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AKD EtherCAT Manual english

1. 44 4 13 Mailbox Handling 0 0 02 aa 45 4 13 1 Mailbox Output e cece cece eee e cee ceceeceeceececcescecercereeceeeees 46 413 2 Mailbox AA 47 4 13 3 Example Mailbox Access a 48 4 14 Fieldbus Parameters 00 a 49 5 ao cY 51 4 Kollmorgen October 2011 AKD EtherCAT 1 General 1 General 1 1 About this Manual 6 1 2 Target Group p a 6 1 3 Symbols used p L A 7 1 4 Abbreviations Used 2 222 uu uu uu u uu 8 Kollmorgen October 2011 5 AKD EtherCAT 1 General 1 1 About this Manual This manual AKD EtherCAT Communication describes the installation setup range of functions and software protocol for the EtherCAT AKD product series All AKD EtherCAT drives have built in EtherCAT functionality therefore an additional option card is not required A digital version of this manual pdf format is available on the CD ROM included with your drive Manual updates can be downloaded from the Kollmorgen website Related documents for the AKD series include e AKD Quick Start also provided in hard copy This guide provides instructions for basic drive setup and connection to a network e AKD Installation Manual also provided in hard copy for EU customers This manual provides instructions for installation and drive setup e AKD Parameter and Command Reference Guide This guide provides documentati
2. 38 Kollmorgen October 2011 AKD EtherCAT 4 EtherCAT Profile This results in the startup SDO list for this sample free mapped configuration EtherCAT DC Process Data Startup CoE Online Online Transition Protocol Index Data Comment lt PS gt CoE Ox1C12 00 Ox00 0 clear sm pdos Ox1C17 C lt PS gt CoE Ox1C1 3 00 Ox00 0 clear sm pdos Ox1C1 3 E lt PS gt CoE UT AU UU 000 0 clear pdo O 1 400 entries CC lt PS gt CoE Uv ADD 07 060410010 16148725932 download pdo 01400 entry C PS gt CoE Uv ADU 02 060630020 1617100834 download pdo 047400 entry E lt PS CoE OxT1A00 00 Ox02 2 download pdo O 1400 entr C P55 CoE Ox12 01 00 Ox00 0 clear pdo Ox1A01 entries C PS gt CoE Uva 02 00 Ox00 0 clear pdo Dx1A0 entries C lt PS CoE UT A03 UU 000 0 clear pdo 041203 entries C lt PS gt CoE 0 1600 00 0400 0 clear pdo Ox1600 entries i lt PS gt CoE Ox1600 01 Dx60400010 1614807056 download pdo Ox1600 entry C lt P CoE Ox1600 02 Ox6OC10120 1623261472 download pdo Ox1600 entry C PS gt CoE Ox1 6600 00 Ox 01 121 download pdo 027600 entr C lt PS gt CoE Ox1601 00 Ox00 0 clear pdo Ox1601 entries C P5 CoE Uv 602 00 O00 0 clear pdo O 1602 entries C PE CoE Ox1603 00 Ox00 0 clear pdo Ox1603 entries C P55 CoE Ugi C1 2 01 0x1 600 5632 download pdo Ox1072 01 1 C lt PS gt CoE Ox1012 00 0801 1 download pdo 021072 count C PS gt CoE Ox1C13 01 Ox1 BUT 691 3 download pd
3. injury La WARNING Indicates a hazardous situation which if not avoided could result in death or serious injury Indicates a hazardous situation which if not avoided could result in minor or mod erate injury NOTICE Indicates situations which if not avoided could result in property damage NOTE This is not a safety symbol This symbol indicates important notes Drawing symbols Symbol Symbol TEEN D Protective earth mi Relays switch off delayed U T KU _ R H T IT Kollmorgen October 2011 if AKD EtherCAT 1 General 1 4 Abbreviations Used Mii Media Independent interface Standardized interface Ethemet controler lt gt routing equipment MDI Media Dependant interface Use of connector Pins and Signaling DD OUI Organizationally Unique Identifier the first 3 Bytes of an Ethernet Address that will be assign to companies or organizations and can be used for protocoll identifiers as well e g LLDP PDI Physical Device Interface set of elements that allows access to ESC from the process side PDO Process Data Object PDU Protocol Data Unit Contains protocol information transferred from a protocol instance of trans parent data to a subordinate level TP ZA ECAT ZA Drive C 8 Kollmorgen October 2011 AKD EtherCAT 2 Safety 2 Safety 2 1 Safety Instructions e eee e cece cece cece eeeeeeeseenseenees 10 2 2 Use as directed DO 10 2 3 Prohibited use xx 10 Kol
4. loge Cormart horiace Motor Potes Mamman Speed Mote Hemtance M omnes Voltage Moto Phase Cod Thermal Contant ARM2IC ANF NG OO 0 Patay 1 On Cortraien PLC lt CT mart I5 Hate 6 gt Karb zhe PLC lt LI NOS gt Controfer PLC Berr rd code rrer PC a Code CHL we date Pie Cab 1616027 Sree 18 5 Sedect Mots n active KO Create Motor The Motes igorot value equalto v 672 Am 1578 Ame ONG kam OX Nevers 19042 mi 6 3000 we 12000 Ohn 4 Vime 0 deg YES miz Local JO tasang 4 00 v Wan mwa roes Gorad w Cortrefer 10 teang 11580 For further information on the setup for a KAS system see the following sections in the KAS documentation e KAS IDE User Manual See section 4 2 3 Add and Configure Drive e KAS Online Help See Using the KAS IDE gt Creating a Project gt Step 3 Add and Configure Drive 26 Kollmorgen October 2011 AKD EtherCAT 4 EtherCAT Profile 4 EtherCAT Profile 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 4 12 4 13 4 14 Slave Register 0000000000000000 0 000000202022220 a oao rono 28 AL Event Interrupt Event and Interrupt Enable 29 Phase Run Up 2 cece c eee cence cece eceeceeeeeeceeeeeeeeeees 31 CANopen over EtherCAT CoE Status Machine 33 Fixed PDO Mappings 2 aa 36 Flexible PDO Mappings
5. Open or EtherCAT fieldbus Default values for this parameter are as follows CANopen drive disabled 0 EtherCAT drive enabled 1 Synchronization supervision is active when FBUS PARAM 04 1 and the first CANOpen Sync message or first EtherCAT frame is received When more than three CANOpen sync messages or seven Ether CAT frames have not been received and the drive is enabled fault F125 Synchronization lost occurs Kollmorgen October 2011 49 50 AKD EtherCAT 4 EtherCAT Profile This page intentionally left blank Kollmorgen October 2011 AKD EtherCAT 5 Index Synchronization 43 5 Index A Target group 6 TwinCAT 15 Abbreviations 8 U AL Event 29 G Use as directed 10 W CANopen over EtherCAT 33 Control Word Commands 34 Workbench over TwinCAT 20 Cycle Time Adjust 42 Max Values 42 Cyclical Values 41 E EtherCAT onboard 13 EtherCAT Proflie 27 F Fieldbus 49 Fieldbus Parameters 49 Interrupt Event 29 K KAS IDE 26 L Latch Words 44 M Mailbox 45 O Operation Modes 41 p PDO Fixed Mapping 36 PDO Flexible Mapping 37 Phase run up 31 Prohibited Use 10 S Safety Instructions Electrical Installation 12 General 10 Setup 15 Slave Register 28 Status Machine 33 Status Word 35 Symbols used 7 Kollmorgen October 2011 51 Sales and Service We are committed to quality customer service In order to serve in the most effective way please contact your local sales representative for assistanc
6. Process Data Startup CoE Online nr State Machine sans Pre Op Safe Op Op Clear Error SAFEO P SAFEO P Curent State Requested State mE 25 Devices 2 Device 1 EtherCAT afa Device 1 Image i mim Device 1 Image Info pie t Inputs E Outputs T R InfoData agi Drive 1 AKD l Ha Drive 2 AKD E Lp Mappings Installation process for WorkBench is the same process as normal except that it must be installed on the same Kamara File Access over Ether AT Download Upload Local 10 1 38 161 1 1 END machine as TwinCAT Communication to the drive is done thru TwinCAT master and it s not possible to connect WorkBench to the master remotely Kollmorgen October 2011 21 AKD EtherCAT 3 Installation and Setup 3 6 2 Connecting to a drive using WorkBench In order to connect to a drive a TwinC AT device must be added in WorkBench The start page of WorkBench can be used to do this First the type of drive Online TwinC AT must be specified Then a list of available drives will be provided 3 Kollmorgen WorkBench File Edit View Tools Help BOO Gr KOLLMORGEN T Z Learn more about this topic Quick Start Guide Because Motion Matters Welcome to AED WorkBench from Kollmorgen Do vou want to work online or offline Online Twin amp T w 4 Tell me more WorkBench has found the following drives g ls yoyr device is not shown Name Status Net ID Drive 1 AKD Fr
7. 22 ccc cece eee cece eee e cece cece cece ec eeceeeseeseeseeeees 37 Supported Cyclical Setpoint and Actual Values 41 Supported Operation Modes mmeamua mim m ume 41 Adjusting EtherCAT Cycle Time mme meme 42 Maximum Cycle Times depending on operation mode 42 SynchronizatioN mmmmmmm mwan mwanama cece e wauwawe 43 Latch Control Word and Latch Status Word 44 Mailbox Handling mmmmmam ceeceeceeeeeeseeseeseerees 45 Fieldbus Parameters mwm mm mm ee eens 49 Kollmorgen October 2011 27 AKD EtherCAT 4 EtherCAT Profile 4 1 Slave Register The table below gives the addresses of individual registers in the FPGA memory The data is provided in little endian format with the least significant byte occupying the lowest address A detailed description of all reg isters and FPGA memory locations is available in the EtherCAT Slave Controller description of the EtherC AT user organization www EtherCAT org Length ZA ZA Address Byte Description ECAT Drive 0x0120 2 JAL Contro 00130 2 JAL Status 0x0134 2 JAL Status Code 0x0204 2 Interrupt Enable Register 0x0220 2 AL Event IRQ Event 0x0800
8. Bit 10 target reached This is set when the drive has reached the target position Bit 11 internal limit active This bit specifies that a movement was or is limited In different modes different warnings cause the bit to be set Kollmorgen October 2011 35 AKD EtherCAT 4 EtherCAT Profile 4 5 Fixed PDO Mappings Various ready to use mappings can be selected for cyclic data exchange via SDO s of the object Ox1C 12 and Ox1C13 Using object Ox1C12 subindex 1 Sync Manager 2 assignment a fixed mapping for the cyclic com mand values can be set with the values 0x1701 0x1702 0x1703 0x1720 to 0x1724 Using object 0x1C 13 sub index 1 Sync Manager 3 assignment a fixed mapping for the cyclic actual values can be set via the data Ox1B01 0x1B20 to 0x 1B24 The following sequence describes how to select the fixed command value mapping 0x1701 via SDO s 1 SDO write access to object Ox1C 12Sub0 Data 0x00 2 SDO write access to object 0x1C12Sub1 Data 0x1701 3 SDO write access to object 0x1C12Sub0 Data 0x01 The following fixed mappings are supported Position interface Position command value 4 bytes Control word 2 bytes total 6 bytes 0x1720 Control Word 2 bytes Interpolated position command value 4 bytes ki Latch control word 2 bytes Torgue feed forward 2 bytes Digital outputs 2 bytes 01721 Interpolated position command value 4 bytes Control Word 2 bytes Torque feed forward 2 bytes Ox1722 Control w
9. EtherCAT 3 Installation and Setup 3 4 Guide to Setup Only professional personnel with extensive knowledge of control and drive technology are allowed to setup the drive Make sure that any unintended movement of the drive cannot endanger machinery or personnel 1 Check assembly installation Check that all the safety instructions in the product manual for the drive and this manual have been observed and implemented Check the setting for the station address and baud rate 2 Connect PC start WorkBench Use the setup software WorkBench to set the parameters for the drive 3 Setup basic functions Start up the basic functions of the drive and optimize the current speed and posi tion controllers This section of the setup is described in the in the online help of the setup software 4 Save parameters When the parameters have been optimized save them in the drive 3 5 Setup via TwinCAT NC PTP System Manager Before you set up the drive make sure the following have been completed e The AKD is configured with WorkBench and the servomotor is able to move e Acorrectly configured EtherCAT card is present in the master e TwinCAT software from Beckhoff NC PTP Mode setup is installed Install first the TwinCAT System Manager restart your PC then install the option package NC PTP Mode e The XML description of the drive is available the XML file on the CD ROM or on the Kollmorgen web site e AnAKD EtherCAT slave is connected
10. Specification for Kollmorgen drive Byte 12 Data Low Byte Byte 13 Data error code Fehlercode according to CANopen Specification in case of an error oO OO pag O O lt G D D co Co HE Byte 14 Data data value of the object in case of successfull read access Byte 15 Data High Byte Kollmorgen October 2011 47 48 AKD EtherCAT 4 EtherCAT Profile 4 13 3 Example Mailbox Access In the example below PDOs 0x1704 are mapped see Chapter Fixed PDO Mappings The master sends this mailbox output message The drive returns the following message Kollmorgen October 2011 AKD EtherCAT 4 EtherCAT Profile 4 14 Fieldbus Parameters The AKD holds several fieldbus specific general purpose parameters Some of them contain the following Ether CAT relevant data e FBUS PARAMO02 This parameter activates the synchronization feature of the AKD The DC feature must be activated in order to allow the AKD to get synchronized with the master A value of 1 enables the drive internal PLL functionality a value of 0 deactivates this feature e FBUS PARAM03 This parameter contains the Configured Station Alias address of the AKD An EEP ROM emulation write access to the Configured Station Alias address forces the AKD to store the drive parameters automatically using the DRV NVSAVE command e FBUS PARAM04 This parameter enables 1 or disables 0 the synchronization supervision of the CAN
11. below 40 V Control and power connections can still be live even if the motor is not rotating A WARNING Electronic equipment can fail The user is responsible for ensuring that in the event of a fail ure of the servo amplifier the drive is set to a state that is safe for both machinery and per sonnel for instance with the aid of a mechanical brake Drives with servo amplifiers and EtherCAT are remote controlled machines They can start to move at any time without previous warning Take appropriate measures to ensure that the operating and service personnel is aware of this danger Implement appropriate protective measures to ensure that any unintended start up of the machines cannot result in dangerous situations for personnel or machinery Software limit switches are not a substitute for the hardware limit switches in the machine Install the drive as described in the Installation Manual The wiring for the analog setpoint input and the positioning interface as shown in the wiring diagram in the nstallation Manual is not required Never break any of the electrical connections to the drive while it is live This action can result in destruction of the electronics NOTICE The drive s status must be monitored by the PLC to acknowledge critical situations Wire the FAULT contact in series into the emergency stop circuit of the installation The emer gency stop circuit must operate the supply contactor NOTE Use WorkBench to alter driv
12. hae Mappings L Sa gt T 500 12 08 2009 14 55 03 Axis 1 Achs ID 1 GHD 1 Achsstart mit Fehlercode Ox4221 abgelehnt TONC 500 12 08 2009 14 55 03 Axis 1 Achs ID 1 Die Sollgeschwindigkeit von 600 000000 legt ausserhab des zul ssigen Geschwindigkeitsbereiches TONC 500 12 08 2009 14 54 46 Axis 1 AchsID 1 Gro ID 1 Achsstart mit Fehlercode 04221 abaelehnt of ocal 127 255 255 1 1 1 AMACA Ready Afterwards a pop up window appears The following setting enables the drive and allows command values in both directions Set Enabling le Controller OK le Feed Fw l Feed Bw Cancel Ovemde 76 jo All Afterwards the motor should move in positive or negative direction as soon as the clicks on the following yellow buttons within the Online window Kollmorgen October 2011 19 20 AKD EtherCAT 3 Installation and Setup 3 6 Setup WorkBench over TwinCAT This chapter describes a quick start guide for a user to be able to setup a WorkBench over TwinCAT system and be able to make a motor spin under that system This chapter does not give any specific details on TwinC AT system or WorkBench alone but is giving guidelines and information on how TwinCAT master and WorkBench works together Main steps in configuring a WorkBench over TwinCAT system are 1 TwinCAT and WorkBench configuration 2 Connecting to a drive using WorkBench 3 Configuring and enabl
13. 14 3 4 Guide to Setup 15 3 5 Setup via TwinCAT NC PTP System Manager 15 3 5 1 Scan devices a cece cece cece cece eee cece eee e eee ee cece sees eee ceeeeeeeeeenseereeereees 16 3 5 2 Select the device aa 16 3 5 3 Scan for bOXeS cece cee cece cee eee mm mamae mm eee mema 17 3 5 4 Add Slaves to NC tasks aa 17 3 5 5 Enable the network configuratioN 222m22mmem mme mme 18 3 5 6 Enable the axis and move the axis 0 2 2 eee cece cee cece cee eee e cece cee oona mall me 19 3 6 Setup WorkBench over TwinCAT o oie cece cece cee cece cece ee eeeeeeeeees 20 3 6 1 TwinCAT and WorkBenchconfiguration 2 22 21 3 6 2 Connecting to a drive using WorkBench 2 22 22 cece eee e cece ccc e cece eeeeeeceeseeseees 22 3 6 3 Configuring and enabling a drive a 25 3 7 Setup via KAS IDE UU UH 26 4 EtherCAT Profile 27 41 Slave Register a 28 4 2 AL Event Interrupt Event and Interrupt Enable 29 4 2 1 Interrupt Enable Register Address 0x0204 0x0205 2 22 22 e eee eee cece eee ee eee 29 4 2 2 AL Event Request Address 0x0220 0x0221 2 00 22 e eee cece cece eeeeeeees 30 4 3 Phase Run UP oaaao e eee eee cence see ceeeeseeseeeees 31 4 3 1 AL Control Address 0x0120 0x0121 202 02 e eee cee cece eee eeeseeeeesee
14. 8 Sync Manager O Mail Out Control Register Sync Manager 1 Mail In Control Register Sync Manager 2 Process data Output Control Register Sync Manager 3 Process data Input Control Register os a 01 2 O O 2 TI O A A O A TI O RAW S S O 8 8 8 n8 SyncManager4 AA BO 8 8 8 214 OIS pu O D JA OIS Mail Out Buffer Object Channel Buffer ECAT byte length is specified in the device description file Mail In Buffer Object Channel Buffer Drive byte length is specified in the device description file ZA ECAT Access mode EtherCAT ZA Drive Access mode drive a O S Kollmorgen October 2011 AKD EtherCAT 4 EtherCAT Profile 4 2 AL Event Interrupt Event and Interrupt Enable Communication between the drive and the EtherCAT FPGA can be interrupt driven The interrupt enable register and the AL event register are responsible for the EtherCAT interface interrupt functionality There are two events which lead also to a HW interrupt within the drive the EEPROM emulation event and the SyncManager 2 event The actual values of the drive SyncManager 3 data are written without any AL event request during each HW IRQ e g triggered by aSyncManager 2 event The Mailbox exchange between the master and the AKD is completely handled by polling the AL event register within the background task of the drive The drive activates individual EtherCAT interface events w
15. AKD EtherCAT Communication Edition E October 2011 Valid for Hardware Revision C Part Number 903 200005 00 Original Documentation EtherCAT Keep all manuals as a product component during the life span of the product Pass all manuals to future users and owners of the product oo La 10 Because Motion Matters Record of Document Revisions Revision Remarks 11 2009 Beta launch version 12 2009 Minor formatting changes A 07 2010 FBUS PARAMO04 added part number added page format release information Hardware Revision HR Hardware Revision Firmware WorkBench Remarks M_O1 03 22 222 M_01 03 00 071 STO ceriied LS M_01 05 xx yyy PROFINET RT released EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH PROFINET is a registered trademark of PROFIBUS and PROFINET International PI Ethernet IP is a registered trademark of ODVA Inc Ethernet IP Communication Stack copyright c 2009 Rockwell Automation EnDat is a registered trademark of Dr Johannes Heidenhain GmbH HIPERFACE is a registered trademark of Max Stegmann GmbH SIMATIC is a registered trademark of SIEMENS AG WINDOWS is a registered trademark of Microsoft Corporation AKD is a registered trademark of Kollmorgen Corporation Current patents US Patent 5 646 496 used in control card R D and 1 Vp p feedback interface US Patent 5 162 798 used in control card R D US Paten
16. DrvMot tsm TwinCAT System Manager LO x File Edit Actions View Options Y R SYSTEM Configuration ee NC Configuration General Settings Parameter Dynamics Online Functions Coupling z Compensation SHI a aner d a 00099 E a Ee Axis 2 PLC Configuration A 1 0 Configuration Eli I O Devices Mavin T In Target Pos Device 1 EtherCAT Ja Moving Bw in Pos Range af Device 1 Image af Device 1 Image Info Bt 88T Inputs Y R Outputs E InfoData Target Position mm Target Velocity H Drive 1 AKD IIT 0 E Y a Drive 2 AKD ne Fl Dl Al H a Controller Kv Factor mm smm 1 3 Inthe pop up dialog box check the Controller checkbox to enable the drive or un check to disable the drive and press on the OK button Kollmorgen October 2011 25 AKD EtherCAT 3 Installation and Setup 3 7 Setup via KAS IDE If you are using a Kollmorgen Automation Suite KAS system the AKD setup is completely integrated into the KAS Integrated Development Environment IDE as shown below n HI Retan vanables D Actions D AxsSandiMotion R aa TT CB CamTest te Common unctions IZ Oiptal Dancer PLCopen T8 Feutttanding 3 p Homeg2ArisDemo Z R Ton TH LayeredStructures E Main Z MontorParameters TR MotionOnTopOiMotion E9 Dre n n intPanel o CD tet Dee Thote pasarmasan Azza Po mak wtached lo ma Hula Nawa Mda Type Motor kuzuri Peak Curent Cora Curent berta
17. S Mappings Drives It is important to understand that these information are comming from the TwinCAT master and it s configuration file but not from the drive itself Thus if the TwinCAT configuration is not reflecting the actual network con figuration you may have a drive listed in WorkBench which is not be powered up or even connected in the Ether CAT network or you have a drive powered up and connected to the TwinCAT network but not shown in the WorkBench list Kollmorgen October 2011 AKD EtherCAT 3 Installation and Setup 3 6 3 Configuring and enabling a drive Once connected with WorkBench a drive can be configured using all normal functionnalities of WorkBench The only operation that is not possible to do using WorkBench over TwinCAT is the download of a new firmware in the drive Downloading a new firmware in the drive must be performed using File over EtherCAT FoE feature of TwinCAT server NOTICE If the cyclic communication of the TwinCAT master is enabled it is possible that some commands sent by WorkBench using the ASCII channel are overwirtten by the TwinCAT master Typically the drive enable command will have no effect if sent from WorkBench because the control word is usually mapped Using TwinCAT enabling the drive can be done with the following procedure 1 Under NC Configuration Axes gt Axis x node choose the Online tab 2 Press the Set button within the Enabling section y One
18. T System Manager l is U E l lel x File Edit Actions View Options Help Dee Se t DEB MA Ena GG dR KIR Sle R BO R SYSTEM Configuration General Adapter EtherCAT Online CoE Online LC Configuration JA FLE Configuration Device 1 Emecan D 1 EtherGA id f I O Configuration e m EAT 7 89 1 0 Devices Type E therCAT Adapter Direct Mode a88 Device 1 EtherCaT si g Mappings kemmer EI TwintlAT System Manager o Xx Ca Create symbols l 7 7 EtherCAT drives found Add drives to NC Configuration Ready local 127 255 255 1 1 1 eee Kollmorgen October 2011 17 18 AKD EtherCAT 3 Installation and Setup 3 5 5 Enable the network configuration Confirm that the AKD appears in the device tree Next enable the network configuration Press first the sg but ton in order to generate the mappings afterwards press the y button in order to let TwinC AT check the con figuration and use finally the button in order to step into run mode Confirm afterwards that TwinCAT is allowed to jump into run mode Unbenannt TwinCAT System Manager f BS E x Ae Edit Actions View Options Help DEE eee eel eee Crea oe ee 8A A SD General Adapter EtherCAT Online CoE Online NC Task 1 SVB Name ma 3 E NC Task 1 Image Type EtherCAT Adapter Direct Mode H E Tables 2 Sime Axes Comment Ei Axis 1 YA FLE Configuration EM 1 0 Configuration B LO Devi
19. a H S Drive 1 AKD H a Drive 2 AKD E ag Mappings Create symbols T Local 10 1 38 161 1 1 CWULIGLLE y OneDrvMottsm TwinCAT System Manager E ioj x File Edit Actions View Options L 5 a a General EtherCAT oc Process Data j Startup CoE Online Online D NC Task 1 SAF EI NC Task 1 SVB Type AKD EtherCAT Drive CoE aif NG Task 1 Image Product Revision 4279108 2 Ed Tables Ba Axes Auto Inc Addr Jo ee Advanced Sre Hi Axis 2 2 FLC Configuration Previous Port Er L O Configuration S E9 JO Devices O me Device 1 EtherCAT afa Device 1 Image af Device 1 Image Info gf Inputs H l Outputs H InfoData T a a Drive 1 AKD H a Drive 2 AKD B Hp Mappings Local 10 1 38 161 1 1 Conn Kollmorgen October 2011 23 AKD EtherCAT 3 Installation and Setup The Net ID can be found in the EtherCAT tab in the I O Configuration I O Devices Device x node y OneDrvMottsm TwinCAT System Manager Ioj x File Edit Actions View Options Help 0 9 SYSTEM Configuration ne NC Configuration General Adapter EtherCAT Online CoE Online 3 Ba NC Task 1 SAP MO Export Configuration File Fa Axis 2 PLC Configuration Topology 7 889 1 0 Configuration 0 909 O Devices lee Device 1 EtherCAT i Device 1 Image aif Device 1 Image Info H gt Inputs H RL Outputs H InfoData H a Drive 1 AKD Hal Drive 2 AKD a
20. ations The connectors X5 and X6 of the AKD EtherCAT drive may not be used for any ethernet protocol except Ether CAT CoE Can over EtherCAT Kollmorgen M October 2011 AKD EtherCAT 3 Installation and Setup 3 Installation and Setup 3 1 Safety Instructions e cece cece eee cece cee ceeceecceeeeeeeeseeseees 12 3 2 EtherCAT Onboard 7 7 p mam eee eee wn wananunua eee man 13 3 3 EtherCAT activation with AKD CC models 14 3 4 Guide to Setup e cece cece eee e cece ec ee cee DDADL Daan oaaao rrano orana 15 3 5 Setup via TwinCAT NC PTP System Manager 15 3 6 Setup WorkBench over TwinCAT mwanume 20 3 7 Setup via KAS IDE 2 22 22 a 26 Kollmorgen October 2011 11 AKD EtherCAT 3 Installation and Setup 3 1 Safety Instructions Never disconnect any electrical connections to the drive while the drive is live There is a danger of electrical arcing with damage to contacts and serious personal injury Wait at least seven minutes after disconnecting the drive from the main supply power before touch ing potentially live sections of the equipment e g contacts or undoing any connections Capacitors can still have dangerous voltages present up to 7 minutes after switching off the supply power To be sure measure the voltage in the DC Bus link and wait until it has fallen
21. be synchronized The Drive is considered synchronized as long as the following statement is true is true for FBUS PLLTHRESH consecutive cycles FBUS SYNCDIST FBUS SYNCWND lt FBUS SYNCACT lt FBUS SYNCDIST FBUS SYNCWND Example with a 4kHz fieldbus sample rate 250 us task e j Explanation The red marked 62 5 us real time task displays the AKD 62 5 us real time task within one fieldbus cycle which is responsible for calling the AKD PLL code The time delay 1 shows the actual delay to the previous DC event which is ideally close to the adjusted FBUS SYNCDIST parameter Depending on 1 the AKD slightly extends or reduce the 62 5 us IRQ generation of the high priority real time task in order to either increase or decrease the measured time delay to the DC event 1 for the next PLL cycle The time distance 2 shows the 62 5 us x ms realtime task of the AKD 4 11 2 Synchronization behavior with distributed clocks DC disabled The AKD fieldbus synchronization algorithm is similar to that used by Distributed Clocks The difference is that the AKD synchronizes to a SyncManager2 event instead of the DC event A SyncManager2 event is created when the EtherCAT Master sends a new package of command values to the drive while the network is in the Operational state This occurs once per fieldbus cycle Kollmorgen October 2011 43 44 AKD EtherCAT 4 EtherCAT Profile 4 12 Latch Control Word and Latch Status Wor
22. ces gt m8 Device 1 EtherCAT afa Device l Image Disabled Create symbols I lt p Device 1 Image Info i f Inputs Y RL Outputs 9 8 InfoData Kollmorgen October 2011 AKD EtherCAT 3 Installation and Setup 3 5 6 Enable the axis and move the axis The Axis can be enabled by a mouse click on the Set button within the Online window inside of each Axis see also the next picture lt AKDVelMode tsm TwinCAT System Manager L 15 x Fie Edt Actions View Options Help D in irepl Bary 0 AAR V leQlele LED NC Task 1 Image a 0 Tables General Settings Global Dynamics Online Eunctions Coupling RE Ew Axes oint Position mm we KG Pal 2206050 7420 ee JW Axis 1 Ene ag Distance minimax Tn S i iw mmis YR Inputs 0 0000 0 000 0 a 1566 ko naan Override 2 Total Control Output 3 t S 100 0000 2 0 00 0 00 55 Wa AXIS 1 Chl 2 97 Inputs status og r Stalls phys m l Outputs Ready IZ NOT Moving T Coupled Mode WA FLC Configuration Calibrated Moving Fw T In Target Pos FP Feed Fw B 1 0 Configuration M Has Job T Moving Bw T In Fos Range F Feed Bw 7 89 1 0 Devices er 28 Device 1 EtherCAT Controller Kw Factor mmis Reference Velocity cafe Device 1 Image ho 4 2200 4 sf Device 1 Imagetnfo i t Inputs Target Position mm Target Velocity 7 mm 1 Outputs jo 4 CD H InfoCata foto AH Gi Bl H H Fl S Inputs Output WoS5tate Dars l
23. d Latch Control word 2 Byte U o S S Ia a2 Read external latch 2 positive rise UU Resene 0 AA P maa 3 1 Ol Latch Status word 2 Byte L Value bin Value hex Description 00000000 00000001 External latch 1 valid positive rise id posit W AA AA o UU HT BE 10000000 00000000 ony Bi GO MM gt N 11 Ma Kollmorgen October 2011 AKD EtherCAT 4 EtherCAT Profile 413 Mailbox Handling With EtherCAT acyclical data traffic object channel or SDO channel is called mailbox This system is based around the master Mailbox Output The master EtherCAT controller sends data to the slave drive This is essentially a read write request from the master Mailbox output operates via Sync Manager 0 Mailbox Input The slave drive sends data to the master EtherCAT controller The master reads the slave s response Mail box input operates via Sync Manager 1 Timing diagram The timing diagram illustrates the mailbox access process 1 The EtherCAT master writes the mailbox request to the mail out buffer 2 Onthe next interrupt the EtherCAT interface activates a Sync Manager 0 event mailbox output event in the AL event register 3 The drive reads 16 bytes from the mail out buffer and copies them to the internal mailbox output array 4 The drive identifies new data in the internal mailbox output array and performs an SDO access to the object requested by t
24. d 0x1C 13 sub O with the number of mapped PDOs in this direction See an example in chapter Flexible PDO Mappings gt p 37 The cyclically used data are visible in the PDO assignment window for the Inputs and Outputs of the Sync Man agers Default setting are the fixed PDOs 0x1701 and 0x1B01 visible contents when selected in the PDO list d S a HR General EtherCAT DC Process Data Startup CoE Online Online BB NC Configuration L BI NC Task 1 SAF Sync Manager PDO List z MS el SM Size Type Flags Index Size Name Flags SM SU a Kainaz 0 512 Mbadut Ox1A00 20 Inputs 0 E Tables 1 512 Mbxln oA 0 0 Inputs 0 a Axes HI Ox1402 OO Inputs 0 H Axis 1 3 6 Inputs Ox1A03 0 0 Inputs 0 ind ms aR 60 Inputs F 3 0 SA PLC Configuration 0x1B20 320 Inputs F 0 388 1 0 Configuration Ox1B21 6 0 Inputs F 0 3 59 1 0 Devices Ox1B22 320 Inputs F 0 E Uv1B 22 32 0 Inputs F 0 9 Device 1 EtherCAT Ox1B24 G0 input F 0 Device 1 Image lt gt oxt600 20 Outputs 0 v amp Device 1 Image Info H Pil Inputs PDO Assignment 01012 PDO Content 041400 l Outputs E 01600 excluded by 0x1701 Index Size Offs Name Type Default hex InfoData 0 1601 excluded by 0x1701 FF Ox6041 00 2 0 0 0 Status word UINT sl Drive 1 AKD C 0x1 602 excluded by 01701 20 jg Ma Ho 0 1603 excluded by 01701 Mapping l 7 0 1701 ig NC Task 1 SAF Device 1 EtherCAT C 0 1702 excluded b
25. d over C Take over Come e Data Record 1 Outputs Drive 1 AED Device EtherCAT LO Device Comment Kollmorgen October 2011 39 AKD EtherCAT 4 EtherCAT Profile After doing this configuration the mapping can be activated as seen before in this document ao yf EE Now the NC screen should show a position in the online window which changes a bit in the last digits General Settings Parameter Dynamics Online Functions Coupling Compensation Setpoint Position 165 71 24 etpoint Position a Lag Distance min max _ mm Actual Velocity mm s Setpoint Velocity mm s 0 0010 0 025 0 002 g 0 01 68 0 0000 Override Total Control Dutput Error 100 0000 S 0 00 0 00 gt 0 0x0 Status llog Status phys Enabling C Ready NOT Moving L Coupled Mode C Controller Set C Calibrated C Moving Fw C In Target Pos Feed Fw C Has Job C Moving Bw C In Pos Range Feed Bw Controller Ky F actor mm s mm Reference Velocity mms hi 4 2200 4 Target Position mm Target Velocity mms 0 wW bl Ane ee After enabling the power stage with the All button the drive can be moved via the jog buttons or via the functions in the function menu Feed Fw _ Ti Feed be Override 72 Kollmorgen M October 2011 AKD EtherCAT 4 EtherCAT Profile 4 7 Sup
26. drive answers every telegram with an answer in the Mailbox Input buffer Kollmorgen October 2011 AKD EtherCAT 4 EtherCAT Profile 4 13 2 Mailbox Input The drive answers every CoE telegram with a 16 byte answer telegram in the Mailbox Input buffer The bytes are defined as follows Address 0x1C00 o0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 CAN over EtherCAT specific data CAN specific data CoE Header standard CAN SDO Length of the data Low Byte Length of the data High Byte Address Low Byte Address High Byte Byte 4 Bit O to 5 Channel Bit 6 to 7 Priority Byte 5 Bit O to 3 Type 1 Reserved ADS over EtherC AT 2 Reserved Ethernet over EtherC AT 3 Can over EtherCAT Bit 4 to 7 Reserved Byte 6 PDO Number with PDO transmissions only Bit 0 LSB of the PDO number see Byte 7 for MSB Byte 7 Bit 0 MSB of the PDO number see Byte 6 Bit 1 to 3 Reserved Bit 4 to 7 CoE specific type Reserved Emergency message SDO request SDO answer TXPDO RxPDO Remote transmission request of a TxPDO Remote transmission request of aRxPDO 15 reserved Co Control Byte in the CAN telegram write access OK read access OK length of answer 0x43 4 Byte 0x47 3 Byte 0x4B 2Byte 0x4F 1Byte error with read or write access x80 Low Byte of the CAN object number Index Byte 10 High Byte of the CAN object number Index yte 11 Subindex according to CANopen
27. e If you are unaware of your local sales representative please contact us Europe Kollmorgen Customer Support Europe Internet www kollmorgen com E Mail technik kollmorgen com Tel 49 0 2102 9394 0 Fax 49 0 2102 9394 3155 North America Kollmorgen Customer Support North America Internet www kollmorgen com E Mail support kollmorgen com Tel 1 540 633 3545 Fax 1 540 639 4162 a aga Because Motion Matters
28. e settings Any other alterations will invalidate the warranty Because of the internal representation of the position control parameters the position con troller can only be operated if the final limit speed of the drive does not exceed rotary at sinusoidal commutation 7500 rom at trapezoidal commutation 12000 rpm linear at sinusoidal commutation 4 m s at trapezoidal commutation 6 25 m s NOTE All the data on resolution step size positioning accuracy etc refer to calculatory values Non linearities in the mechanism backlash flexing etc are not taken into account If the final limit speed of the motor must be altered then all the parameters that were previously entered for position control and motion blocks must be adapted Kollmorgen M October 2011 3 2 EtherCAT Onboard Connection to the EtherCAT Network via X5 in port and X6 out port LED 1 LED2 X9 LEDS aa LED 4 3 2 1 LED functions The communication status is indicated by the built in LEDs alt LED Name Function LED1 IN port Link ON active BIN da Ba ON running OFF not running LED3 OUT port Link ON active paaa OFF not active 3 2 2 Connection technology You can connect to the EtherCAT network using RJ 45 connectors 3 2 3 Network Connection Example AKD EtherCAT 3 Installation and Setup EtherCAT Master Kollmorgen October 2011 12 AKD EtherCAT 3 Installation and Setup 3 3 EtherCAT act
29. ed mapping 0x1701 has to be switched off and up to 4 free mappable PDOs 0x1600 0x 1603 can be used instead The maximum number of bytes for each of these PDOs is 8 POO Assignment Ox1C1 POO Assignment 0x101 21 moe SI S ox 602 01603 021 701 excluded by 0x1 600 E 30 1 702 excluded by Uv 600 1081703 excluded by Ox1600 z I Lio tes ere AG eects After that the default mapping of e g the PDO 0x1600 can be extended POO Content 07 600 Indes Size Offa Name Default hes Move Up Fred r none fi ove D Ow Edit Pdo Entry EJ fg Edit Pdo Entry xX Hana Data ecard Name Position Actual Internal Value Index hex 60012 24769 Index hex 6063 24675 Sub Index 1 Sub Index Data Tupe UDINT Data Type DINT a Bit Lentgh Bit Lentgh 22 From Dictionary DRY HANO WHEEL Latch P32 Latch H32 Latch2P32 Latch2 h 32 LatchControl LatchStatus Latch pn ClearDigl nputChangedBit reserved Controlword Statuzward reserved reserved Latch1N 32 Latch2P32 Latch2N 32 LatchControl LatchStatus Latch pn CearDigl nputChangedBit reserved Controlword Statusword reserved reserved Modez of Operation Modez of Operation Display In this case the setpoint for the interpolated position The same is valid for the Tx PDO direction mode is selected Here the value of the actual internal position is selected
30. ee 10 155 54 475 Drive 2 AKD Free 10 155 34 47 3 1 Add New AKD Panic Abort FIZI The information provided for a drive areit s name status Net ID and Port number After selecting a drive from the list clicking on the Connect button will create a device in the left frame of WorkBenchand connect the device 22 Kollmorgen October 2011 AKD EtherCAT 3 Installation and Setup The name Net ID and port number are information comming from the TwinCAT master configuration file the name may be different than the drive name returned by the DRY NAME command While the status is an indicator that tells if there is already a device created within WorkBench whichis already connected to that particular drive Using TwinCAT System Manager the drive name and port number can be found in the General and EtherCAT tab respectively for the corresponding drive under the I O Configuration I O Devices Device x Drive x node y OneDrvMottsm TwinCAT System Manager l 7 l LO x File Edit Actions View Optons Help El LS SYSTEM Configuration G El L NC Configuration enera EtherCAT DC Process Data Startup CoE Online Online I na Task 1 5AF B Name Drive 1 AKD AKD EtherCAT Drive CoE ila Axis 1 H a Axis 2 lf PLC Configuration oe P JO Configuration j G E 1 0 Devices ch Device 1 EtherCAT mfa Device 1 Image afa Device 1 Image Info C T Inputs Outputs InfoDat
31. ees 31 4 3 2 AL Status Address 0Xx0130 0Xx0131 c cece cece cece ecceeeeeeseeeeee 31 4 3 3 AL Status Code Address 0Xx0134 0Xx0135 Ha 32 4 3 4 EtherCAT communication phaseS 2mmmemmmmee mwema n meme 32 4 4 CANopen over EtherCAT CoE Status Machine 33 4 4 1 Status Description meme mm mme mm mmee LaaLa 33 4 4 2 Commands in the Control Word 34 Kollmorgen M October 2011 3 AKD EtherCAT Table of Contents 443 Status Machine Bits status word a 35 4 5 Fixed PDO Mappingzs 22222222200020000 000 AN aa 36 4 6 Flexible PDO Mappings 222222200000 000 aa 37 4 6 1 Example Free PDO Mapping 0 0 aaa 38 4 7 Supported Cyclical Setpoint and Actual Values 41 4 8 Supported Operation Modes mmewe mae mwme me wwm 41 4 9 Adjusting EtherCAT Cycle Time mme m ee 42 4 10 Maximum Cycle Times depending on operation mode 42 4 11 Synchronization 0 0 c cee cee cece cece ce ceeceeccecceeceeceeceeceeeseeseeees 43 4 11 1 Synchronization behavior with distributed clocks DC enabled 43 4 11 2 Synchronization behavior with distributed clocks DC disabled 43 4 12 Latch Control Word and Latch Status Word
32. ging motion task number setpoints for digital mode for the individual modes are retained Bit 9 10 These bits are reserved for the drive profile D8402 Bit 13 14 15 These bits are manufacturer specific and reserved at present Kollmorgen October 2011 AKD EtherCAT 4 EtherCAT Profile 4 4 3 Status Machine Bits status word Bit assignment in the status word 0 Readytoswitchon 8 Manufacturer specific reserved 1 Switchedon o Remote aways Target reached Internal limit active Operation mode specific reserved Operation mode specific reserved 6 Switchondisabled 14 Manufacturer specific reserved Manufacturer specific reserved States of the status machine Bit 6 Bit 2 Bit 1 Bit O switch on operation switched ready to State switch on Not ready to switch on Switch on disabled Ready to switch on Operation enabled Fault reaction active Quick stop active Switched on Bits labeled X are irrelevant 0 and 1 indicate the status of individual bits Description of the remaining bits in the status word Bit 4 voltage enabled The DC link voltage is present if this bit is set Bit 7 warning There are several possible reasons for Bit 7 being set and this warning being produced The rea son for this warning can be revealed by using the Object 20subindex manufacturer warnings Bit 9 remote is always set to 1 i e the drive can always communicate and be influenced via the RS232 interface
33. he EtherCAT interface The response from the drive is written to an internal mailbox input array 5 The drive deletes all data in the internal mailbox output array so that a new mailbox access attempt can be made 6 The drive copies the response telegram from the internal mailbox input array to the mail in buffer of the EtherCAT interface Kollmorgen October 2011 45 46 AKD EtherCAT 4 EtherCAT Profile 4 13 1 Mailbox Output An interrupt by the EtherCAT interface with a Sync Manager 0 Event starts a Mailbox Output Process A Tin the Mail Out Event Bit of the AL Event register signalizes the drive that the EtherCAT interface wants to send a Mailbox message and that it has already stored the required data in the Mail Out Buffer Now 16 Byte data are read by the drive with the IRQ process The bytes are defined as follows Address 0x 1800 0 1 2 53 4 5 6 7 8 9 10 11 12 13 14 15 CoE Header standard CAN SDO Address Low Byte Address High Byte Byte4 Bit O to 5 Channel Bit 6 to 7 Priority Byte 5 Bit O to 3 Type 1 Reserved ADS over EtherCAT 2 Reserved Ethernet over EtherCAT 3 Can over EtherCAT Bit4to7 Reseved 7 Reserved PANG Number with PDO transmissions only Bit 0 LSB of the PDO number see Byte 7 for MSB Byte 7 Bi Reseweg OSS SSS ooo o Emens a sO request SSCS WI UU Wi IR Remote transmission request ofa TxPDO II Fr Remote transmission request ofa RxPDO MI goe The
34. hen the corresponding bit of the interrupt enable reg ister is set to 1 When it is set to 0 the hardware interrupts for the specific events are deactivated 4 21 Interrupt Enable Register Address 0x0204 0x0205 ZA AL Control Event 0x204 Activation of AL control event for phase run up Sync0 DC Distributed 0x204 2 R R O Activation of distributed clock DC sync O inter Clock rupts for entire communication Sync1 DC Distributed 0x204 3 R R O Activation of distributed clock DC sync 1 inter Clock rupts for entire communication SyncManager activation 0x204 4 RW R O Activation of SyncManager activation register register change change IRQ EEPROM emulation 0x204 R R O Activation of the EEPROM emulation interrupts event CU oua 3107 RW RIO aaa ad R R O Activation of output event mailbox SDO Sync Mail Out Event Manager 0 for object channel R R O Activation of input event mailbox SDO Sync Man Mail In Event ager 1 for object channel R R O Activation of output event process data PDO Pro Out Event card s cyclical setpoints 3 IW R O Activation of input event process data PDO Pro In Event drive s cyclical actual values A Kollmorgen October 2011 29 30 AKD EtherCAT 4 EtherCAT Profile 4 2 2 AL Event Request Address 0x0220 0x0221 When the relevant bit of the AL event request register is set to 1 the EtherC AT interface tells the drive which event
35. ing EtherCAT Cycle Time The cycle time to be used in the drive for the cyclical setpoints and actual values can either be stored in the FBUS SAMPLEPERIOD parameter in the amplifier or configured in the startup phase This takes place via SDO mailbox access to CANopen objects 60C 2 subindex 1 and 2 Subindex 2 knownas the interpolation time index defines the power of ten of the time value e g 3 means 10 3 or milliseconds while subindex 1 known as interpolation time units gives the number of units e g 4 means 4 units You can run a 2 ms cycle using various combinations For example Index 3 Units 2 or Index 4 Units 20 etc The FBUS SAMPLEPERIOD parameter is counted in multiples of 62 5us microseconds within the device This means for example that 2 ms equates to FBUS SAMPLEPERIOD value of 32 4 10 Maximum Cycle Times depending on operation mode The minimum cycle time for the drive is largely dependent on the drive configuration second actual position value encoder latch functionality enabled and so on Cycle time AKD gt 0 25 ms 2 250 us gt gt Velocity 20 25 ms 2 250 us gt 0 25 ms 2 250 us Kollmorgen M October 2011 AKD EtherCAT 4 EtherCAT Profile 4 11 Synchronization On all drives the internal PLL is theoretically able to even out an average deviation of up to 4800 ppm in the cycle time provided by the master The drive checks once per fieldbus cycle a counter within the drive i
36. ing a drive Kollmorgen M October 2011 AKD EtherCAT 3 Installation and Setup 3 6 1 TwinCAT and WorkBenchconfiguration The EtherCAT network must be setup and managed using TwinCAT System Manager To be able to connect to a drive and enable it the drive must be loaded under the I O Devices node in TwinC AT System Manager and axis must be added to NC Configuration as shownin Setup via TwinCAT NC PTP System Manager gt p 15 H EB SYSTEM Configuration E ABE NC Configuration E E Bi NC Task 1 SAF E NC Task 1 5VB af NC Task 1 Image ka E Tables G Stay Aves ie Axis 1 Ha PLC G GL A 1 0 Configuration 2 89 1 0 Devices 338 Device 1 EtherCAT na ai Device 1 Image GS ai Device 1 Image Info BI Inputs Fl Outputs ngg Mappings In order to connect to the drives using WorkBench the drives must be either in Pre Op Safe Op or Op state State machine for a drive can be accessed from the Online tab for the corresponding drive under the I O Con figuration 1 0 Devices Device x Drive x node see screenshot below jy OneDrvMot tsm TwinCAT System Manager loj xj File Edit Actions View Options Help Dagsa Bes ma Bays An eo O Y L SYSTEM Configuration ABR NG Configuration EE S NC Task 1 SAF EI NC Task 1 5VE NC Task 1 Image E Tables Ta AMES iim Axis 1 al ie Axis 2 F PLC Configuration ce JO Configuration General EtherCAT DC
37. it should process by the AKD oa sad ba Baa pm bad ba e AL Control Event CARACOLA ene of AL control event for run up Clock DC Event D n p Clock DC Event vation register change ister has been changed event order to identify the AKD within the network CU 0220 feor RA RW Rewa SSCS iniia pa Meal ead ad Mailbox request SDO Sync Manager 0 for object channel Mailbox response SDO Sync Manager 1 for object channel Process data output PDO card s cyclical set points Kaa Wa bana Eka bleed Process data input PDO drive s cyclical actual S Sneha 1 ff G lll Sync Manager 15 0x222 0 7 R O R W CT Event Kollmorgen October 2011 AKD EtherCAT 4 EtherCAT Profile 4 3 Phase Run Up The AL control AL status and AL status code registers are responsible for communication phase run up also referred to as EtherCAT status change for current status display and for any fault messages The drive responds to every EtherCAT interface transition request made by the AL control register via the AL Status and AL Status Code registers Any fault messages are displayed in the AL status code register A status change within the AL control register is polled within the AKD which means that an AL control event does not lead to a HW interrupt within the drive 4 3 1 AL Control Address 0x0120 0x0121 ZA ZA Address Bit Drive IECAT Description 0x120 3to0 R O W O 0x01 Init Request x02 PreO
38. ivation with AKD CC models AKD CC drive models are Drives which support EtherCAT and CAN fieldbus types within one common soft ware These CC drive models allow selecting a fieldbus support by setting the DRV TYPE parameter to a certain value CC drive models are delivered with EtherCAT set active If you must change a drive from CANopen to EtherCAT the DRV TYPE parameter must be changed 1 by software connect the PC to the AKD and change the parameter DRV TYPE in the WorkBench ter minal screen see DRV TYPE parameter documentation or 2 by hardware with the rotary switches S1 8 S2 at the front and the button B1 on the top side of the Drive The following steps are needed for changing the fieldbus type from CAN to EtherCAT with the rotary switches 1 Set the rotary switches on the front side of the AKD to the value of 89 Press B1 for 3 seconds The seven segment display shows En during the process of changing DRV TYPE to EtherCAT Do not switch off the 24 V power supply while the seven segment shows En 3 Wait until the display goes back to the original state now the drive is prepared for EtherCAT 4 Power cycle the drive by switching the 24 V power supply off and then on again NOTE The seven segment display shows Er Error in case that the DRV TYPE instruction failed In this case please power cycle the drive and contact the Kollmorgen cus tomer support for further help 14 Kollmorgen October 2011 AKD
39. lmorgen October 2011 9 AKD EtherCAT 2 Safety 2 1 Safety Instructions PST 016123 91 During operation there are deadly hazards with the possibility of death severe injury or material damage Do not open or touch the equipment during operation Keep all covers and cabinet doors closed during operation Touching the equipment is allowed during installation and commissioning for properly qualified persons only During operation drives may have uncovered live components depending on their level of enclosure protection Control and power connections may be live even though the motor is not rotating Drives may have hot surfaces during operation Heat sink can reach temperatures above 80 C Electronic equipment can fail The user is responsible for ensuring that in the event of a fail ure of the servo amplifier the drive is set to a state that is safe for both machinery and per sonnel for instance with the aid of a mechanical brake Drives with servo amplifiers and EtherCAT are remote controlled machines They can start to move at any time without previous warning Take appropriate measures to ensure that the operating and service personnel is aware of this danger Implement appropriate protective measures to ensure that any unintended start up of the machines cannot result in dangerous situations for personnel or machinery Software limit switches are not a substitute for the hardware limit switches in the machine NOTICE In
40. nsition Bit 3 to 0 Description B o03 e BIT IP 0x02 AKD reads the SyncManager 0 amp 1 configuration and verifies the value of the start address and the length The AKD prepares itself for handling SyncManager 0 events PO aan YY PS 0x04 AKD reads the SyncManager 2 amp 3 configuration and verifies the value of the start address and the length GP ooa Ce oon Kollmorgen October 2011 AKD EtherCAT 4 EtherCAT Profile 4 4 CANopen over EtherCAT CoE Status Machine The status machine for the control and status words corresponds to the CANopen status machine in accordance with DS402 CANopen control and status words are captured in every instance of fixed PDO mapping see chap ter entitled Fixed PDO Mapping page Not Ready to Switch On F A ya E LR Pa L r L a F i 9 f Pj F 8 E E Quick Stop Active The drive is not ready to switch on the controller has not indicated readiness for service The drive is still in the boot phase or in fault status In Switched On status the amplifier is enabled but the setpoints of the EtherCAT interface are not yet transferred The amplifier is idle and a positive edge in bit 3 of the control word activates setpoint transfer transition to Operation Enable status In this status the drive is enabled and setpoints are transferred from the EtherC AT interface The drive follows a quick stop ramp The drive resp
41. nternal FPGA which is cleared by a SyncO Distributed clock event Depending of the counter value the drive extends or decreases the 62 5 us MTS signal within the drive by a maximum of 300 ns The theoretical maximum allowed deviation can be calculated by using the following formula 300 ns MAXgeV 62 5 Us 1 000 000 4800 ppm The synchronization functionality within the drive can be enabled via setting bit O of the FBUS PARAM02 param eter to high Therefore FBUS PARAM02 must be set to the value of 1 Furthermore the distributed clock func tionality must be enabled by the EtherCAT master in order to activate cyclic Sync0 events 4 11 1 Synchronization behavior with distributed clocks DC enabled When the EtherCAT master enables distributed clocks a distributed clock DC event is created in the AKD once per fieldbus cycle An assigned 62 5 us real time task in the AKD monitors the elapsed time between the DC events and the AKD System time and extends or reduces the 62 5 us strobe to the CPU as necessary The following fieldbus parameters are used for the synchronization feature 1 FBUS SYNCDIST Expected time delay of the AKD PLL code to the DC event 2 FBUS SYNCACT Actual time delay of the AKD PLL code to the DC event 3 FBUS PLLTHRESH Number of consecutive successful synchronized PLL cycles of the AKD before the Drive is considered as synchronized 4 FBUS SYNCWND Synchronization window in which the AKD is considered to
42. o Ox1C13 01 1 E P5 CoE O 1013 00 0x01 1 download pdo 021073 count G ps CoE Ox6060 00 0x07 F7 Opmode E pG CoE Ox60C2 01 Ox 121 Cycle time G Ps CoE Ox60C2 02 OxFD 25 3 Cycle exp If this shall be used in the NC the interpolation set point position has to be linked from the axis to the NC axis B Nc Task 1 SVB A Variabl i NC Task 1 Image iabe LO E Tables Name nOutDatal o Ste Axes i Axis 1 Type ARRAY 0 1 OF UINT l 46 Axis 1_Enc Group Outputs Size 4 0 lt Sl Axis 1_Drive 5 8 Inputs Address 168 0x48 User ID 0 5 81 Axis 1 Drive In baka kaa ST nInDatal irked tn AT nInData2 Comment gp nStatus1 Ot nStatus2 ST nStatus3 OT nStatus4 AT nInData3 1 nInData4 ST nInData5 81 nInData 97 nStatus5 f nStatus6 ADS Info Port 501 IGrp DxF030 IDffs 0248 Len 4 91 nStatus 97 nStatus8 91 nDcOutputTime Outputs Axis 1_Drive_Out PE l nOutData2 S nCtrl1 Pl nCtrl2 l nCtrl3 91 nCtrl4 L noutData3 Attach Variable nOutData1 Output 8 1 0 Configuration Show Variables 3 1 0 Devices Unused Device 1 EtherCAT Used and unused G Drive 1 AKD C Exclude disabled Mata Record gt OB 28 0 UINT32 4 0 Exclude other Devices V Exclude same Image E Show Tooltips Show Variable Types C Matching Type V Matching Size Hal Types Cl Array Mode Offsets C Continuous C Show Dialog Variable Name C Han
43. on for the parameters and commands used to program the AKD e AKD CANopen Communication This manual includes setup information for the CAN interface and describes the CANopen profile Additionally an EtherCAT XML file entitled AKD EtherCAT Device Description describes the drive SDO and PDO This file is available on the Kollmorgen website http www kollmorgen com website com eng products drives ac_servo_drives akd_drives_akd_software tab php 1 2 Target Group This manual addresses personnel with the following qualifications e Installation only by electrically qualified personnel e Setup only by qualified personnel with extensive knowledge of electrical engineering and drive technology e Programming Software developers project planners The qualified personnel must know and observe the following standards e ISO 12100 IEC 60364 and IEC 60664 e National accident prevention regulations A WARNING During operation there are deadly hazards with the possibility of death severe injury or material damage The operator must ensure that the safety instructions in this manual are followed The operator must ensure that all personnel responsible for working with the servo drive have read and understand the manual 6 Kollmorgen October 2011 AKD EtherCAT 1 General 1 3 Symbols used Warning Symbols Symbol Indication A B AN G E R Indicates a hazardous situation which if not avoided will result in death or serious
44. onds to a fault with an emergency stop ramp A fault is pending the drive is stopped and disabled Kollmorgen October 2011 33 34 AKD EtherCAT 4 EtherCAT Profile 4 4 2 Commands in the Control Word Bit assignment in the control word O Switchon e Pausemat 1 DisableVotage o resewed Operation mode specific 14 Manufacturerspecifo Commands in the control word Bit 7 Bit 3 Bit 2 Bit 1 Bit O Command Fault Reset Enable Operation Quick Stoll Disable Voltage Switch on Transitions 1 o 208 Disable Volage x x x o x 91012 xo o x 701 Disable Operation x oo 1 1 1 5 Enable Operation x o 1 1 1 Las FautReset 1 x x x Xx 5 Bits labeled X are irrelevant 0 and 1 indicate the status of individual bits Mode dependent bits in the control word The following table shows the mode dependent bits in the control word Only manufacturer specific modes are supported at present The individual modes are set by Object 6060h Modes of operation Profile Position Mode pp 01h new setpoint change set absolute relative immediately AA nyege 03h SU T 04h j r Homing Mode hm homing_operation_ start interpolated Position Mode p o reseved reserved Cyclic synchronous position mode 08h Description of the remaining bits in the control word Bit 8 Pause If Bit 8 is set then the drive halts pauses in all modes The setpoints speed for homing or jog
45. ord 2 byte Interpolated position command value 4 bytes Latch control word 2 bytes Torque feed forward 2 bytes Digital outputs 2 bytes max torque 2 bytes 0x1723 Control word 2 bytes Interpolated position command value 4 bytes Latch control word 2 bytes Torque feed forward 2 bytes Digital outputs 2 bytes Reset of changed input information 2 bytes Ox1724 Target position for cyclic synchronous position mode 4 bytes Control word 2 byte Torque feed forward 2 bytes 0x1B01 Position actual value 4 bytes Status word 2 bytes total 6 bytes Ox1B20 Position actual internal value 4 bytes 2nd position feedback position 4 bytes velocity actual value 4 bytes digital inputs 4 bytes following error 4 bytes latch position positive 4 bytes status word 2 bytes torque actual value 2 bytes latch status 2 bytes analogue input value 2 bytes 01821 Ox1B22 Position actual internal value 4 bytes 2nd position feedback position 4 bytes velocity actual value 4 bytes digital inputs 4 bytes following error 4 bytes latch position negative 4 bytes status word 2 bytes torque actual value 2 bytes latch status 2 bytes analogue input value 2 bytes Ox1B23 Position actual internal value 4 bytes 2nd position feedback position 4 bytes velocity actual value 4 bytes digital inputs 4 bytes following error 4 bytes latch position positive negative 4 bytes sta
46. perational Request x03 Bootstrap Mode Request 0x04 Safe Operational Request x08 Operational Request 0x01 Fault acknowledgement positive edge KAA SSCS x120 15t08 RO WGT UU 0x130 3100 CA A SOS 0x03 BootstrapMode TTT 0x04 Safe a A S A S 0x08 Operational NAA AH 0x01 Error e g forbidden transition Reseved TOST 7toS W O RIO SOS Applic specific 0x130 tSto8 W O RIO SSS Kollmorgen October 2011 31 32 AKD EtherCAT 4 EtherCAT Profile 4 3 3 AL Status Code Address 0x0134 0x0135 ZA ECAT Status fonsa 7to0 wo RO Seetable below Staus Jonas 7100 wo R O See table below Current Status Code Description Status change Resulting Status 0x0000 Noeror h Current Status 0x0011 Invalid requested state change gt S I gt O P gt O Current Status E O gt B S gt B P gt B 0x0017 Invalid sync manager configuration I gt P P gt S Current Status E No other codes are supported 4 3 4 EtherCAT communication phases INIT Initialization no communication EEPROM emulation will be acti vated Ba fen U PRE OP Mailbox active slave parameterization and startup parameters SAVE OP Cyclical actual values are transferred and the drive tries to syn chronize OPERATIONAL Cyclical setpoints are processed torque enable can be activated and the drive must be synchronized Individual communication transitions AL Control Tra
47. ported Cyclical Setpoint and Actual Values Supported cyclical setpoint values Name a Data number type Position command value Ox60C 1 sub 1 INT32 Interpolation data record in IP mode Velocity command value Ox60FF sub 0 INT32 Latch Control word Tana auen NI Torque feedforward ox60B2sw0 nre Digital outputs oxgoFEsubT unra Supported cyclical actual values number type Position actual intemal value 0x6083 sub0 Tas Velocity actual value CANopen status word CANopen status word Second position feedback Digital inputs Following error actual value 60F4 sub 0 INT32 Latch position positive edge 20a0 sub 0 INT32 Torque actual value 6077 sub 0 INT16 Latch status 20A5 sub 0 UINT16 Analog input value 3470 sub 0 INT16 4 8 Supported Operation Modes CANopen mode of operation AKD mode of operation Profile velocity DRV OPMODE 2 Ox6060Sub0 Data 3 DRC CMDSOURCE 1 Inthis mode of operation the EtherCAT master sends cyclic velocity command values to the AKD Interpolated position DRV OPMODE 2 Ox6060Sub0 Data 7 DRV CMDSOURCE 1 ln this mode of operation the EtherCAT master sends cyclic position command values to the AKD These command values are interpolated by the AKD according to the fieldbus sample rate Homing mode DRV OPMODE 2 Ox6060 sub 0 data 6 DRV CMDSOURCE 0 In this mode an AKD internal homing can be done Kollmorgen October 2011 41 42 AKD EtherCAT 4 EtherCAT Profile 4 9 Adjust
48. stall the drive as described in the nstallation Manual Never break any of the electrical con nections to the drive while it is live This can result in destruction of the electronics NOTICE Do not connect the Ethernet line for the PC with the set up software to the EtherCAT inter face X5 X6 The set up Ethernet cable must be connected to the service interface on X11 2 2 Use as directed Drives are components that are built into electrical plants or machines and can only be operated as integral com ponents of these plants or machines The manufacturer of the machine used with a drive must generate a risk assessment for the machine and take appropriate measures to ensure that unforeseen movements cannot cause personnel injury or property damage e Observe the chapters Use as directed and Prohibited use in the AKD Installation Manual e The EtherCAT interface serves only for the connection of the AKD to a master with EtherCAT con nectivity 2 3 Prohibited use Other use than that described in chapter Use as directed is not intended and can lead to personnel injuries and equipment damage The drive may not be used with a machine that does not comply with appropriate national directives or standards The use of the drive in the following environments is also prohibited e potentially explosive areas e environments with corrosive and or electrically conductive acids alkaline solutions oils vapors dusts e ships or offshore applic
49. t 6 118 241 used in control card simple dynamic braking 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 dis tributed by electronic means without the written permission of Kollmorgen 2 Kollmorgen October 2011 AKD EtherCAT Table of Contents Table of Contents 1 General 5 1 1 About this Manual 22 2 0000000000000000 0000000000200022 a0 22222222 6 1 2 Target Group 20222 ee eee eee eee eee cence eee eeeeeeeee 6 1 3 Symbols used p 0000000000000000 0000000000000000 0000000000000200 222022 a222i 7 1 4 Abbreviations Used 8 PAEST i i A 9 2 1 Safety Instructions 22222 2 0 a 10 2 2 Use as directed 2 a 10 2 3 Prohibited use a 10 3 Installation and Setup 11 3 1 Safety Instructions 2 a 12 3 2 EtherCAT Onboard 2 oaaao aaa aaoo aoao cence ccc ccc eee eee cece cece ee eee cece eeeeseeseeeseeees 13 3 2 1 LED functions 2c ice ee eee DDAL eee eee ee cece cece eeceeeeeeeeeeseeseees 13 3 2 2 Connection technology a 13 3 2 3 Network Connection Example a 13 3 3 EtherCAT activation with AKD CC models
50. to the EtherCAT master PC e The TwinCAT system manager resides in Config Mode The current mode of the system manager is dis played of the bottom right side of the TwinCAT main screen window Copy the XML description of the drive to the TwinCAT system usually to the folder c TwinCAT IO EtherCAT and restart the TwinCAT system since TwinCAT analyzes all device description files during start up The following example explains the automatic EtherCAT network setup The network setup can also be done manually please refer to the TwinCAT manual for more details Kollmorgen October 2011 15 AKD EtherCAT 3 Installation and Setup 3 5 1 Scan devices First ensure that the EtherCAT master is physically connected to the EtherCAT AKD Create a new empty project Right click I O Devices and scan for the devices An example is included in the EtherCAT network card which is plugged into the PC Unbenannt TwinCAT System Manager 2 x File Edit Actions View Options Help D are A Sat DBP MA BV FR aR S F SQ le tie BOT S SYSTEM Configuration Nam Deves E S E NG Configuration JA FLE Configuration E m O Configuration YH L ab Mappin ae Append Device SA Paste with Links ACHA Ready l local 127 255 255 1 1 1 Be A pop up window informs you that not all devices can be detected by the TwinCAT software Click OK to continue 3 5 2 Select the device TwinCAT must be able to find the EtherCAT ne
51. tus word 2 bytes torque actual value 2 bytes latch status 2 bytes analogue input value 2 bytes 0x1B24 Position actual value 4 bytes status word 2 bytes Velocity interface UX 1702 Velocity command value 4 bytes Control word 2 bytes total 6 bytes Ox1B02 Position actual value 4 bytes Status word 2 bytes total 6 bytes Torque interface Ox1703 Torque command value 2 bytes Control word 2 bytes Kollmorgen October 2011 AKD EtherCAT 4 EtherCAT Profile 4 6 Flexible PDO Mappings In addition to the fixed PDO mapping the so called flexible mapping of real time obects is possible The configuration is similar to the described sequence for the fixed mappings 1 The mapping selection is cleared write 0 to object 0x1C 12 sub O and 1C13 sub 0 2 As the AKD implementation is based on CANopen the real time data are build from up to 4 PDOs with 8 bytes in both directions These PDOs are built in the same way as in a CAN drive with the objects 0x 1600 0x1603 and 0x1A00 0x1A03 Unused PDOs must be cleared with writing O to the subindex 0 3 SDO write access to object 0x1C12 sub 1 4 with the PDOs 0x1600 0x1603 that should be used in receive direction of the AKD set point values 4 SDO write access to object 0x1C13 sub 1 4 with the PDOs 0x1A00 Ox1A03 that should be used in transmit direction of the AKD actual values 5 SDO write access to the objects 0x1C12 sub O an
52. twork card AnEtherCAT slave must be connected to the network card otherwise TwinCAT will finda real time EtherNET cardinstead of the EtherCAT card Press the OK button Unbenannt TwinCAT System Manager K lel x File Edit Actors View Options Help PA Se teams Bey He SBN S S BQ ele Mc GO C B SYSTEM Configuration E NG Configuration JA FLE Configuration BM LO Configuration B 1 0 Devices aii Mappings AT LAN Yerbindung TwinCAT nbel PCV Ethernet Adapter i Cocot Select All Unselect All 1 new 1 0 devices found J x Cancel Ready Kollmorgen October 2011 AKD EtherCAT 3 Installation and Setup 3 5 3 Scan for boxes Click Yes to allow TwinCat to scan for boxes A box is an alias for a slave device and is always used in Beckhoff software products Unbenannt TwinGAT System Manager Fle Edit Actions View Options Hep DSM Sat PEFAD Seve OB CF 2Q ele amp io GO C B SYSTEM Configuration ff NG Configuration JA FLE Configuration B J LO Configuration a 1 0 Devices Device 1 EtherCaT gif Mappings Ready ocal 127 255 255 111 3 5 4 Add Slaves to NC tasks TwinCAT should now have identified the AKD according to the Device Description file TwinCAT next asks if the slaves should be connected to NC tasks Click Yes to continue An NC task can for example contain a PLC program which can be programmed by the user Unbenannt TwinCA
53. y Ox1701 O Ox1703 excluded by Ox1701 mal Download Predefined PDO Assignment none EDO earner Load PDO info from device CI PDO Configuration L If the free mapping is required the PDO configuration check box must be checked and changed General EtherCAT DC Process Data Startup CoE Online Online Sync Manager POO List SM Size FE Flags Index Size Name Flags SM 5 U B 2 MMbxOut AA 2 0 Inputs U 1 Ale Mbali 01401 0 0 Inputs U E 6 Outputs OR Ag2 0 0 Inputs 0 3 b Inputs DHANI 0 0 Inputs U 1601 6 0 Inputs F 3 U Ox1B20 32 0 Inputs F O 1B 21 6 0 Inputs F U 0s1B 22 a20 Inputs F U OB 2 2 32 0 Inputs F U Oslbed 6 0 Inputs F U BI E Ox1600 2 0 Outputs U PDO Assignment 0210121 POO Content 01600 IL 0 1 BOO excluded by x1 701 A Index Size Offs Name Type Default hex IDR excluded by Uel 70 AA Ox6040 00 2 0 0 0 Control ward UINT 10 1602 excluded by D1 701 2 0 E 041603 exclided by 041701 H 0 1701 E 01702 excluded by O27 701 O Dx 703 excluded by 07701 K lea na THT WA K EH L Download Predefined PDO Assignment none 7 A Load PDD info from device ee SAT Se vrare Kollmorgen October 2011 37 AKD EtherCAT 4 EtherCAT Profile 4 6 1 Example Free PDO Mapping For the free mapping of the Outputs the fix

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