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AKD EtherNet IP Manual

1. Kollmorgen December 2014 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size Data Type 12 VL ARPQ4 4 Byte Float 13 VL ARTYPE1 1Byte Integer 14 1Byte 15 1Byte 16 1Byte 17 4Byte 18 4Byte 19 4Byte 20 4Byte 21 4Byte 22 4Byte 23 4Byte 24 4 Byte 25 26 27 28 VL ERR 29 VL FB 30 31 32 33 34 35 36 37 38 39 40 41 VL LMJR 42 VL MODEL 43 VL OBSBW 44 45 46 47 49 51 VVS IMAX SI EIS Integer A Integer Integer Float Float Float Float Float Float Float Float Velocity VL ARZF1 VL ARZF2 VL ARZF3 VL ARZF4 RRL RI AR bi lt lt lt lt lt lt lt lt lt m TEIT popa O Wi gt gt gt gt PIPIP C OD OD DI D 0101 0 6 5 4 B8 8 8 21912 E njplojviji 70 1701 0 mimm AIIN VL CMD Velocity A Velocity A Velocity Co Co Oo OU OO 0 1 D SIS S lve lt alajajaja o oj o oj o Q Q lQ lG lO l 315 olojololjo o oj oj ojeo Velocity FN Velocity FN Integer FN Velocity A Velocity Float Float Float Float Float Velocity A VL KI VL KO VL KP VL KVFF SIE Velocity Float Velocity Float Integer EL AE E Velocity WS ARM WS DISTMAX AF SIS SIS lt lt lt lt bal E EER g 718 zlz wim w w 2 m 2 212 SIS o 216 die n cja gt TIG Tig om Z 9 IE NM Oo Co OO Oo oo oo oo oo wiolojojuw U U U U lt 3 8 lt l
2. Data Type Float None None None None Float None None MOTOR VOLTRATED zeve sran Command EECHER SDSTATUS J memea ae AI mene fese WSGHEGRT feee AOUTVSCAE Jese WSTSTANDSTIE Jas WSTIRAWP CTN FBLPMTSAVEEN Tae Feremans hee MOTORIMTR feee ILFBSOURCE fiee MOTORIMD Jop ws CHECKMODE JiBre Kollmorgen December 2014 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size Data Type 869 REGEN POWERFILTERED 8Byte VBUS VALUE 2 Byte 8193 STATUS3 1 Byte 8195 DIN STATES 1Byte Kollmorgen December 2014 58 Ethernet IP Communications 13 Appendix C Software Distribution License 13 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 Redistribution of the Communications Stack Software for EtherNet IP and use in source and binary forms vvith or vvithout modification are permitted provided that the follovving conditions are met Redistributions of source code must retain the above copyright and trademark notices this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution Redistributions in binary form must reproduce the above copyright notice this list of conditions a
3. j s Z S m olmo a gt 4 O O 3 D 2 a bip Data Type None Kollmorgen December 2014 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size Data Type 90 2 Byte 91 92 93 94 95 96 97 98 99 00 01 02 03 04 05 06 07 08 09 10 511 12 13 14 15 16 17 18 19 20 21 22 523 524 25 26 527 A Integer A String A Integer A Integer Integer Integer Integer A Integer FN Integer FN Integer Integer Integer Integer dil Integer a Integer a Integer a Integer a Integer ki Integer a Integer ao Integer Integer ao Integer Integer Integer Integer a Integer ao Integer al Integer Integer Integer Integer Wu Integer Integer Integer Integer Float Integer l apa El El a a RT RP RP RP RP RP RP RP RP RP RP E AJ l AJ L L AJ Bf N ww DW DW DW Uooooouooooooouoo oo oooouvoow wow w lt lt lt I lt lt lt ISIS lt lt lt ISIS IS IS IS ISIS IS ISIS lt lt lt fe lt lt gt a l tj aj a ti tj tl ti gt tl gt gt ti tE tl i aj ajaj am D ololololololojlojlolololojlojololojlojojojojojoljojo o OQ lQ lG IQ je JA lG FQ lG je A lq je lq FQ lG A lG lG A Q Q d sf SI sc fl lalalalalalala 13 13135 13135 1313 351313 3 5 ololololololololololololololololojlojojojojol
4. co o D Q Q OO OO OT lt 3 3 lt I lt le lt ig a ajaj a ja O 3 3 olololojo 0 9 9 OOP LY a a a cleielela D 21315315315 D ololololo o aaa H h Kollmorgen December 2014 46 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size 72 73 74 SM 11 15 SM 12 76 SM MODE TI SM MOVE 78 SM T1 79 SM T2 80 SM V1 81 SM V2 82 83 84 86 88 89 90 91 92 93 94 95 96 97 98 99 00 01 02 03 04 05 VL ARPF1 06 VL ARPF2 07 VL ARPF3 08 VL ARPF4 09 VLARPO1 10 VL ARPQ2 VL ARPQ3 Go 2 Byte W ciciajaju LH 212 ZIZ IS IS S A mjm sjalcicic O DID Islolo jo Hi mim 3ilZleir r Z Z o lo s S s 7 sja EJ IS SGS E m Pi ojzimi 19 SI m Pl m x AE Co co co O NIN w w w w O w w U ss SE 3 SIS ojo ojo 3 ojo o ojo ojo 2 ojo n aia aia a oja amp Pl sl 513 vje vje vje D aja aja aja a Oo SWLS EN li MIN val val val val al al al a Cc a H Z psjpjpilpjp A Data Type None Float Float Float Float Float UNITPLINEAR 1Byte UNITPOUT ups UNITPROTARY J Bye UNITVLINEAR Be JUNITVROTARY tByte VEUS CALGAIN ups VBUS OVFTHRESH 2Byte VEUS OVWTHRESH 2Byte VEUSRMSLIMIT ps VEUS UVETHRESH JaBye VBUS UVMODE Ups VEUS UVWTHRESH 2Byte VEUSVALUE faByte VLARPFI Be VLARPF2 s VLARPF3 Be VLARPFA Bye VLARPOT Bye VLARPG2 s ENE CA
5. for velocity opmode Units are determined by the amplifier setup VUNIT Position controller attributes 40 41 Access Get Set Rule Data Type Double Integer Set to a positive number Default According to setup Kollmorgen December 2014 21 22 Ethernet IP Communications 7 Drive Objects Attribute 0x07 Target Velocity Non Volat Yes ile Attribute 0x08 Acceleration Description This attribute specifies the acceleration for positioning and homing HOME ACC when in pos ition opmode and the acceleration for constant velocity DRV ACC when in velocity opmode Units are determined by the amplifier setup ACCUNIT Position controller attributes 40 41 All position moves initiated through a Command 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 Access Get Set Rule Data Type Double Integer Set to a positive number Default According to setup Non Volat Yes ile Attribute 0x09 Deceleration Description This attribute specifies the deceleration for positioning and homing DECR when in position opmode and the acceleration for constant velocity DEC when in velocity opmode Units are determined by amplifier setup ACCUNIT Position controller attributes 40 41 All position moves initiated through a Command Assembly or Command Block Object use thi
6. ieizlSlaisizirialsizi 1s 2 mi m m2 m mlz mjajmi 191917 lt lt lt lt ol 00 00 CO 00 w w w w S S S S o D D D Q Q Q Q 2 J 2 2 O D O O a a Q Q Integer Kollmorgen December 2014 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size 2 2 Byte 3 5 1 Byte 1 Byte 2 Byte 1 Byte 1 Byte 2 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte alalslalslalslelslslelslelelelele SEIEEIEIEIEDE DEI DE EEIEIE 21920 7 lo ulzlsiolulz gt lu ul lalalala 1213 Z 9 2 S Z 9 3 S onlulzl3 m 3 gt 5 8 lt gt s 8 lt gt 5 18 3931512 12 S2 m olsy 41519 alslelals 17152 Mis miz me AE O m co co co co a a a a lt lt lt lt o o o o Q Q Q Q 5 gt O O O O a a a a 1 Byte 1 Byte 1 Byte U O Cc 4 0 gt m E AT e R sech 1Byte 1Byte 8 Byte 1Byte AA sj sl i i i sj sl i i i o o o a A ow o olololololololololo lololololololololo vjujlojsvjazlazjlajzvjajlzjlazlzlzlsjalalolololo SISISISISISISISISISISISISISIsS Is jeleleclc olelelelelelelelelslelelelelalalsleldl clelelelslelel lolelslalalslelslalels mimimimlolols zjojyjly s gt gt 5 8 jz jzlo clo 1Olcicyj 414 515 mi23 0 m jcicir mjmjejn QD 1 o Q ojal C Aim m OOIT zZ 0 m a O OTTO Co Q olo U 3 313 lt 3 313 bd E 218 v a ala a D bd a Data Type Array None None Float None Kollmorg
7. 1000 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 decel eration 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 Drive is in velocity mode set Attribute 3 Operational Mode of the Position Controller object Smooth Stop and Hard Stop bits are cleared in Status Word 1 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 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 Dir ection 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 enabled Se
8. Appendix B Parameter Listing Instance Parameter Data Size Data Type 320 PLS P5 322 PLS P6 324 PLS P7 326 PLS P8 28 29 30 Position Position Position Position Integer Integer PLS T1 31 PLS T2 32 PLS T3 33 PLS T4 34 PLS T5 35 PLS T6 36 PLS T7 37 PLS T8 38 39 41 43 45 47 49 51 53 55 56 57 58 59 60 61 62 63 64 65 66 68 370 371 Integer Integer Integer O Integer O Integer O Integer O Integer Integer jy Dl ol 9 v TIPIT CI nia HE sja alald 31 GER dk Integer de Position de Position o Co Co Co wiv W wiv OO W SIS lt SIS lve lt ae el Ss gt gt gt gt o oj o o oj oj o Q Q ja Q Q Q sa po 2 lilolo olojojo aalo o oj oj eo Go U C a U ZE w Position Oo Position Oo Position Oo Position O Position O Position Integer Integer Integer alalalalalalaelelalaelaelaelaelaelelel lle mmlm Koud Koud Ko Koud Koud Kou ui mlmml ui Ki Pi Pi Kai Kai C olele ee E H Cl eee EE e El E EE SIEIEIEIEIEIEZ z SIE zizizjajzjajzjajajalal l2lel lslsislsls alalglolololololole Tz PZ alallala kj lelsx oj T mlslzlzlzizIz RISSIE TIDJO 2 O mi o z o a s iImirivlolz jo U gt a mi 91 m m o D 7 Integer Go Go Integer GOT Cu Integer Oo String Integer Integer Varies Integer Integer Float Co O O co co
9. Get Set DI Not used yet Deceleration Get Set DINT Not used yet Incremental Get Set BOOL Incremental Position Flag O absolute 1 incremental Position Flag Handshake Complete type has been loaded into the position controller device NT BOOL Initiate a home move 11 Load Get Set BOOL Used to Load Command Data Start a Profile Move and indic Data Profile ate that a Profile Move is in progress Kollmorgen December 2014 37 Ethernet IP Communications 12 Appendix B Parameter Listing 12 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 VVorkbench as 1 001 vvill be transmitted through EtherNet IP as 1001 Instance Parameter Data Size 4 Byte 2 Byte 4 Byte 2 Byte Signed 8 Byte 2 Byte 4 Byte 4 Byte 2 Byte 8 Byte 8 Byte Signed 8 Byte Signed 4 Byte 1 Byte 4 Byte BODE INJECTPOINT BODE NJECTPONT Data Type Byte Float zee ron Byte rios eye signed Flot eye Positon eye ron TI ET bye Joen CI Command Nons asye oun m zas ime eye Pomon BbyteSigned Flot Byte Signed Flot TI aee Joen Teye oo
10. Instance Parameter Data Size Data Type 27 4 Byte Float 28 IL KP 2Byte Float 29 4 Byte Float 30 Float 31 Float 32 Float 33 Float 34 Float 35 Float 36 Float 37 Float 38 Integer 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 NINININ NINININ Integer Integer T Sal Sle Le Lel EEE Lei te EE fe ke E lt lt lt CICIJIaJA A ala a eels S 1 5 5 2 2 3 5 us oot e a ojojolslsj ja19 C vjajalvluolgjolelricicialsljn jo 75 w w gt mibs ojlolo V Z gt ul HE PIJE AAR a AE m ka Wa NININI A BRI RI P w v 00 1 W w v W ke Ire lve lt ls le All All am ojojojo ojojo Q lQ QIA Q Q Q 2 2 2 2 D gt m 2 o oo ojojo o oj oj o ajaja Integer N Integer N Integer Float Float Integer Float Float Float Float Integer Float Integer Float Integer N O Y O D O TI o NININININ NIN Integer N Integer N Integer Integer Integer Integer lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt lt ololololololololololololololololololo aslajajalalalalalalalalalalalalalalala OjJO0OJOJO OJO O OJO IO OO OJO O OOOO ALAA ALAA 0101 01 01 01010101 0101 01 01 0 sjajajaja aliel l j 3 ej l j j UIZim i s rlolzir gt m gt 3 mM UO 9101 1 E 09 mila xlol3 z sim A A m 0 m a E
11. ar er er War 0101101019191 91919191 2 sd fed ed ped ped perd en AEEIEIEIEIEIEIEIEIEIE clclulu ululu sje e 9 Gj TJ SSHSI ojlojclojolzl9 iajlzlololzlzlzlolalz1e2 mimizicin 3 Hlo o 2 z gt gt gt gja Ski bei 4 ajejnicizjlalalalcelglole g mi Il gt c z m 2 2 2 S 2 0 213 4 njajzjaj2jzizizlajslojr olm ojaja lolo aln m 5 A TIO gi iYg IN O x U Z eg o co 00 O U Og O lt lt 3 O O 3 07 2 2 a a a D D D D a a Integer Integer Integer Kollmorgen December 2014 56 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size 16 2 Byte 17 FB2 P 19 20 22 23 24 26 27 28 30 31 32 34 35 36 37 38 39 0 3 4 45 46 48 49 50 51 52 59 61 62 63 64 65 66 67 68 Co Co Oo 4 Byte oo 4Byte 4Byte 1Byte 4Byte Oo 4 Byte 4 Byte Oo 4 Byte 1 Byte 1 Byte T Dimpimpimi ci mimi mimi T mij mij mi 7 TI IEP JO lolo jojojo o oiololo U alziszicisjielejejeic NINININ gt mizininimj vjojoijoju v u u u Cc vlsjalolsislololziev ciololz a m zilcizizicimn Ss zicimn m ball ZT Res mn N sjalmn pu my z eja 0 0 a 8 I m a pu 0 4 T U O oo Co Co 00 00 Q UJ UJ UJ UJ UJ 3 ba E S S 3 D D D D D 9 0 0 0 0 0 a a a a G G D bg D D D D a Q Q Q Q Oo Oo oo O O A lt O m Z oo Oo VVS FREQ Co Co Oo
12. data is loaded suc cessfully 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 controller 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 I O Assembly Messaging Response Type 0x14 Command Response Error for more information I O Assembly Messaging Handshaking Sequence Example 1 Controller loads a valid Command Type and data into Load a Target Position command of 1000 C 0x80 the command assembly with Load Start low 0 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 2 Amplifier clears the Load Complete flag in the Respond with status flags No command yet R response assembly when Loadi Start is low in the com 0x84 0x00 0x00 0x20 0x00 0x00 0x00 0x00 mand assembly Enabled 1 In Position 1 Load Complete 0 Response Axis 1 Response Type 0 none Data 0 3 Controller checks that the Load Complete flag in the Set the Load Data flag C 0x81 0x00 0x21 0x20 response assembly is low to ensure that the amplifier is OxE8 0x03 0x00 0x00 Enable 1 Load Start 1 ready to receive data Controller sets the Load Data flag Command Ax
13. eye oun Teye mer TI Byte mer TI Teye mer TI Byte imer Tye on Tye on Teye on Teye mer TI Byte Signed Position Teye mer TI Pene Ines Kollmorgen December 2014 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size Data Type 8 1 Byte 9 4 Byte 0 1 Byte 1 1 Byte 2 1 Byte 3 1 Byte 4 1 Byte 5 1 Byte 6 8 9 0 1 2 3 Integer CAPO T Integer Integer Integer Integer Integer Integer Integer Position 1 Byte 1 Byte 1 Byte 1 Byte 4 Byte 1 Byte 8 byte 1 Byte 4 Byte 8 Byte 1 Byte 1 Byte 1 Byte 2 Byte Integer Integer Integer Integer Integer Integer TAPA E O O OIOIOIOIOIOIOIOIOIO O O LD gt rjejeieileizipzi pizi pir gt no U Ul Ul Ul Ul Ul Ul Ul Ul Ul Ul U 4 Ra Esc Es Eed 121212121712 2 gt 4 olvjvolvlulzjnjmmjmjoja n 3 paj aslalalalclolrisizjolz2 d m o Ppj jmmimigjojajlo Olo gt m male SE H m 2 ma 70 O u 00 UJ Ss o di Q 2 OD Q Integer Integer Velocity Integer Array Integer Integer Varies 1Byte 1Byte 2 Byte Integer Integer Integer Varies 1Byte 1Byte 2 Byte Integer Integer Integer Varies 1 Byte 1 Byte 2 Byte Integer Integer Integer Varies 1 Byte 1 Byte Integer Acceleration OSS SIS e e a e e ae e e e e a ae ejglo zizizizizizizizizizizizizizizizizizizio jS al Ed Ll Ll ll sis ken Ed as Sh 2 Sjolv 5 0 u z o u zs o u G ziale sjzialz s1zlal21s1zisl21s1zis e1z zlriaielzlki
14. ju J Tm mL O 2 2 2 3 m gt E gt gt gt gt gt gt gt m 999 ml j 6 d 9 z qjolaojlzjozjlojalja olslalFlelelolslulz T lr 2 2 2 2 2 2 2 2 5 m O ZIM EEE El O vM RSE EE RES z z a m 2 gt Cc a T Z w m O G Integer Integer Integer Kollmorgen December 2014 42 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size 180 4 Byte 181 4 Byte 182 4 Byte 83 1 Byte 8 Byte 8 Byte 2 Byte 2 Byte e 8 86 88 89 90 91 92 93 95 96 98 99 01 02 04 05 06 HOME P 08 10 211 12 13 14 15 17 18 19 20 21 22 23 24 25 26 GEAR IN Al AT AT k slesl lsl lslalajalalalala2jalejejs ziZ iZ IZ IZIZ P P P 2 PIP JIS S JC C mom ml m momol a 0101001001001 o mae IV H ae FS SIS alala njelelelajsjsjej j jzjejajz s 212 mia 91 12109 lie ololmiz2l1sl5 G O mim z z OJOJOO pu 212 zjelz gt O Z1019 7 lt Old mi m Co NIO UJ w o lt lt 3 rt D o 5 0 a 9 o ela 7 2 p a rIN IN IN ESE IN INI SS O m U T1 gt A NININININ NIN Data Type None None None Float Float 4 Byte Signed HOMEMODE feee one PO sBytesigned HOMEV gee HWISNEGSTATE teye HWLSPOSSTATE fiee Lo JaBytesignea S dS Byte Signed LEE 2 Byte ILFOLDFTHRESH 2Byte ILFRICTION pe ILIFOLDS Be Kollmorgen December 2014 Ethernet IP Communications 12 Appendix B Parameter Listing
15. of Contents sm 3 2 About this Manual aaa 5 3 OVErVIEW A wastes er A eee 6 4 AKD EtherNet IP Features aaa 7 4 1 Supported Features a 7 4 2 Expected Packet Rate mmmmmma ee e eee eee e eeeoooen 7 4 3 Connection Port vize e ee e e e ee e e ee ie 7 4 4 Network Topology 00002 c cece cece e ee e e ee ee ee e eee e ee ee ee SS SG SESSE 7 A A DE a N Se EE N S a eta ete g e a ka 8 5 1 Setting an IP Address in the Drive 8 5 2 Controller Set p WEE 8 5 3 Setting Expected Packet Rate in the Controller 8 6 Communication Profile 9 6 1 Explicit Messaging on demand occ 9 6 1 1 Supported Services 0000 ll ol eee e e eee eee eee ee eeeeeaeaeeoeeaooocoooooooooooone 9 6 1 2 Supported Objects ai 9 6 1 3 Data Types EES SESSE SG SG nuna wm anwani r ennnen 10 e Ree ee ES sa ei ES DER N GE GE tati 10 6 2 VO Assembly Messaging cyclic 10 6 2 1 Controller Configuration 1 2 2 2 as gi 10 6 2 2 Command Assemblies 11 6 2 2 1 Command Assembly Data Structure 11 0 222 Control VOTO ass esi EE SE tin 12 6 2 2 3 Command Type 0x05 Torque lili aaa 12 6 2 2 4 Command Type 0x06 Position MOVE 12 6 2 2 5 Command Type 0x07 Jog Move 0 2 22 e cece eee ee sees 13 6 2 2 6 Command Typ
16. per revolution Related Topics EIP PROFUNIT 2 p 33 Kollmorgen December 2014 Ethernet IP Communications 9 EIP Parameters 9 4 EIP PROFUNIT General Information Description Unit scaling for Velocity and Acceleration values over EtherNet IP Units N A Range Oto 4 294 967 295 Default 65536 Value Data Type Start Ver M_01 05 00 000 sion Variants Supported Variant Supported AKD Base No AKD with Position indexer No AKDEtheGAT w AKD CANopen fo AKDBASIC NO aD syn w AKDPro net Ne AKD secos i f No WON KAA DEE Fieldbus Information Fieldbus Index Subindex Is 64 bit Attributes Signed Object Start Version Modbus 1882 No Jazois no Iso Description Velocity and Acceleration values are scaled according to the EtherNet IP Position Controller Device stand ard 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 revolu tion per second equal to one velocity unit For acceleration values Profile Units gives the number of actual position feedback counts at 32 bits per revolution per second 2 equal to one acceleration unit From Workbench this scaling parameter is visible in the EtherNet IP screen or as EIP PROFUNIT in the ter minal From EtherNet IP this value can be accessed at attribute 0x05 Profile Units of the Position
17. 1 Data Ox1F Set Parameter 32 Attribute to Get Index of desired Position Controller Attribute value to retum in the Response Assembly bytes 24 31 33 Map Type 0 Static Map only bytes Oto 35 are sent 1 Custom Map 1 2 Dynamic Map bytes 36 63 are dynamically configurable Kollmorgen December 2014 11 Ethernet IP Communications 6 Communication Profile Byte Data Comment 34 Reserved 35 36 Command See EIP CMDMAP 2 p 29 63 Dynamic Map Least significant byte first for all data fields 6 2 2 2 Control Word 0 Enabe Reseved Hard Sip Smooth Stop Direction Relative Start Brock Lona Star 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 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 Com mand Type 1 Target Position or 6 Position Move should be absolute 0 or incremental 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 transitio
18. 1 x SIE 312 AE 2145 ol 5 Integer N Integer N gt O O Acceleration Kollmorgen December 2014 44 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size 66 67 68 69 MT DEC 71 72 73 74 75 76 78 79 80 81 83 284 85 86 i PLERR 90 91 93 95 97 98 00 02 03 04 06 08 09 10 311 12 PLS P1 14 PLS P2 16 PLS P3 18 PLS P4 NIN 4 Byte NIN 8 Byte viviv U O O O 3 3 D 2 a Z O 5 D N lt lt lt lt lt lt lt lt lt lt lt A al bel bel Ee A aal ES Eal bel all bel Es lt TIETE U Clm ololo O 2191212 SIS o Z olzle moe z m zjsjm O o lt x mino 3 7 Sis Xx O gt pu Z z e elle m Co Co Co DION O N w w w vje 1 0 o U lt lt lt slals 3 lt bd bd D oj31o0 3 bd 0 0 2 O 3 2 8 a O O O o a a O 5 5 5 3 5 3 fo D bd 3 bd D a a a E a a a N N U m O U NINININ TERT U ololalo 9191 9 vjojv 5 CCC r r r nje zlzlzlz 51317 m m m olojolo 31318 01010 O vjejelo o1zl8 2IZ Z G ol hel held Es E E AIS m mjojvj KE ii fe 2 5 Sl T U D Q 7 gt gt 7 m m Za m At II GT L PLS EN Go Co Data Type None None None None Float Float Position 8 Byte Signed 8 Byte Signed 8 Byte Signed 8 Byte Signed 8 Byte Signed 8 Byte Signed 8 Byte Signed Kollmorgen December 2014 Ethernet IP Communications 12
19. 2 93 94 95 96 97 98 99 1 Byte Integer 4 Byte 4 Byte Integer Integer Integer Integer Integer Integer al Integer al Integer Float Integer ala Integer Li 2 o 2 2 23 C S S s zz I I I I I I Q 2 2Q E S E x m a m m m m alols S 5 3 miz 2 2 2 2 2 SISI Gjujzujlojujnij n s k 8 7 6 2 2 8 2 gt EI 526 Z D O z gt m G gt mi z z G T O m Z Be U T Q m m m m N Co co A O O UJ w ow ulu O O lt lt lt lt lt 3 3 a os bd o o o o 3 3 nin 0 ala a 2 2 ech ke olo D OO O Integer al Integer al Integer on U Q Z lt Integer U O U a w lt o Integer Q 01 02 03 04 05 Integer Q Integer Q Integer Q Integer Integer Integer 07 08 Integer Float Float Integer O 10 611 12 13 14 15 16 17 18 19 Integer O Integer O Integer Integer Integer Float Integer Float Float FIT 2 t 5 8 8 6 HAHAHAHA IZIS zizi2 S TE n c S z e e e e g Se j EE n ee e 5 5 5 5 5 5 2 m e 2 e e s E s al z 2 219 35 S12 2 2 2 plajlelo1elzimi2 2la m T S E S 2 8 lt vjelziajalelzjei alma gt gt gt gt gt ga zalza ES lt al olololaja 2 sle lz zimi O 5 4172412412412 si lelzislmiciol 5 olalalalo SES 1 Z ziZIZIZIZ EMM C mixo 70 Q olo Kollmorgen December 2014 52 Ethernet IP Commu
20. 383 Related Topics EtherNet IP View pg 1 Kollmorgen December 2014 35 36 Ethernet IP Communications 10 RS Logix Sample Projects 10 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 programs 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 10 1 Add On Instructions A set of Add On instructions are provided for easy creation of AKD 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 AKD Enable AKD Disable AKD Home AKD Jog AKD Move AKD Set Home Mode AKD Set Mode ARD Shutdown ARD Shutdown Reset AKD Stop Smooth AKD Get Aftribute AKD Get Parameter AKD Set Attribute AKD Set Parameter AKD Set Units 10 2 AKD Sample Project The sample project can help you to leam how to enable the drive how to write read a parameter via the acyclic channel how the cyclic data exchange is done how to run motion
21. 9 21 22 23 24 25 27 28 29 30 31 32 33 34 36 37 38 39 41 42 43 44 46 47 48 49 51 52 53 54 56 57 58 59 61 62 63 64 SIN 1Byte 2 Byte 1Byte 2 Byte SIN 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte SINinin Mi slalslelalelelslelelelelelelelele ZIZIZI ZI ZI ZI ZI Z cicIcI CI CI CI Ec cl Cc sinjsisisjalalalalejPI8IP PISI212 NIS S S S gt S o 3fo u 2 0 3 z ojolulzlojojolo z 3 5 9 lt 3 3 3 olalsizlolaslslalalmialsle JEE S gt gt 3 8 gt gt gt gt m mi mjmjmja m mjm mjm IE an G G 00 CO 00 w w w lt lt lt gt gt o o o Q Q Q 2 J J D D D Q Q Q 1 Byte 1 Byte 1 Byte TES Q U O C N N U gt A gt 00 00 00 00 CO 00 w w w w w w lt lt lt lt lt lt gt gt gt gt gt o o o o o o Q Q Q Q Q Q J m 2 5s bel O D D D D D Q Q Q O O Q N 1 Byte 1 Byte 1 Byte Si ETI dl NY 1Byte 1Byte 1Byte 1Byte 1Byte 1Byte IN N 1 Byte 1 Byte 1 Byte N 1 Byte 1 Byte 1 Byte ojojolojofojojojojolojojoflo olofojojo o ojoJoJo OJO JO OJO JO IO O O O O O OJO OO ec ld Ec ec ec cc ec ec ec ec ec JE cl lc cc lad ld l 393333333 l 3 31 3 3 3 3 3 3 3 13 3 3 NININININININININININININININININININI IN NIN QO O oO S ayayayay KR RY RR FIELD EE ND N 2 5 3 3 21519 3 1519 9 2 5 S S sisie ls 2 8 gt 23 8 gt gt 3 8 gt gt 2 8 gt gt 3 8 gt gt gt Adler
22. AK CANopen f No AKDBASIC O w ARO syna w ARO Profit No AKD secos i f No WON KAA DEE Fieldbus Information Fieldbus Instance Data Size Data Type Description Returns state of EtherNet IP connection Value Description o Not connected Related Topics EtherNet IP View pg 1 Kollmorgen December 2014 31 Ethernet IP Communications 9 EIP Parameters 9 3 EIP POSUNIT General Information Default 65536 Value Data Type Start Ver M 01 05 00 000 sion Variants Supported Variant Supported AKD Base We AKO with Poston fo No TI AKDEMECAT w AKO CANopen o mosse ai spass w AKO Pro ret e oo ni o WON TJET oo WE Fieldbus Information Fieldbus Index Subindex Is 64 bit Attributes i Signed Object Start Version Modbus 1880 ir n no Iso Description 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 feedback 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 POSUNIT in the ter minal From Ethernet IP this value can be accessed at attribute 0x04 Position Units of the Position Con troller object The default value is 2416 65536 which provides 2432 2216 2416 counts per revolution A value of 1 would provide 2432 1 1 2432 counts
23. AKD EtherNet IP Communication Edition December 2014 Revision E Valid for firmware version 1 13 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 EN LA J Because Motion Matters Ethernet IP Communications Record of Document Revisions Revision Remarks A Launch version 10 2011 C Minor updates to formatting 08 2012 D Add information on using Jog Move and Position Move while in position mode Communication 1212012 Profile 2 p 9 Data size of IL FB corrected in Appendix B Parameter Listing 3 p 38 Added dynamic mapping for Command Assemblies 3 p 11 and Response Assemblies 3 p 12 2014 114 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 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 2 Kollmorgen December 2014 Ethernet IP Communications 1 Table of Contents 1 Table of Contents 1 Table
24. 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 Mes sages allow you to access a single parameter value at a time The desired parameter is selected by spe cifying the class object number instance number and attribute number in an explicit message See chapter 2 Overview for an overview of Explicit versus IO Assembly messaging 6 1 1 Supported Services e 0x10 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 number references the desired parameter See Appendix B for a list of available para meters Description The parameter object gives direct access to amplifier configuration parameters Position Controller Supervisor Object Class Code Ox24 Instance 1 Description The position controller supervisor handles errors for the position controller Position Controller Object Class Code Ox25 Instance 1 Description The position controller object is used to set the operating mode torque velocity position con figure motion profiles and initiate movement AKD also supports the required standard objects for EtherNet IP communication Typically the controller wi
25. Controller object The default value is 2216 65536 which provides 2432 2416 2416 counts per second per revolution A value of 1 would provide 2432 1 2432 counts per second per revolution Related Topics EIP POSUNIT 2 p 32 Kollmorgen December 2014 Ethernet IP Communications 9 EIP Parameters 9 5 EIP RSPMAP General Information RW Description Sets parameters in the dynamic portion of response assembly ere vej 9 Variants Supported Variant Supported AD Bae e AKO with Poston Indexer 1 No AKDEeCAT w mocan f o mosse mw spass mw AKD Pro ret e spass o WON Ne oo WE Description EIP RSPMAP can be used to set the following parameters in the dynamic portion of response assembly using the syntax EIP RSPMAP lt index gt lt parameter id Parameter Data Size Data 2 Type Position unit values are scaled from 8 bytesto 4 bytes This results in a loss of precision Read EIP RSPMAP to display the current state of the 16 mappable portions of response assembly A 0 rep resents an unassigned value gt EIP RSPMAP 0 286 1 288 2 478 Kollmorgen December 2014 Ethernet IP Communications 9 EIP Parameters 3 4 5 6 7 8 9 10 11 12 13 14 15 gt ECH EEN OO DIO SO 0 9 os 6 Example The following example maps the parameter to SWLS EN to the dynamic portion of command assembly using its index ID gt EIP CMDMAP 0
26. EGAT wo AKD CANopen fo AD BAS O wo CO Ne Ii AKO Profinet f AKD sercos HI No Description EIP CMDMAP can be usedto set the following parameters in the dynamic portion of command assembly using the syntax EIP CMDMAP lt index gt lt parameter id ID Parameter Data Size Data Type 383 SWLS EN 2Byte SWLS LIMITO 4 Byte Signed scaled using ElP POSUNIT 386 SWLS LIMIT1 4 Byte Signed scaled using EIP POSUNIT Position unit values are scaled from 8 bytes to 4 bytes This results in a loss of precision Read ElP CMDMAP to display the current state of the 16 mappable portions of command assembly A 0 rep resents an unassigned value gt EIP CMDMAP 0 383 1 384 2 386 3 0 4 0 5 0 6 0 7 0 8 0 Kollmorgen December 2014 29 Ethernet IP Communications 9 EIP Parameters 9 0 10 11 12 13 14 15 gt GE SS ODE Example The following example maps the parameter to SWLS EN to the dynamic portion of command assembly using its index ID gt EIP CMDMAP 0 383 Related Topics EtherNet IP View pg 1 Kollmorgen December 2014 Ethernet IP Communications 9 EIP Parameters 9 2 EIP CONNECTED General Information R O Parameter Description Returns state of EtherNet IP con nection E o M_01 05 06 000 Variants Supported Variant Supported AKD Base No AKD with Position indexer No AKDEtheGAT mw
27. Final Spe cification for EtherNet IP and c to enabling technology products such as any other EtherNet IP or other net work 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 fora 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 A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE 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 WHETHER 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 December 2014 About Kollmorgen Kollmorgen is a leading provider of motion systems and components for machine builders Through world class knowledge in motion industry leading guality and deep expertise in linking and integrating standard and custom products Kollmorgen delivers breakthrough solutions that
28. OF tr ESE GEE eee 25 7 3 1 Supported Attributes 25 7 3 2 Read a Parameter Value 26 7 3 3 Write a Parameter Value 26 7 3 4 Execute a Command Parameter 26 A A A AS 27 8 1 Position Units see a N ns e is ot ta ae 27 8 2 Velocity and Acceleration Units 27 6 3 Lorque Units ER S AR RE dE EE 27 8 4 Other Floating Point Values EES SEGE Gie 27 9 EIP TEE 28 9 1 EIP CMDMAP EES SE GE GE GE GE GEGEE 29 9 2 EIP CONNECTED Ge 31 93 EPPOSUNIT ss N ss dm SS S 32 9 4 EIP PROFUNIT EG GE Gee 33 9 5 EIP RSPMAP occ cc cnn cnnnnncnnnncos 34 10 RS Logix Sample Projects EG Ge 36 10 1 Add On Instructions Ie ll elle ll ll el e cece cece ceeececeecceeeees 36 10 2 AKD Sample Project EE ll ee el e ee cnn cnn nn 36 10 3 Registration Example Project 36 11 Appendix A Supported EtherNet IP Objects and Attributes 37 11 1 Position Controller Object 0x25 EE EER EE EE le et EE EE e ae eee ee ee ee ee ee ee ee ee ee ee 37 12 Appendix B Parameter Listing 38 13 Appendix C Software Distribution License 58 4 Kollmorgen December 2014 Ethernet IP Communications 2 About this Manual 2 About this Manual T
29. Position DRV OPMODE 2 1 velo city DRV OPMODE 1 2 Torque DRV OPMODE 0 This attribute must be set before any moveis attempted Access Get Set Rule Data Type Unsigned Short Integer 0 Position Mode 1 Velocity Mode 2 Torque Mode 3 Other read only Non Volat ile See Also Kollmorgen December 2014 Ethernet IP Communications 7 Drive Objects Attribute Ox04 Position Units Description This ratio value is the number of 32 bit actual position feedback counts egual to one position unit Get Set Data Type U32 Oto 2 65536 16 bits revolution Yes See Also N A Access Rule Range Default Non Volatile Attribute 0x05 Profile Units Description This ratio value is the number of 32 bit actual position feedback counts per second velocity or second squared acceleration equal to one velocity or acceleration unit Access Get Set Rule Default 65536 16 bits revolution Non Volat Yes ile Attribute 0x06 Target Position Description This attribute specifies the target position in counts Set Start Trajectory 1 attribute 11 or the Polled I O Start Trajectory Load Data bit to initiate the positioning move Access Get Set Rule Data Type Double Integer Default Non Volat ile Attribute 0x07 Target Velocity Description This attribute specifies the target velocity in counts per second Use target velocity for pos ition opmode and jog velocity attribute 22
30. 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 pre defined motion task or sequence of motion tasks A motion tasking sequence may be setup in Workbench and then executed later through EtherNet 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 execut ing 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 Stop 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 Kollmorgen December 2014 Ethernet IP Communications 6 Communication Profile 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 Drive is in torgue mode set Att
31. Write a 1 byte value any value to the parameter to execute the command Transmit the follovving explicit message Service Ox10 VVrite 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 com manded through an Explicit Message to the Parameter Object Transmit the follovving explicit message Service Ox10 VVrite Class OXOF Parameter Instance 470 DRV NVSAVE Attribute 0x01 Value Data Length 4 bytes Data Value 1 Kollmorgen December 2014 19 20 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 equals 1 in the class instance attribute mappings for the Position Controller Attribute 0x01 Number of Attributes Attribute 0x02 Attribute List Description Returns an array with a list of the attributes supported by this unit in the Position Controller Class The length of this list is specified in Number of Attributes Access Get Rule Data Type Array of Unsigned Short Integer Array size is defined by Attribute 1 Non Volat N A ile See Also Attribute Ox03 Operation Mode Description This attribute is used to get or set the operating mode 0
32. aled 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 feedback 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 POSUNIT in the ter minal From EtherNet IP this value can be accessed at attribute Ox04 Position Units of the Position Controller object The default value is 2216 65536 which provides 2432 216 216 counts per revolution A value of 1 would provide 2432 1 2432 counts per revolution e When dynamically mapping response or command assembly position units are scaled from 8 bytes to 4 bytes This results in a loss of precision for the parameters PL CMD PL ERR SWLS LIMITO and SWLS LIMIT1 8 2 Velocity and Acceleration Units Velocity and Acceleration values are scaled according to the EtherNet IP Position Controller Device stand ard 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 revolu tion per second equal to one velocity unit For acceleration values Profile Units gives the number of actual position feedback counts at 32 bits per revolution per second 2
33. are unmatched in performance reliability and ease of use giving machine builders an irrefutable 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 Pempelfurtstrafie 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 Tel 49 2102 9394 0 Tel 186 400 666 1802 Fax 1 540 639 4162 Fax 49 2102 9394 3155 Fax 86 106515 0263 O AAA Because Motion Matters
34. as the command is loaded The position move is loaded into Motion Task O and can be viewed within Workbench e Put drive in position mode by sending a message to Position Controller class 0x25 Instance 1 Attrib ute 3 Operation Mode Kollmorgen December 2014 Ethernet IP Communications 6 Communication Profile e Load Target Position Velocity Acceleration and Deceleration into bytes 8 23 see Data Structure sec tion e Set the Load Start bit to begin the move Position values are scaled according to EIP POSUNIT Velocity and acceleration values are scaled accord ing 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 and pos ition mode The Direction bit sets the desired direction The move will begin as soon as the target velocity is loaded e Put drive in velocity mode by sending a message to Position Controller class 0x25 Instance 1 Attrib ute 3 Operation Mode e Load Target Velocity Acceleration and Deceleration into bytes 12 23 see Data Structure section e Set the Load Start bit to begin the move Velocity and acceleration values are scaled according to EIP PROFUNIT In position mode a Jog Move may be blended into a Position Move 6 2 2 6 Command Type Ox1B Set Attribute of Position Controller Object This command type is used to set a value in the Position Controller object such as for configuring and t
35. cember 2014 23 24 Ethernet IP Communications 7 Drive Objects Attribute 0x19 Torque Description Set a new torque command IL CMDU in torque mode or read the current torque command The Trajectory Start attribute is used to begin motion Access Get Set Rule Data Type Double Integer 3280 to 3280 3280 peak torque Default Non Volat ile Attribute Ox64 Home Mode Set the desired homing mode Deut TI Attribute Ox65 Start Home Move 0 Do not move home 1 Initiate a home move pean Je 7 2 Position Controller Supervisor Class 0x24 Attribute 0x05 General Fault Description When active this indicates that an amplifier related failure has occured short circuit over voltage ect Range 1 Fault condition exists 0 No fault exists DRV FAULTS Kollmorgen December 2014 Ethernet IP Communications 7 Drive Objects 7 3 Parameter Class OxOF 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 Supervisor classes For an explicit message 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 Amplifie
36. d H gt Adler d H gt ca Mi Pi LW ES MA Po LWA ES Ma misli gi L ES le Sin Data Type Kollmorgen December 2014 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size Data Type 766 1 Byte 767 1 Byte 768 1 Byte 769 71 72 73 74 76 TI 78 79 81 82 83 84 85 86 87 89 90 91 92 93 94 95 96 97 98 03 06 08 09 10 12 13 14 15 Integer Integer Integer Float 1Byte Integer 1Byte 1Byte Integer Integer Float Integer 1Byte 1Byte 1Byte N Integer N Integer Float Integer IN 1Byte 1Byte 1Byte 1Byte Integer bi IS e e e IQ IOQDIUVUI IOVUJIOQVU UIUVUIODIOUJOVUJIOVIUIU vjeleleleleleloelololeleloloeleloele kd l l Ec EI E EJE E JE JE CE l CIC CI Cc olalalalalalalslalalalalalsalslala Plslslelelelelnininininininininin ivlao j j j j j j js SHEHE slal lalala gjalaleizlolelrizlalelrizlalelrit OPT A m z Gi Gi EP LI BE PI LEIE C C C C lt O 00 00 00 O UJ UJ UJ 3 3 O D D 8 0 0 0 Q Q Q Q ech kal 5 D D D o o o Integer N Integer N S g 2 Q m a O 2 gt 0 I g C Y O Oo 3 3 w gt Q N Float sja String N Integer N Integer Integer Integer Integer Integer N Integer N Integer oo Integer Position Integer Integer Position Integer AT SI fan per
37. e 0x1B Set Attribute of Position Controller Object 13 6 2 2 7 Command Type 0x1F Read or Write Parameter Value 13 6 2 2 8 Get Attrib t EE 13 6 2 3 Response Assemblies 14 6 2 3 1 Response Assemly Data Structure 14 6 2 3 2 Status Won 14 6 2 3 3 Status Word 15 6 2 3 4 Response Type 0x05 Actual Torque aaa aaa 15 6 2 3 5 Response Type 0x14 Command Response Cor 15 6 2 4 Data Handshake cc e kk kk tt kt aaa aa kk kaa aaa aaa aaa ea aa aaa eee eee eececeeeeeeeeeeees 16 6 3 Velocity Mode ge SENSE eti ad caa sat BE DE da 17 6 3 1 Setup Velocity Mode 17 6 3 2 Velocity MOVES 17 6 4 Position Mode 17 6 4 1 Setup Position Mode 17 6 4 2 Homing ESE SESSE ccc cece cece cece cece cece cece cece cece ce ceeeceeseeeeeteeeeeeeeees 18 6 4 3 Position Moves point to point SESSE e e ee e SESSE SG SG c cece eee cceccecceeeeeeees 18 6 4 4 Running a Stored Motion Task Sequence 18 Kollmorgen December 2014 3 Ethernet IP Communications 1 Table of Contents 6 6 e te UE 18 6 5 1 Setup Torque Mode 18 6 5 2 Torque Moves 19 6 6 Handling Faults aaa 19 6 7 Saving to Non volatile Memory e e Ge cece cece cee cece cece cece ee ee ee ee ee ee 19 Ta Drive Objects EE 20 7 1 Position Controller Class 0x25 ESE SESSE e cece cece cece cccceeeeeeees 20 7 2 Position Controller Supervisor Class 0x24 1 ee eee 24 7 3 Parameter Class OX
38. e 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 milliarms Data will be received in the Data field bits 4 7 Set Response Type 0x05 in the command assembly to read this value 6 2 3 5 Response Type 0x14 Command Response Error This VO 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 hex Additional Code hex EtherNet IP Error e a 2 Je RESOURCE_UNAVALABLE EE CTE MAA COMMAND ANS INVALID 2 RESPONSE ANS INVALID CI service nor supe II Kollmorgen December 2014 16 Ethernet IP Communications 6 Communication Profile Error Code hex Additional Code hex EtherNet IP Error BFF NREADYN STATE DEE OBJECT ALREADY EXISTS 6 2 4 Data Handshake Data handshaking is used to transmit data commands with I O Assembly Messaging To transmit a com mand 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
39. en December 2014 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size Data Type 127 2 Byte 128 DRV EN 129 130 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 48 50 51 52 53 54 55 56 57 58 59 160 61 62 63 64 78 179 Integer 1Byte 4Byte 1Byte Integer Integer Integer Float Float Float Integer Integer AT AT Integer Integer nji ni TIO U U U U U U UJU U U U U wiwiolajzizizi2iDJIZJIZIZJIZIZIZ A slslslslslslslslslslelslslsisle U ZIN ol mizilejzizim m migjojmisjalejsjajnielels jsl2 zZ Ololululo mo Sjalol lmjejs slalzlzizimiS e m 21010 Slab dEREG O m mio jal 7 el si U IMI TI m Mi 218 JE 8 3 3 a 8 3 JE ab nin ala als a 315 o o Qala Integer Integer Integer TI UJ H C Z m U Alp oo w W W w w lt lt lt lt lt a D ojo D D Q Q Q Q 2 2 m 2 0 ad O D apa a Q Integer Integer Position Position Integer Float Integer Integer Float Float Integer AA Integer Integer Integer Integer Integer Integer Integer mj mj mj mij mi mij mij mi MI MI MI MI MI MI MI MIJ MI MI MI T vivuo 1 W W CD 2 0 1 0 1 00 1 CD 1 GD 1 0 1 C0 GD 2 0 1 v 0 1 CD 1 0 D C E S C C SC S E S S S S S jS jajajo ajaj ojajojajajojajojajajoizizidoiuoDI DI DJO O Z vu vu UD UD UD o ou
40. equal to one acceleration unit From Workbench this scaling parameter is visible in the EtherNet IP screen or as EIP PROFUNIT in the ter minal 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 2432 216 2416 counts per second per revolution A value of 1 would provide 2432 1 2432 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 Kollmorgen December 2014 27 28 Ethernet IP Communications 9 EIP Parameters 9 EIP Parameters This section describes the EIP parameters 9 1 EIP CMDMAP io EES GE GE ee ee ee 29 9 2 EIP CONNEGTED sins s less EE RES ED Ed Ge tus ai EE 31 93 EIP POSUNIT a EE EE 32 9 4 ElPIPROFUNIT esi ce es eri ai ate 33 9 5 EIP RSPMAP x asnus ass i ee Ee as jet fanfa 34 Kollmorgen December 2014 Ethernet IP Communications 9 EIP Parameters 9 1 EIP CMDMAP General Information RW Description Sets parameters in the dynamic portion of command assembly DEGA ANA A Variants Supported Variant Supported AKDBase Mo AKD with Position Indexer No AKDEM
41. er Integer Integer Integer Varies O 1 Byte 2 Byte 1 Byte 2 Byte Integer O Integer O Integer O Integer Varies We ge LL LL LL LL UL UU O ZIZIZIZIZIZIZIZIZIZIZIZIZIZIZIZIZ NININININININININININININININININ l Rel 9 129 129 129 129 120 Aa Aa R JSRJ J J sinjojujlszisiniliolujeselsiniojuvlesijsijn zia z 4 zili zj AI aj aj lt 5 gt 3 8 lt 5 gt 3 9 lt 5 gt 3 8 lt 5 mialzim mialrim mialrim m oim z a m z EE a 00 CO 00 w w w lt lt lt o o D Q Q Q 2 2 J O O D O Q Q 1Byte 92 2 Byte 93 1Byte 94 2 Byte Integer 95 Varies 97 Integer 98 Integer B 8B Varies B Integer O Integer Q Integer E U Z N O U m o oj o glg LLL JPL LL UL LY PU PL LIL UU ZIZIZIZIZIZIZIZIZIZIZIZIZIZIZIZIZIZIZIZ O LI dvd LI DIDI GM lG M lM lM lM lM l hM l KM l KM lM lM lM K bad Ed Ed CHE ECH ECH H oo 1 2 ER EA Pl Sl SO EA bell fe siIz njojviz zinjalvlsizjtjolvizjzjnjejv Ale Ale alx Ale Sis 5 al8 s 5 5 a 8 5 1a 8 5 a m mialrim m H gt m mjialrim midi a m z EES omz a m z N 00 01 03 04 05 06 07 09 10 1 Byte Integer yte Signed yte Signed yte Signed yte Signed 1 Byte Integer 2 Byte Integer Isl 1 Byte Integer N 12 13 15 16 717 718 SI ETI KIT KIT aa Kollmorgen December 2014 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size 1
42. er 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 para meters 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 Message Block Number field and Start Block bit VO 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 velocity acceleration deceleration and torque set points Status bits in a response message display error states and the general state of the amp lifier Response messages can also display the actual position commanded position actual velocity and torque 6 Kollmorgen December 2014 Ethernet 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 certain vendor specific objects CIP Motion for real time multi axis synchronized motion control is not supported The following general drive features are supported thro
43. his manual describes the installation setup range of functions and software protocol for the AKD Ether Net 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 programs 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 e AKD Installation Manual also provided in hard copy This manual provides instructions for installation and drive setup e AKD Parameter and Command Reference Guide This guide provides documentation for the para meters and commands used to program the AKD Additional documentation e The CIP Networks Library Volume 1 Common Industrial Protocol ODVA e The CIP Networks Library Volume 2 EtherNet IP Adaptation of CIP ODVA Kollmorgen December 2014 5 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 DeviceNe
44. in position or velocity mode how to clear faults how to load and execute motion task seguences 10 3 Registration Example Project This sample project can help you leam e How to configure the drive for registration using only EtherNet IP no Workbench setup required e How to start a motion task sequence e How to control digital VO Kollmorgen December 2014 Ethernet IP Communications 11 Appendix A Supported EtherNet IP Objects and Attributes 11 Appendix A Supported EtherNet IP Objects and Attrib utes 11 1 Position Controller Object 0x25 Name Access Type Description Rule 1 Number of Get USINT Returns the total number of attributes supported by this object Attributes in this device 2 Attribute List Get Array Returns an array with a list of the attributes supported by this of object in this device USINT 3 Get Set USINT Operating mode 0 Position mode default 1 Velocity mode 2 Torque mode 4 Position Get Set IDINT Position Units ratio value is the number of actual position feed Units back counts equal to one position unit default 1 5 Profile Units Get Set DINT Profile Units ratio value is the number of actual position feed back counts per second or second2 equal to one velocity acceleration or deceleration unit default 1 Target Pos Get Set DINT Specifies the target position in counts ition Target Velo Get Set DINT Specifies the Target Velocity in counts per second city
45. is 1 Command Type 1 Response in the command assembly Axis 1 Data 1000 Kollmorgen December 2014 Ethernet IP Communications 6 Communication Profile UO Assembly Messaging Handshaking Sequence Example 4 Amplifier sees the Load Start flag transition high and If no error execute the requested command R attempts to execute the command specified in the Com 0x81 0x00 0x80 0x20 0x00 0x00 0x00 0x00 mand Type field on the data in the Data bytes If suc Enabled 1 In Motion 1 Load Complete 1 cessful the amplifier sets the Load Complete flag If Response Axis 1 Response Type 0 none the command fails or the command assembly is invalid Data 0 If there was an error e g data out of the amplifier will set Response Type to Error and load range R 0x80 0x00 0x00 0x34 0x09 OxFF 0x21 error information in the response assembly Data fields 0x20 Enabled 1 Load Complete 0 Response If the command matches the operating mode e g Tar Axis 1 Response Type 0x14 Error Error get Position in positioning mode the amplifier will start codes 0x09FF Invalid Attribute bytes 6 7 echo motion command assembly bytes 2 3 5 Controller waits for either the Load Complete flag to Clear LoadiStart C 0x80 0x00 0x21 0x20 OxE8 transition high or for an Error Response Type in the 0x03 0x00 0x00 Enable 1 Load Start 0 Com response assembly then clears Load Start Ready for Jmand Axis 1 Command Type 1 Response next command Axis 1 Data
46. joljo Le o oj jojoj ojoj oj oj oj oj oj oj oj oj oj oj oej oj oej oj oj oj o USER INT10 oun Kollmorgen December 2014 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size 28 1 Byte 29 1 Byte 30 4 Byte 31 8 Byte 32 8 Byte 33 34 35 36 37 38 39 0 1 3 5 7 9 50 51 52 53 54 55 56 57 58 60 61 66 68 70 72 73 74 76 TI 78 ajajaja 1 Byte 1 Byte 2 Byte ajaja m X rri Z O O U m a U O O O U Cc O oo Og D 00 BIN 00 w W W w lt lt lt lt a se gt o o o o Q Q ja Q 2 DIS J O OD IO D Q o o Q gt H DIDIDISIDIS gt SIS SITISISISISIZ TIIS s O OD D o o o oj joj o OD OD o a oj oj o oj o aloo E Q Sv lele lG le lO Q Q Q Q gt Q Q 1QO1Q OQo a KO IQ 10 B Oo 5 BIEISIDISIO Oo ojo Oo o oj oj oj o o jo 10 i o ojolojsiols sja sjsjsajsija 5 5 gt 5 5 lt 8 R T di die Gn Om ajaja k MOVE DIR olslslelelelelelelzelelslelelelelelelelg 3 lt lt 3 lt i lt l lt lt 5 3 313131313 ISIS J I IS S S le ISIS J 3 2 2 010 01010 0 a slele S alalalalalala 315 315315 5 D a o oj o OD ala aliala Q al Kollmorgen December 2014 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size Data Type 579 VM START 580 VM STATE 581 VM STOP 582 VM ERR 83 84 86 87 88 90 9
47. ll automatically configure these objects and the user program will not need to directly use them Identity Message Router Assembly Connection Manager TCP IP Ethernet Link Kollmorgen December 2014 9 10 Ethernet IP Communications 6 Communication Profile 6 1 3 Data Types The table below describes the data type number of bytes minimum and maximum Range Data Type Number of Bytes Minimum Value Maximum Value Abbreviation atase Tg m mounn e eers oe 1 Unsigned Dota eger o Je Je 6 1 4 Error Codes The following error codes may be returned in response to an Explicit Message Error Error Code Not Settable Attribute Not Supported Service Not Supported Class Not Supported Value is Out of Range 6 2 I O 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 position 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 VO Assembly Messages and Explicit Messages may be used simultaneously 6 2 1 Controller Config
48. med 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 in Execution When set indicates the amplifieris running a motion task Executing Block Byte 1 in Response Assembly Indicates the index of the currently executing Motion Task when the Block in Execution 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 2 Load Com Reserved Reserved Neg SW Pos SW Neg HW Pos HW Reserved plete Limit Limit Limit Limit Load Complete This bit indicates that the command data contained in the command message has been successfully loaded into the device Used for handshaking 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 Hardwar
49. nd 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 ovvners The Communications Stack Software for EtherNet IP or any portion thereof with or without modifications 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 dispose 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 Ether Net IP mark owned by ODVA To make have made use import offer to sell sell lease market or oth erwise distribute or dispose of any products that implement this software and to use the EtherNet IP mark one must obtain the necessary license from ODVA through its Terms of Usage Agreement for the Ether Net 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 EtherNet IP Network Devices b to components of such Network Devices to the extent they implement portions of the
50. nications 12 Appendix B Parameter Listing Instance Parameter Data Size 20 21 22 AIN2 MODE 23 24 26 27 30 36 37 38 39 40 41 43 45 47 49 50 51 52 54 55 56 57 58 59 61 62 63 64 65 67 68 QIQ 4 Byte 1 Byte QIQ 8 Byte 2 Byte 8 Byte 4 Byte 4 Byte 4 Byte 2 Byte o oj oj o 8Byte P RAHAA ecelelelelelelelelel 213121318 AE ala Sa La aaa A eee NJI vivivivivivivIPlslniIsisi1el192 el E ae Seg EA Bod V EE mimi gt nin m sisisjololzlololelsol lel 8l MI gt QI EI EIO TISI OGI l oa 216 S E E S 3 8 3 a E F e R F E S gt gt mjejo n m mj gt Cimmi eim m m m mic mja ky E 9 m co N O N N ga u U Q U U lt Ire lt 3 lt lt a a o o bd 3 D D o 0 0 9 n aia a a a 5 5 5 ola D D o o Q Q EE UJ O U m Ti E O o o oj oj o 70 71 73 OIO Data Type Float None Float Float Float 4 Byte Signed DINOSTATE D n DINMSTATE free DINZEFICTER Ip omav ree DINZLMODE ame DINZISTATE free DINZ2FILTER faee DEn fee Din move pe DINZ2STATE Bye RRE ER Den fee DINZMODE feee mes ve Kollmorgen December 2014 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size Data Type 74 2 Byte 75 1 Byte 76 2 Byte TI 79 80 81 82 83 85 86 87 88 89 91 O Integer O Integer O Integer O Varies 1 Byte 2 Byte 1 Byte 2 Byte Integ
51. ning 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 transitions from Oto 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 e Put drive in torque mode by sending a message to Position Controller class 0x25 Instance 1 Attribute 3 Operation Mode e Load the desired torque value in bytes 4 7 e 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 accel eration and deceleration Since all command values are sent to the drive in a single assembly this is the pre ferred way The trajectory can be absolute or relative depending on the value of the Relative bit The move will begin as soon
52. rcommands such as MOVE HOME and DRV NVSAVE are executed by sending a Set Value com mand vvith a data length of 1 and any value 0 to 255 Reading the value vvill 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 Description Directly access the parameter value Check the command reference 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 Access Depends on the parameter and is given in ascii chm in the Type field Rule Data Type Depends on the parameter and is given in ascii chm in the Format field The byte length is given by Data Length parameter N A Range Non Volat N A ile See Also Attribute 0x05 Data Type Data Type Code Data Type Abbreviation Kollmorgen December 2014 25 Ethernet IP Communications 7 Drive Objects Data Type Code Data Type Abbreviation Attribute 0x06 Data Length 7 3 2 Read a Parameter Value To read a parameter value through Explicit messaging use Service Ox0E Read Value Class OxOF Para meter cla
53. ribute 3 Operational Mode of the Position Controller object Smooth Stop and Hard Stop bits are cleared in Status Word 1 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 a torque set point in the drive Torque commands and values are scaledin milliarms While in motion issue another Torque command to immediately change the target torque While a torque commandis active the In Motion bit in Status Word 1 will be set and In Position will be cleared The Direction status bit vvill reflect the actual direction of motion Set the Smooth Stop bit to stop the motor at the previously set deceleration rate and remain enabled 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 Workbench 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 FAULT3 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 Parameter Class
54. rig gering a home move See the Drive Objects chapter for a listing of available attributes in this object e Set Command Type to 0x1B e Load the Attribute number which you wish to set into bytes 4 5 first half of the Data field least sig nificant byte first e Load the desired value into bytes 24 31 Parameter Attribute Data see Data Structure section e Set the 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 a listing 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 Com plete status bit will be set in the response or else an Error Response Assembly will be retumed e Set Command Type to Ox1F e Load the parameter Index which you wish to access into bytes 4 5 first half of the Data field least sig nificant byte first Set byte 6 according to whether you wish to read or write the parameter O read 1 write If writing a parameter load the desired value into bytes 24 31 Parameter Attribute Data Set the Load Start bit to execute the command If reading a parameter the value will be returned in bytes 24 31 of the response 6 2 2 8 Get Attribute Get At
55. s 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 Expected 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 VVorkbench 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 resulting in fault F702 Fieldbus Communication Lost In this case the EPR should be set to a larger value 8 Kollmorgen December 2014 Ethernet IP Communications 6
56. s decel eration rate To set different deceleration rates for multiple motion blocks tasks requires the motion block to be setup using the amplifier setup software Access Get Set Rule Data Type Double Integer Set to a positive number Default According to setup Non Volat Yes ile Attribute 0x0A Move Type Description This bit is used to define the position value as either absolute or incremental in DRV OPMODE 2 Range 0 Absolute Postion 1 Incremental Position Kollmorgen December 2014 Ethernet IP Communications 7 Drive Objects Attribute 0x0A Move Type Attribute 0x0B Trajectory Start Complete Description Set high 1 to start a trajectory move Reads high 1 while in motion and low 0 when motion is complete Range 0 Move Complete 1 Start Trajectory In Motion Attribute 0x3A Load Data Complete Description Indicated the drive has successfully loaded the previous command value It is used in com bination with attribute OXOB Trajectory Start Complete to handshake motion starts between the AKD and controller Access Get Rule Range 0 Load not complete 1 Load complete Non Volat ile Attribute 0x11 Enable Description This flag is used to control the enable output Clearing this bit sets the enable output inactive and the currently executing motion profile is aborted Access Get Set Rule Range 0 Disable 1 Enable Non Volat N A ile Kollmorgen De
57. sembly 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 Control Word The control word contains bits for enabling moving and handshaking with the drive 1 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 Para meter Response Type Specifies the desired response data to return in the Response Assembly The command data for most Command Types Position data for Command Type 6 Position Move Velocity Velocity data for Command Type 6 Position Move and 7 Jog 15 Acceleration data for Command Type 6 Position Move and 7 Jog 19 Deceleration data for Command Type 6 Position Move and 7 Jog 23 24 Parameter Attribute Command Data for Command Type 0x1B Set Position Controller Attribute and 3
58. ss Attribute 1 Parameter Value The instance number corresponds to the index of the desired parameter This number may be foundin Appendix B 7 3 3 VVrite a Parameter Value To set a parameter value through Explicit messaging use Service Ox10 Write Value Class OXOF Para meter 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 possible 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 function 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 December 2014 Ethernet 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 sc
59. t lt lt a a am o o o sj o bd bd D D Q IQ lO lolo Q Q Q Q s Kal oj ech J D 091210 fo D D D D Q jaja Q o o o Q Position A Position Float A Kollmorgen December 2014 Ethernet IP Communications 12 Appendix B Parameter Listing Instance Parameter Data Size 52 WS MODE 1 Byte 53 1 Byte 54 1 Byte 55 2 Byte 56 2 Byte 57 2 Byte 58 2 Byte 59 60 61 62 63 64 65 66 hip WS STATE R A VVS TDELAY2 2 Byte 2 Byte 2 Byte 2 Byte 2 Byte 2 Byte 2 Byte 67 1Byte 68 1Byte 69 1Byte 70 71 72 73 74 75 76 TI 78 79 80 81 82 83 84 85 86 87 88 89 psjpipjp Ne alg 2 e e e a e al s sIisIZIZIZIZIZIZIZIOJO RO Ko rizisjisjelsjejlvj alsl a ala Z sa na a a al a ald 9 U C rijelcicicicicicicizjmo m zZ LLE didi didi didi dida L 5 OV mm mm m mimi nm O S pa ala al al UU Il lt O PIP rje gt 413 H mjm n lt C 00 UJ lt S o wm e 5 O a El bl El bl b TI w I gt Z C GN gt m 2 4 Byte 4 Byte 4 Byte 4 Byte 4 Byte 2 Byte 4 Byte 2 Byte 2 Byte 2 Byte 2 Byte 2 Byte 2 Byte 2 Byte 2 Byte 2 Byte 2 Byte 4 Byte 4 Byte BR BR A SI BRL EI RI A sislsjzlslslsjsjajslsjsl lsl lsl lsl la 9 8 2 2 2 2 2 2 2 2 2 2 89 9 8 8 8 9 8 2 OO n n n nl n n n n n no ooo oo woz clelzlelele iele ieje ejelcelcelcelelelelel IZ IFIEIEIEIEI IEEE e EE Z Ie o i oja a n s z 5
60. t and ControlNet but built on Ethemet 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 Sms to 5s The AKD can be fully configured using Explicit Messages e IO Assembly Messages are data structures usually sent on a timed cyclic basis These are normally 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 I O Assemblies are used to control move ment Most PLC s will support both types 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 message VO 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 control values may be changed within one message For this reason Explicit Messaging is better for configuration and VO Assembly Messaging is better for motion control The Position Controller Object and Position Controll
61. t 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 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 Kollmorgen December 2014 17 18 Ethemet IP Communications 6 Communication Profile 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 Drive is in position mode set Attribute 3 Operational Mode of the Position Controller object Smooth Stop and Hard Stop bits are cleared in Status Word 1 Position Limits are cleared check bits in Status Word 2 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 homing the drive may be homed The homing mode may be selected using attribute Ox64 Home Mode of the Position Controller object or by setting the homing mode direc
62. the response type of this assembly echoing the Response Type set in the command assembly The response data for most Response Types 12 Velocity Actual Velocity 15 16 Motion Status Status bits This provides the status word DRV MOTIONSTAT See the Para 19 meter Reference Guide 20 Reserved 23 24 Parameter Attribute Response Data for Command Type 0x1F Set Parameter and the Attribute to 31 Data Get 32 Attribute to Get Mirrors the Attribute to Get from the Command Assembly If non zero the data will be in the Parameter Data field 33 Map Type 0 Static Map only bytes 0 to 35 are sent 1 Custom Map 1 2 Dynamic Map bytes 36 63 are dynamically configurable 34 JReserved 35 36 Response See EIP RSPMAP 2 p 34 63 Dynamic Map Least significant byte first for all data fields Status 1 Status 2 Actual Position Actual Velocity and Motion Status data are updated in every response assembly Data in bytes 4 7 will be updated depending on the value of the Response Type Parameter Attribute Data in bytes 24 31 will be updated when Aftribute to Get is non zero or when a Get Para meter command was completed 6 2 3 2 Status Word 1 Enable Reserved Homed Current Dir General In Pos Block in Exe In State ection Fault ition cution Motion Kollmorgen December 2014 Ethernet IP Communications 6 Communication Profile Enable State This bit reflects the enable state of the amplifier Ho
63. tly in Workbench See the User Manual for a description 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 Ox06 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 pos ition In position mode Jog Moves command type 0x07 work in a similar way and can be blended with Pos ition Moves 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 status bit will reflect the actual direction of motion In Position will be set when the tar get position is reached Set the Smooth Stop bit to stop the motor at the previously set deceleration rate and remain enabled 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
64. tribute 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 Note Attribute to Get and Command Type Ox1F Read Parameter Value both use bytes 24 31 of the response assembly When using command 0x1F to read a parameter set the Attribute to Get field to 0 Kollmorgen December 2014 13 14 Ethernet IP Communications 6 Communication Profile e Load the desired attribute number of the Position Controller Object into byte 32 Attribute to Get e The value will be updated each communication cycle in bytes 24 31 of the response assembly 6 2 3 Response Assemblies In VO Assembly Messaging the amplifier transmits a response assembly back to the controller 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 command assembly 6 2 3 1 Response Assemly Data Structure Byte Data Comment o 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 3 Response Type Specifies
65. ugh 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 s 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 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 4 3 Connection Port The EtherNet IP network connection port with the AKD is the same RJ45 connector used for the 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 e As the last node in the network since AKD has only one connector in a line topology e As another node on the network in star topology using a switch Kollmorgen December 2014 7 Ethernet IP Communication
66. uration 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 Bradley controllers In addition to configuring the IP address of the AKD in the controller setup the following values must be con figured Input Assembly also called Response Assembly or Target to Originator Connection Instance 102 Size 64 bytes Run Idle Header No Output Assembly also called Command Assembly or Originator to Target Connection Instance 101 Size 64 bytes Kollmorgen December 2014 Ethernet IP Communications 6 Communication Profile Runlldle Header Yes Configuration Assembly Instance 100 Size Obytes Requested Packet Interval also called Expected Packet Rate 20ms or greater for simultaneous use vvith VVorkbench such as during commissioning 10ms or greater if simultaneous VVorkbench use is not required IO Connection Type Multicast Class 1 Type 6 2 2 Command Assemblies Command assemblies contain a control vvord 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 tar get position target velocity acceleration deceleration or torque The command type is specified in the Com mand Type field A command as

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