Kollmorgen AKD-CC, Installation Manual

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1 Table of Contents
1 Table of Contents 3
2 General 7
2.1 About this Manual 8
2.2 Target Group 8
2.3 Symbols Used 9
2.4 Abbreviations Used 10
3 Installation and Setup 11
3.1 Important Instructions 12
3.2 EtherCAT Onboard 13
3.2.1 LED functions 13
3.2.2 Connection technology 13
3.2.3 Network Connection Example 13
3.3 EtherCAT activation with AKD-CC models 14
3.4 Guide to Setup 15
3.5 Important Configuration Parameters 16
3.6 Setting up Ethernet over EtherCAT (EoE) 18
3.6.1 EtherCAT Device Settings 18
3.6.2 Drive Settings 18
3.6.3 Connecting to the Drive 19
3.6.4 Performance Concerns 19
3.6.5 Restrictions 20
3.7 Setup via TwinCAT NC/PTP System Manager 21
3.7.1 Scan devices 22
3.7.2 Select the device 22
3.7.3 Scan for boxes 23
3.7.4 Add Slaves to NC tasks 23
3.7.5 Enable the network configuration 23
3.7.6 Enable the axis and move the axis 24
3.8 Setup WorkBench over TwinCAT 25
3.8.1 TwinCAT and WorkBench configuration 26
3.8.2 Connecting to a drive using WorkBench 27
3.8.3 Configuring and enabling a drive 30
3.8.4 Download a parameterfile over TwinCAT 31
3.9 Setup via KAS IDE 32
4 EtherCAT Profile 33
4.1 Slave Register 34
4.2 AL Event (Interrupt Event) and Interrupt Enable 35
4.2.1 Interrupt Enable Register (Address 0x0204:0x0205) 35
4.2.2 AL Event Request (Address 0x0220:0x0221) 36
4.3 Phase Run-Up 37
4.3.1 AL Control (Address 0x0120:0x0121) 37
4.3.2 AL Status (Address 0x0130:0x0131) 37
4.3.3 AL Status Code (Address 0x0134:0x0135) 38
AKD EtherCAT | Table of Contents
Kollmorgen | kdn.kollmorgen.com | October 2017 3