profiles and initiate movement AKD also supports the required standard objects for EtherNet IP communication Typically the controller will automatically configure these objects and the user program will not need to directly use them e Identity e Message Router e Assembly e Connection Manager e TCP IP e Ethernet Link Kollmorgen August 2012 Ethernet IP Communications 6 1 3 Data Types 6 1 3 Data Types The table below describes the data type number of bytes minimum and maximum Range Number of Minimum Maximum Bytes m ET TUNE RN 28 Integer 1 116 15 Data Abbreviation ae E 2090 4095873 Uie 2 Double Integer Integer 6 1 4 Error Codes The following error codes may be retumed in response to an Explicit Message Error Error Code Not Settable Attribute Not Supported Service Not Supporte Class Not Supported Value
34. mbly 6 2 3 Response Assemblies In I O Assembly Messaging the amplifier transmits a response assembly back to the con troller The response assembly has a number of pre defined status words and data values In addition it can contain one data value which is selected by the Response Type field of the com mand assembly 6 2 3 1 Response Assemly Data Structure Data Comment Status Word 1 Various status bits Executing Block The index of the Motion Task which is currently being executed Status Word 2 Various status bits Specifies the response type of this assembly echoing the Response Type set in the command assembly The response data for most Response Types Position Actual Position Velocity Actual Velocity Status bits This provides the status word DRV MOTIONSTAT Motion Status See the Parameter Reference Guide Parameter Attribute Data for Command Type Ox1F Set Parameter the Attribute to Get Attribute to Get Mirrors the Attribute to Get from the Command Assembly If non ARS zero the data will be in the Parameter Data field Least significant byte first for all data fields Response Type 1 Byte o 4 7 12 15 2 o AJO O Status 1 Status 2 Actual Position Actual Velocity and Motion Status data are updated every response assembly Data in bytes 4 7 will be updated depending o
35. me mode section of the AKD User Manual ba August 2012 Ethemet IP Communications 11 Appendix B Parameter Listing 11 Appendix B Parameter Listing The parameters in this list correspond to drive parameters available in Workbench and are described in the Workbench help documentation and the AKD User s Guide Position values are scaled according to EIP PROSUNIT Velocity and Acceleration values are scaled according to EIP PROFUNIT Other floating point values are multiplied by 1000 such that a value displayed in Workbench as 1 001 will be transmitted through EtherNet IP as 1001 Instance Parameter Data Size Data Type 10 12 E E E 20 21 22 23 24 25 26 27 28 29 30 s m 35 36 37 38 39 Float Velocity None Float Integer Float Position Float Float Velocity Integer Float Float Integer Integer Integer Integer Velocity Integer Integer Integer Integer Integer Position Integer Integer Integer Integer Integer Integer Integer August 2012 32 Ethernet IP Communications 11 Appendix B Parameter Listing Instance Parameter Data Size Data Type 28 integer 25 integer 50 integer i integer 2 integer 3 integer Acceleration E integer 7 integer 8 Velocity integer 23 integer 2 integer 3 Varies 5 integer integer 7 integer Varies 0 integer i integer 2 integer 73 Varies 5 integer integer 7 int
36. n the value of the Response Type Parameter Attribute Data in bytes 24 31 will be updated when Attribute to Get is non zero or when a Get Parameter command was completed 6 2 3 2 Status Word 1 Byte 0 Enable Reserve Homed Current General In Posi Block In State Direction tion Execution Motion Enable State This bit reflects the enable state of the amplifier Kollmorgen August 2012 Ethernet IP Communications 6 2 3 3 Status Word 2 Homed This bit is set when the drive has been successfully homed Current Direction This bit reflects the actual direction of motion General Fault This bit indicates whether or not a fault has occurred In Position This bit indicates whether or not the motor is on the last targeted position 1 On Target Block Executing When set indicates the amplifier is running a motion task Executing Block Indicates the index of the currently executing Motion Task when the Block Executing bit is set In Motion This bit indicates whether a trajectory is in progress 1 or has completed 0 This bit is set immediately when motion begins and remains set for the entire motion 6 2 3 3 Status Word 2 Byte 2 Reserve Reserv SW Pos SW HW HW Reserv plete d ed Limit Limit Limit Limit ed Load Complete This bit indicates that the command data contained in the command mes sage has been successfully loaded into the device Used for handsh
37. ndix Parameter Listing Instance Parameter Data Type 213 Float Float 217 Float 218 Float 219 Float 220 Float 221 Float 222 Float 223 Float Float Float Float 227 Float 228 Float 229 Float 230 Float 231 Float 232 Float 233 Float 234 Float 2 Float 236 Float 7 Float 238 integer 259 integer 240 integer integer integer integer Float Float 246 integer Float Float 249 Float 250 Float mm Float 253 August 2012 35 Ethernet IP Communications 11 Appendix Parameter Listing Instance Parameter Data Size Data Type 258 259 integer 260 integer 26 integer 262 integer 263 integer Acceleration integer 267 integer 268 None 269 Acceleration 27 integer None 273 None integer integer Position 278 None 275 integer 280 281 Position 283 Velocity Velocity Velocity Postion 288 Postion 290 integer 251 Postion 293 Position 2 Postion 297 integer 298 Postion 300 Postion 302 Float 303 Float Position Postion 306 integer 309 integer 310 36 Kollmorgen August 2012 Ethernet IP Communications 11 Appendix Parameter Listing Instance Parameter Data 312 Position 34 Position Position Position 3 3 3 Postion 322 Position 324 Postion Position integer integer integer integer integer integer integer integer integer integer integer Position Postion Postion
38. pes of messaging simultaneously Explicit Messages allow you to access a single parameter value at a time The desired parameter is selected by specifying the class object number instance number and attribute number in an explicit mes sage Assembly messages combine many control and status bits into command and response messages They are less versatile than explicit messages only certain parameters are accessible but several con trol values may be changed within one message For this reason Explicit Messaging is better for con figuration and I O Assembly Messaging is better for motion control The Position Controller Object and Position Controller Supervisor Objects are used to set the operational mode torque velocity or position home and configure motion Additional configuration may be done through the Parameter Object which exposes vendor configuration parameters such as those accessible through Workbench Motion sequences may be pre programmed into the amplifier using the AKD motion tasking feature Once the motion task sequence has been configured it may be executed with the Command Assembly Mes sage Block Number field and Start Block bit Assembly Messaging is used for most motion control Control bits in a command message are used to enable the amplifier do a controlled stop of the motor initiate motion and initiate stored motion block pro grams Command messages can also set the target position target veloci
39. range R 0x80 0x00 0x00 0x34 0x09 OxFF 0x21 0x20 Enabled 1 Load Complete 0 Response Axis 1 Response 0 14 Error Error codes O0xO9FF Invalid Attribute bytes 6 7 mode the amplifier will start motion echo command assembly bytes 2 3 Clear Load Start C 0x80 0x00 0x21 0x20 OxE8 0x03 0x00 0x00 Enablez 1 Load Start 0 Command Axis 1 Com mand Type 1 Response Axis 1 Data 1000 5 Controller waits for either the Load Complete flag to transition high or for an Error Response Type in the response assembly then clears Load Start Ready for next command 6 3 Velocity Mode In this mode the drive is controlled via a speed set point sent from the controller to the drive using I O Assembly Messaging the Jog command When changing velocity the commanded acceleration and deceleration rates will be used 6 3 1 Setup Velocity Mode Before Jog commands may be issued the following conditions must be met e Faults are cleared query the General Fault bit in Status Word 1 and issue an explicit message to clear faults if necessary Drive is enabled set Enable bit in the Control Word e Drive is in velocity mode set Attribute 3 Operational Mode of the Position Controller object e Smooth Stop and Hard Stop bits are cleared in Status Word 1 e Position Limits are cleared check bits in Status Word 2 6 3 2 Velocity Moves Once the drive is ready to jog issue Jog commands command type 0x07 to set a speed set
40. s bit will reflect the actual direction of motion In Position will be set when the target position is reached Set the Smooth Stop bit to stop the motor at the previously set deceleration rate and remain ena bled Set the Hard Stop bit to immediately stop at the Controlled Stop rate and disable To clear this Controlled Stop condition you must clear the Hard Stop and Enable bits then set the Enable bit Position moves are loaded into Motion Task 0 which can be viewed in Workbench for test and verification of user programs 6 4 4 Running a Stored Motion Task Sequence As an alternative to issuing a single point to point position commands EtherNet IP can be used to start a predefined motion task or sequence of motion tasks Kollmorgen August 2012 Ethernet IP Communications 6 5 Torque A motion tasking sequence may be setup in Workbench and then executed later through Eth erNet IP Motion tasks may also be setup directly through EtherNet IP as demonstrated in the sample programs To execute a motion task sequence set Block Number equal to the index of the motion task to begin executing and transition the Start Block bit high The drive must be enabled and the stop and Load Start bits must be low When a stored motion task is running the response assembly will report this with the Block in Execution status bit and the executing task will be given in the Block response byte To stop an executing sequence set the Smooth S
41. s for instal lation and drive setup e AKD Parameter and Command Reference Guide This guide provides documentation for the parameters and commands used to program the AKD Additional documentation e The CIP Networks Library Volume 1 Common Industrial Protocol e The CIP Networks Library Volume 2 EtherNet IP Adaptation of CIP Kollmorgen August 2012 Ethernet IP Communications 3 Overview 3 Overview EtherNet IP is an industrial communication protocol based on TCP IP and UDP IP It is used as high level network for industrial automation applications EtherNet IP shares a common data structure with DeviceNet and ControlNet but built on Ethernet as a physical medium The protocol uses two communication channels e Explicit Messages are used for reading or writing values on demand Typically they are used for drive configuration and occasional reads or writes of parameter values Communication rates depend on the particular parameter or command and can range from approximately 5ms to 5s The AKD can be fully configured using Explicit Messages e Assembly Messages are data structures usually sent on timed cyclic basis These are nor mally use for drive control and status The data structure is predetermined and only certain values can be read and written Typically Explicit Messaging is used to configure the amplifier and Assemblies are used to control movement Most PLC s will support both ty
42. sage to the Parameter Object the instance number of the desired parameter can be found in Appendix B See the Appendix for instance numbers data types and scaling Note that Float types are scaled by 1000 to get an integer value Attribute 1 of each parameter instance refers to the value of that parameter Amplifier commands such as MOVE HOME and DRV NVSAVE are executed by sending a Set Value command with a data length of 1 and any value 0 to 255 Reading the value will not execute the process For example send the following explicit message to initiate homing HOME MOVE instance 205 class 0x0F instance 205 attribute 0x01 data length 1 data value 0x01 7 3 1 Supported Attributes The following attributes are supported for each parameter index 1 Get Set parameter value 5 Get data type 6 Get data size Attribute 0x01 Parameter Value Directly access the parameter value Check the command ref erence for the data type and read write access rule Float types are multiplied by 1000 to get an integer value Set the value to 1 to execute an amplifier process eg Move Home Rule field field The byte length is given by Data Length parameter a Default See Also Description Attribute 0x05 Data Type Description This data type of this parameter Data Type Default Kor vote See table below Data Type Code Data Type Abbreviation 26 August 2012 Ethernet I
43. se Error 15 6 2 4 Data Handshake 2 24 2 2 002 16 6 3 Velocity Mode 17 6 3 1 Setup Velocity Mode 17 6 3 2 Velocity 17 6 4 Position 2222 2 2 18 6 4 1 Setup Position Mode 2 2 18 6 4 2 Homing 2722222 2 13 20000000 18 Kollmorgen August 2012 Ethernet IP Communications 1 Table of Contents 6 4 3 Position Moves point to point 222222 22 222 18 6 4 4 Running a Stored Motion Task Sequence 18 6 5 19 6 5 1 Setup Torque Mode 2 1 7 22 19 6 5 2 Torque Moves 2 02 2 2 19 6 6 Handling Faults 2 22222 2 19 6 7 Saving to Non volatile Memory
44. sets the enable output inactive and the currently executing motion profile is aborted Range 0 Disable 1 Enable Default NonVolatie Seo Also Attribute 0x19 Torque Set a new torque command IL CMDU in torque mode or read the Description current torque command The Trajectory Start attribute is used to begin motion Kollmorgen August 2012 Ethemet IP Communications 7 2 Position Controller Supervisor Class 0x24 Attribute 0x19 Torque Deft OSS Non Volatie No Attribute 0x64 Home Mode Set the desired homing mode Rule Data Type Non Volatle Attribute 0x65 Start Home Move Start homing 0 Do move home 1 Initiate ahome move 021 7 2 Position Controller Supervisor Class 0x24 Attribute 0x05 General Fault When active this indicates that an amplifier related failure has occured short circuit over voltage ect Access Rule Description Data Type Range 1 Fault condition exists 9 0 No fault exists DRV FAULTS 7 3 Parameter Class 0x0F Most drive parameters can be read and or written through the Parameter Object This includes many drive parameters also available through the Position Controller and Position Controller August 2012 25 Ethernet IP Communications 7 3 1 Supported Attributes Supervisor classes For an explicit mes
45. therwise distribute or dispose of any products that implement this software and to use the Eth erNet IP mark one must obtain the necessary license from ODVA through its Terms of Usage Agreement for the EtherNet IP technology available through the ODVA web site at www odva org This license requirement applies equally a to devices that completely implement ODVA s Final Specification for Eth erNet IP Network Devices b to components of such Network Devices to the extent they implement portions of the Final Specification for EtherNet IP and c to enabling technology products such as any other EtherNet IP or other network protocol stack designed for use in Network Devices to the extent they implement portions of the Final Specification for EtherNet IP Persons or entities who are not already licensed for the EtherNet IP technology must contact ODVA for a Terms of Usage Agreement THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR APARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIA BLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETH
46. top or Hard Stop bit 6 5 Torque In this mode the drive runs at constant torque using the latest command value received from the controller 6 5 1 Setup Torque Mode Before Torque Move commands may be issued the following conditions must be met e Faults are cleared query the General Fault bit in Status Word 1 and issue an explicit message to clear faults if necessary e Drive is enabled set Enable bit in the Control Word e Drive is in torque mode set Attribute 3 Operational Mode of the Position Controller object e Smooth Stop and Hard Stop bits are cleared in Status Word 1 e Position Limits are cleared check bits in Status Word 2 6 5 2 Torque Moves Once the drive is setup for torque mode issue Torque commands command type 0x05 to set atorque set point in the drive Torque commands and values are scaled in milliarms While in motion issue another Torque command to immediately change the target torque While a torque command is active the In Motion bit in Status Word 1 will be set and In Position will be cleared The Direction status bit will reflect the actual direction of motion Set the Smooth Stop bit to stop the motor at the previously set deceleration rate and remain ena bled Set the Hard Stop bit to immediately stop at the Controlled Stop rate and disable To clear this Controlled Stop condition you must clear the Hard Stop and Enable bits then set the Enable bit Torque move values can be verified in Workb
47. ty acceleration deceleration and torque set points Status bits in a response message display error states and the general state of the amplifier Response messages can also display the actual position commanded position actual velocity and torque Kollmorgen August 2012 Ethemet IP Communications 4 AKD EtherNet IP Features 4 AKD EtherNet IP Features 4 1 Supported Features AKD follows the ODVA standard for EtherNet IP It provides necessary standard objects as well as cer tain vendor specific objects CIP Motion for real time multi axis synchronized motion control is not sup ported The following general drive features are supported through EtherNet IP e Drive setup and configuration e A full range of drive parameters can be accessed e Configure parameters through user programs e Setup motion tasks e Position Control e Setup and trigger homing e Point to point moves e Absolute and relative motion e Configure and execute motion task sequences e Velocity Control e Initiate jog moves e Torque Control e Write torque commands e Read actual torque e Status and actual values e Monitor drive status enabled faulted homed in position in motion etc on every cycle e Monitor actual position and velocity on every cycle e Monitor any drive value using explicit messaging on demand 4 2 Expected Packet Rate The Expected Packet Rate EPR is also called the Requested Packet Interval RPI The fastest supported cyclic r
48. y sending a message to Position Controller class 0x25 Instance 1 Attribute 3 Operation Mode 2 Load the desired torque value in bytes 4 7 3 Set the Load Start bit to begin the move Torque values are in milliamps mA 6 2 2 4 Command Type 0x06 Position Move This command type is used to start a trajectory Position mode only of the specified distance velocity acceleration and deceleration Since all command values are sent to the drive in a sin gle assembly this is the preferred way The trajectory can be absolute or relative depending on the value of the Relative bit The move will begin as soon as the command is loaded The position move is loaded into Motion Task 0 and can be viewed within Workbench 1 Put drive in position mode by sending a message to Position Controller class 0x25 Instance 1 Attribute 3 Operation Mode 2 Load Target Position Velocity Acceleration and Deceleration into bytes 8 23 see Data Structure section 3 Setthe Load Start bit to begin the move Kollmorgen August 2012 Ethernet IP Communications 6 2 2 5 Command Type 0x07 Jog Move Position values are scaled according to EIP POSUNIT Velocity and acceleration values are scaled according to EIP PROFUNIT 6 2 2 5 Command Type 0x07 Jog Move This command type is used to change the target velocity acceleration and deceleration in velocity mode The Direction bit sets the desired direction The move will begin as soon as the target
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