Kollmorgen AKD-CC Installation Manual Download Page 4

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4.3.4 EtherCAT communication phases

4.4 CANopen over EtherCAT (CoE) State Machine

4.4.1 Status Description

4.4.2 Commands in the Control Word

4.4.3 State Machine Bits (status word)

4.5 Fixed PDO Mappings

4.6 Flexible PDO Mappings

4.6.1 Example: Flexible PDO Mapping

4.7 Supported Cyclical Setpoint and Actual Values

4.8 Supported Operation Modes

4.9 Adjusting EtherCAT Cycle Time

4.10 Maximum Cycle Times depending on operation mode

4.11 Synchronization

4.11.1 Synchronization behavior with distributed clocks (DC) enabled

4.11.2 Synchronization behavior with distributed clocks (DC) disabled

4.12 Latch Control Word and Latch Status Word

4.13 Mailbox Handling

4.13.1 Mailbox Output

4.13.2 Mailbox Input

4.13.3 Example: Mailbox Access

4.14 EEProm Content

5 Appendix

5.1 CANopen Emergency Messages and Error Codes

5.2 Object Dictionary

5.2.1 Float Scaling

5.2.2 Effectiveness of PDO set-points

5.2.3 Communication SDOs

5.2.4 Manufacturer specific SDOs

5.2.5 Profile specific SDOs

5.3 Object descriptions

5.3.1 Object 1000h: Device Type (DS301)

5.3.2 Object 1001h: Error register (DS301)

5.3.3 Object 1002h: Manufacturer Status Register (DS301)

5.3.4 Object 1003h: Predefined Error Field (DS301)

5.3.5 Object 1005h: COB-ID of the SYNC Message (DS301)

5.3.6 Object 1006h: Communication Cycle Period (DS301)

5.3.7 Object 1008h: Manufacturer Device Name (DS301)

5.3.8 Object 1009h: Manufacturer Hardware Version

5.3.9 Object 100Ah: Manufacturer Software Version (DS301)

5.3.10 Object 100Ch: Guard Time (DS301)Response monitoring

5.3.11 Object 100Dh: Lifetime Factor (DS301)

5.3.12 Object 1010h: Store Parameters (DS301)

5.3.13 Object 1011h: Restore Default Parameters DS301

5.3.14 Object 1012h: COB-ID of the Time Stamp (DS301)

100

5.3.15 Object 1014h: COB-ID for Emergency Message (DS301)

100

5.3.16 Object 1016h: Consumer Heartbeat Time

101

AKD EtherCAT | Table of Contents

Kollmorgen | kdn.kollmorgen.com | October 2017

Summary of Contents for AKD-CC

Page 1: ...n P October 2017 Valid for firmware version 1 17 Part Number 903 200005 00 Original Documentation Keep all manuals as a product component during the life span of the product Pass all manuals to future...

Page 2: ...H l Ethernet IP is a registered trademark of ODVA Inc l Ethernet IP Communication Stack copyright c 2009 Rockwell Automation l sercos is a registered trademark of sercos international e V l HIPERFACE...

Page 3: ...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...

Page 4: ...5 2 1 Float Scaling 65 5 2 2 Effectiveness of PDO set points 65 5 2 3 Communication SDOs 65 5 2 4 Manufacturer specific SDOs 68 5 2 5 Profile specific SDOs 86 5 3 Object descriptions 90 5 3 1 Object...

Page 5: ...bject 20A1h Latch position 1 negative edge 122 5 3 40 Object 20A2h Latch position 2 positive edge 122 5 3 41 Object 20A3h Latch position 2 negative edge 123 5 3 42 Object 20A4h Latch Control Register...

Page 6: ...BDh Touch probe 2 negative edge 153 5 3 84 Object 60C0h Interpolation sub mode select 153 5 3 85 Object 60C1h Interpolation data record 154 5 3 86 Object 60C2h Interpolation time period 155 5 3 87 Obj...

Page 7: ...2 General 2 1 About this Manual 8 2 2 Target Group 8 2 3 Symbols Used 9 2 4 Abbreviations Used 10 AKD EtherCAT 2 General Kollmorgen kdn kollmorgen com October 2017 7...

Page 8: ...entation for the parameters and commands used to program the AKD l AKD CAN BUS Communication This manual describes the CAN communication and delivers a lot of information for CAN over EtherCAT communi...

Page 9: ...avoided could res ult in minor or moderate injury Indicates situations which if not avoided could result in prop erty damage This symbol indicates important notes Warning of a danger general The type...

Page 10: ...n System Interconnect 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 iden tifiers as we...

Page 11: ...C models 14 3 4 Guide to Setup 15 3 5 Important Configuration Parameters 16 3 6 Setting up Ethernet over EtherCAT EoE 18 3 7 Setup via TwinCAT NC PTP System Manager 21 3 8 Setup WorkBench over TwinCAT...

Page 12: ...zone of 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 Installation...

Page 13: ...nnector LED Name Function X5 LED1 IN port Link ON active OFF not active LED2 RUN ON running OFF not running X6 LED3 OUT port Link ON active OFF not active LED4 3 2 2 Connection technology You can conn...

Page 14: ...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 Set S1 to 8 and S2...

Page 15: ...a dangerous zone of the machine Refer to chapter Important Configuration Parameters p 16 for fieldbus parameter set ting FBUS PARAMx 1 Check assembly installation Check that all the safety instructio...

Page 16: ...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 messag...

Page 17: ...0 All capture objects 0x20A0 0x20A3 0x20A6 0x20A7 0x60BA to 0x60BD are scaled like object 0x6064 Bit 8 1 DS402 state SWITCHED ON means power stage disabled 0 DS402 state SWITCHED ON means power stage...

Page 18: ...rCAT mailbox to forward the Ethernet traffic from your PC to the drive allowing you to access the drive as if it was connected over Ethernet The following walk through uses a TwinCAT master as an exam...

Page 19: ...ch and make sure the discovery protocol is enabled for the network interface that is in the subnet configured for your drive in the previous step You can now connect to your drive as if it were connec...

Page 20: ...does not support this you should at least try to decrease the period in which the master polls the drive s mailbox 3 6 5 Restrictions l Since a firmware download restarts the drive in the resident fir...

Page 21: ...e Koll morgen website l An AKD EtherCAT slave is connected to the EtherCAT master PC l The TwinCAT system manager resides in Config Mode The current mode of the system manager is displayed of the bott...

Page 22: ...EtherCAT network card which is plugged into the PC A pop up window informs you that not all devices can be detected by the TwinCAT software Click OK to continue 3 7 2 Select the device TwinCAT must be...

Page 23: ...nue An NC task can for example contain a PLC program which can be programmed by the user 3 7 5 Enable the network configuration Confirm that the AKD appears in the device tree Next enable the network...

Page 24: ...w inside of each Axis see also the next picture Afterwards a pop up window appears The following setting enables the drive and allows command values in both directions Afterwards the motor should move...

Page 25: ...ive any specific details on TwinCAT 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 Twi...

Page 26: ...erCAT Manual 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 cor respond...

Page 27: ...e Online TwinCAT must be specified Then a list of available drives will be provided The information provided for a drive are it s name status Net ID and Port number After selecting a drive from the li...

Page 28: ...mmand While the status is an indicator that tells if there is already a device created within WorkBench which is already connected to that particular drive Using TwinCAT System Manager the drive name...

Page 29: ...but not from the drive itself Thus if the TwinCAT configuration is not reflecting the actual network configuration you may have a drive listed in WorkBench which is not be powered up or even connected...

Page 30: ...of the TwinCAT master is enabled it is possible that some com mands sent by WorkBench using the ASCII channel are overwirtten by the TwinCAT master Typically the drive enable command will have no eff...

Page 31: ...st select the drive where you want to perform the download 2 Change to the online tab 3 Press the download button 4 Chose All Files as filetype to see the parameter files which end with akd 5 Select t...

Page 32: ...KAS Integrated Development Environment IDE as shown below For further information on the setup for a KAS system see the following sections in the KAS documentation l KAS IDE User Manual See section 4...

Page 33: ...le PDO Mappings 44 4 7 Supported Cyclical Setpoint and Actual Values 49 4 8 Supported Operation Modes 51 4 9 Adjusting EtherCAT Cycle Time 51 4 10 Maximum Cycle Times depending on operation mode 51 4...

Page 34: ...Manager 1 Mail In Control Register R W R O 0x0810 8 Sync Manager 2 Process data Output Con trol Register R W R O 0x0818 8 Sync Manager 3 Process data Input Control Register R W R O 0x0820 8 Sync Mana...

Page 35: ...ription AL Control Event 0x204 0 R W R O Activation of AL control event for phase run up 0x204 1 R W R O Reserved Sync0 DC Distributed Clock 0x204 2 R W R O Activation of distributed clock DC sync 0 i...

Page 36: ...220 4 R O R W The content of the Syn cManager activation register has been changed EEPROM emulation event 0x220 5 R O R W Processing of an EEPROM emulation event in order to identify the AKD within th...

Page 37: ...1 Parameter Address Bit ZA Drive ZA ECAT Description Status 0x120 3 to 0 R O W O 0x01 Init Request 0x02 PreOperational Request 0x03 Bootstrap Mode Request 0x04 Safe Operational Request 0x08 Operationa...

Page 38: ...yclical actual values are transferred and the drive tries to synchronize OPERATIONAL Cyclical setpoints are processed torque enable can be activated and the drive must be synchronized Individual commu...

Page 39: ...e because for example there is no connection to a power source Ready to Switch On In Ready to Switch On status the drive can be enabled via the control word Switched On In Switched On status the ampli...

Page 40: ...ependent 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...

Page 41: ...ration enabled 0 1 0 1 1 1 Fault 0 X 1 0 0 0 Fault reaction active 0 X 1 1 1 1 Quick stop active 0 0 0 1 1 1 Bits labeled X are irrelevant 0 and 1 indicate the status of individual bits Description of...

Page 42: ...erpolated 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 val...

Page 43: ...actual value 4 bytes Velocity interface supported fixed mappings 0x1702 Velocity command value 4 bytes Control word 2 bytes total 6 bytes The objects which are mapped into the fixed PDOs can be read...

Page 44: ...1a03 The configuration is similar to the described sequence for the fixed mappings 1 The mapping selection is cleared write 0 to object 0x1C12 sub 0 and 1C13 sub 0 2 As the AKD implementation is based...

Page 45: ...apping of the Outputs the fixed mapping 0x1701 has to be switched off and up to 4 free mappable PDOs 0x1600 0x1603 can be used instead The maximum number of bytes for each of these PDOs is 8 After tha...

Page 46: ...re the value of the actual internal position is selected This results in the startup SDO list for this sample free mapped configuration The meaning of the data for example 0x60410010 in the mapping of...

Page 47: ...If this shall be used in the NC the interpolation set point position has to be linked from the axis to the NC axis AKD EtherCAT 4 EtherCAT Profile Kollmorgen kdn kollmorgen com October 2017 47...

Page 48: ...ore in this document Now the NC screen should show a position in the online window which changes a bit in the last digits After enabling the power stage with the All button the drive can be moved via...

Page 49: ...bit Target Torque 0x6071 sub 0 16 bit 0 1 resolution Maximum Torque 0x6072 sub 0 16 bit Target position 0x607A sub 0 INT32 Used in profile position mode cyc lic synchronous position mode Profile posi...

Page 50: ...e 0x20A2 sub 0 32 bit Latch2 Negative 0x20A3 sub 0 32 bit Latch1 positive negative edge 0x20A6 32 bit Latch 2 positive negative edge 0x20A7 32 bit Modes of Operation 0x6061 8 bit DS402 opmode status P...

Page 51: ...ng 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...

Page 52: ...US 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 F...

Page 53: ...e bin Value hex Description 0 00000000 00000001 zz01 External latch 1 valid positive rise 1 00000000 00000010 zz02 External latch 1 valid negative rise 2 00000000 00000100 zz04 External latch 2 valid...

Page 54: ...cess process 1 The EtherCAT master writes the mailbox request to the mail out buffer 2 On the next interrupt the EtherCAT interface activates a Sync Manager 0 event mailbox output event in the AL even...

Page 55: ...hernet over EtherCAT 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...

Page 56: ...mber 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 0 Reserved 1 Emergency message 2 SDO request 3 SDO answer 4 TXPDO 5 RxPDO 6 Remot...

Page 57: ...Data value 0x00001704 Byte 13 0x17 Data value 0x00001704 Byte 14 0x00 Data value 0x00001704 Byte 15 0x00 Data value 0x00001704 The drive returns the following message Byte 0 0x0E The next 14 Bytes con...

Page 58: ...O information drive name serial num bers and communication specific attributes They are organized in categories There are two manufacturer specific categories imple mented in the AKD l Category 0x0800...

Page 59: ...Dynamic Braking I T 0x3282 F519 Regen short circuit 0x3283 n501 Warning DC Bus link over voltage 0x4210 F234 Excessive temperature device control board 0x4310 F235 Excessive temperature drive heat sin...

Page 60: ...p 0x55A2 F212 Power board EEPROM corrupted serial num data 0x55A3 F213 Power board EEPROM corrupted parameter stamp 0x55A4 F214 Power board EEPROM corrupted parameter data 0x55A5 F230 Power board EEPR...

Page 61: ...set feedback 0x7390 n414 Warning SFD single corrupted position 0x7391 F419 Encoder init procedure failed 0x7392 F534 Failed to read motor parameters from feedback device 0x7393 F421 SFD position senso...

Page 62: ...x73D4 F492 Wake and Shake Validating commutation angle required more than MOTOR ICONT 0x73D5 F493 Invalid commutation detected motor accelerates in wrong direction 0x8130 F129 Life Guard Error or Hear...

Page 63: ...ivation is currently pending 0x86AE n135 Warning Homing is needed 0x86AF n174 Warning Homing maximum distance exceeded 0x86B0 F438 Following error numeric 0x86B6 n179 Teaching of Cogging compensation...

Page 64: ...ng The FPGA is a laboratory FPGA 0xFF16 n602 Warning Safe torque off 0xFF17 F132 Secondary feedback Z line break 0xFF18 n603 Warning OPMODE incompatible with CMDSOURCE 0xFF19 n604 Warning EMUEMODE inc...

Page 65: ...word They are marked with an asterisk at the PDO map ping 5 2 3 Communication SDOs Index Sub index Data Type Float Scale Access PDO map Description ASCII object 1000h 0 U32 RO no Device type 1001h 0...

Page 66: ...COB ID 1401h 2 U8 RW no Transmission type RXPDO2 1402h RECORD RXPDO3 communication parameter 1402h 0 U8 RO no highest sub index 1402h 1 U32 RW no RXPDO3 COB ID 1402h 2 U8 RW no Transmission type RXPDO...

Page 67: ...ighest sub index 1803h 1 U32 RW no TXPDO4 COB ID 1803h 2 U8 RW no Transmission type TXPDO4 1803h 3 U16 RW no Inhibit time 1803h 4 U8 const no reserved 1803h 5 U16 RW no Event timer 1A00h RECORD Mappin...

Page 68: ...LT10 2002h ARRAY Manufacturer status bytes 2002h 0 U8 RO no highest sub index 2002h 1 U8 RO yes Manufacturer status bytes 1 2002h 2 U8 RO yes Manufacturer status bytes 2 2002h 3 U8 RO yes Manufacturer...

Page 69: ...O yes Current actual value 2077h 0 UINT32 RW yes Maximum velocity in CST PT mode 20A0h 0 INT32 var RO yes Latch position 1 positive edge CAP0 PLFB CAP0 T 20A1h 0 INT32 var RO yes Latch position 1 nega...

Page 70: ...Natural frequency of zero of anti resonance AR filter 2 VL ARZF2 3406h B U32 1000 1 RW no Natural frequency of zero of anti resonance AR filter 3 VL ARZF3 3406h C U32 1000 1 RW no Natural frequency o...

Page 71: ...h 0 U8 RO no highest sub index 3427h 1 U8 RW no IL MIMODE 3427h 2 U8 RW no IL MI2TWTHRESH 3427h 3 U32 RW yes IL MI2T 3430h 0 U8 RW no Sets the direction for absolute motion tasks PL MODPDIR 3431h 0 U1...

Page 72: ...Response 3460h RECORD Capture engines parameters 3460h 0 U8 RO no highest sub index 3460h 1 U8 RW no Specifies the trigger source for the position capture CAP0 TRIGGER 3460h 2 U8 RW no Specifies the t...

Page 73: ...2 bit part of input para meter 5 DIN5 PARAM 3474h 6 U32 RW no Lower 32 bit part of input para meter 6 DIN6 PARAM 3474h 7 U32 RW no Lower 32 bit part of input para meter 7 DIN7 PARAM 3474h 8 U32 RW no...

Page 74: ...ve DRV MOTIONSTAT 3493h 0 U8 RO no Direction of EEO emulated encoder output DRV EMUEDIR 3494h RECORD WS parameters 3494h 0 U8 RO no highest sub index 3494h 1 INT16 1000 1 RW no Sets maximum current us...

Page 75: ...alue PLS P8 34A1h ARRAY PLS Width 34A1h 0 U8 RO no highest sub index 34A1h 1 INT32 1 1 RW no Sets Limit Switch1 Width PLS WIDTH1 34A1h 2 INT32 1 1 RW no Sets Limit Switch 2 Width PLS WIDTH2 34A1h 3 IN...

Page 76: ...CMP0 widths 34ABh 0 U8 RO no highest sub index 34ABh 1 INT32 RW no Compare0 width 0 CMP0 WIDTH 0 34ABh 2 INT32 RW no Compare0 width 1 CMP0 WIDTH 1 34ABh 3 INT32 RW no Compare0 width 2 CMP0 WIDTH 2 34A...

Page 77: ...FB1 USERBYTE3 34B2h 4 U8 RW no FB1 USERBYTE4 FB1 USERBYTE4 34B2h 5 U8 RW no FB1 USERBYTE5 FB1 USERBYTE5 34B2h 6 U8 RW no FB1 USERBYTE6 FB1 USERBYTE6 34B2h 7 U8 RW no FB1 USERBYTE7 FB1 USERBYTE7 34B2h...

Page 78: ...type 7 CMP1 WIDTHTYPE 7 34BDh ARRAY CMP1 modes 34BDh 0 U8 RO no highest sub index 34BDh 1 U8 RW no Compare1 mode 0 CMP1 MODE 0 34BDh 2 U8 RW no Compare1 mode 1 CMP1 MODE 1 34BDh 3 U8 RW no Compare1 mo...

Page 79: ...no Function of Digital Input 2 DIN2 MODE 3568h 0 INT32 RW no Function of Digital Input 3 DIN3 MODE 356Bh 0 INT32 RW no Function of Digital Input 4 DIN4 MODE 356Eh 0 INT32 1000 1 RW no Application Peak...

Page 80: ...al stop HOME IPEAK 35EBh 0 INT32 WO no Save Data in EEPROM DRV NVSAVE 35F0h 0 INT32 WO no Set Reference Point HOME SET 35FEh 0 INT32 WO no Stop Motion Task DRV STOP 35FFh 0 U32 RW no Selects between d...

Page 81: ...urveillance FBUS PARAM04 36E9h 0 U32 RW no FBUS PARAM05 36EAh 0 U32 RW no FBUS PARAM06 36EBh 0 U32 RW no FBUS PARAM07 36ECh 0 U32 RW no FBUS PARAM08 36EDh 0 U32 RW no FBUS PARAM09 36EEh 0 U32 RW no FB...

Page 82: ...nsigned FB1 INITSIGNED 5096h 0 UINT32 RW no Current value used during the phase finding procedure PFB PFIND 1 FB1 PFINDCMDU 5097h 0 UINT32 RW no Number of feedback poles FB1 POLES 5099h 0 UINT32 RW no...

Page 83: ...travel limit switches SWLS EN 5184h 0 UINT32 RW no Linear accel eration deceleration units UNIT ACCLINEAR 5187h 0 UINT32 RW no Linear position units UNIT PLINEAR 518Ah 0 UINT32 RW no Linear velocity u...

Page 84: ...r tical axis MOTOR TBRAKETO 51F0h 0 UINT32 RW no i p MODBUS MSGLOG 520Ch 0 UINT32 RW no Scaling mode for Modbus val ues MODBUS SCALING 520Dh 0 UINT32 RW no Encoder output pulse width for modes 6 to 7...

Page 85: ...on for Fault 451 FAULT451 ACTION 5268h 0 UINT32 RW no Brake Immediately in the case of a drive disable MOTOR BRAKEIMM 5352h 0 UINT16 RW no Amount of time a com munication error must be present before...

Page 86: ...nent VL FFDELAY 53D7h 0 INT8 RW no Allows a surface permanent magnet motor to operate as an interior permanent magnet motor MOTOR FIELDWEAKENING 5403h 0 UINT32 RW no Toggles between HOME IPEAK and cur...

Page 87: ...0 INT16 RO yes Torque actual value DRV ICONT 607Ah 0 INT32 1 1 RW yes Target position MT P 607Ch 0 INT32 1 1 RW no Reference offset HOME P 607Dh ARRAY Software position limit 607Dh 0 U8 RO no highest...

Page 88: ...W yes Velocity offset VL BUSFF 60B2h 0 INT16 RW yes Torque offset PDO only 60B8h 0 U16 RW yes Touch probe func tion 60B9h 0 U16 RW yes Touch probe status 60BAh 0 INT32 RW yes Touch probe 1 pos itive e...

Page 89: ...L LIMITP 60E1h 0 UINT16 RO yes Negative torque limit value IL LIMITN 60E4h ARRAY Additional position actual value 60E4h 0 U8 RO no highest sub index 60E4h 1 INT32 RW no 1st additional pos ition actual...

Page 90: ...REV 60EEh ARRAY Additional feed con stant driving shaft revolutions 60EEh 0 U8 RO no highest sub index 60EEh 1 U32 RW no 1st additional feed constant driving shaft revolutions DS402 1ADDPOSFCFSHAFTREV...

Page 91: ...0 The device profile number is DS402 the type is 2 for drives the mode bits 28 to 31 are man ufacturer specific and may be changed from its actual value of 0 A read access delivers 0x00020192 at the m...

Page 92: ...tegory mandatory Access R O PDO mapping not possible Value range UNSIGNED8 Default value no Error reasons to be signaled If a bit is set to 1 the specified error has occurred The generic error is sign...

Page 93: ...1 reference switch high home position 18 reserved 3 1 In Position 19 1 Emergency stop active 4 reserved 20 reserved 5 reserved 21 reserved 6 reserved 22 reserved 7 Active Disabel activated 23 1 Homing...

Page 94: ...er The old content of subindex 8 is lost The UNSIGNED32 information written to the subindizes is defined in the field Error Code in the description of the Emergency Messages p 59 Index 1003h Name pre...

Page 95: ...9 0 11 Bit ID CAN 2 0A 1 29 Bit ID CAN 2 0B 28 to 11 X 0 if Bit 29 0 10 to 0 LSB X Bit 0 to 10 of SYNC COB ID The device does not support the generation of SYNC messages and only the 11 bit IDs So the...

Page 96: ...009h Manufacturer Hardware Version This object will be supported in the future Index 1009h Name manufacturer hardware version Object code VAR Data type Visible String Category Optional Access const PD...

Page 97: ...code VAR Data type UNSIGNED16 Category conditional mandatory if heartbeat not supported Access R W PDO mapping not possible Value range UNSIGNED16 Default value 0 5 3 11 Object 100Dh Lifetime Factor...

Page 98: ...t possible Value range UNSIGNED32 Default value 1 Data definition Bit Value Meaning 31 to 2 0 reserved 0 1 0 Device does not save parameters autonomously 1 Device does save parameters autonomously 0 0...

Page 99: ...Object code VAR Data type UNSIGNED8 Category mandatory Access R O PDO Mapping not possible Value range 1 Default value 1 Subindex 1 Name restore all default parameters DRV RSTVAR Object code VAR Data...

Page 100: ...Drive does consume time message 30 produce 0 Drive does not produce time message 1 Drive does produce time message 29 frame 0 Value fixed to 0 28 to 11 reserved _ reserved 10 to 0 LSB CAN ID 0h 800h C...

Page 101: ...heartbeat time Object code ARRAY Data type UNSIGNED32 Category optional Subindex 0 Description highest sub index supported Data type UNSIGNED8 Category mandatory Access R O PDO Mapping not possible V...

Page 102: ...Object 1018h Identity Object DS301 The Identity Object contains general device information Index 1018h Name Identity Object Object code RECORD Data type Identity Category mandatory Subindex 0 Descript...

Page 103: ...KD The firmware version can be retrieved as a string via object 0x100A or as numbers voa object 0x2018 subindex 1 to 4 E g a value of 0x0014 0000 means CAN version 0 20 Subindex 3 Description Revision...

Page 104: ...Category mandatory Access R O PDO mapping not possible Value range 2 Default value 2 Subindex 1 is used to send one character to the drive Subindex 1 Description StdIn Category mandatory Access W PDO...

Page 105: ...y Access R W PDO Mapping not possible Value Range UNSIGNED32 Default Value Index 1400h 200h Node ID Index 1401h 300h Node ID Index 1402h 400h Node ID Index 1403h 500h Node ID Subindex 1 contains the C...

Page 106: ...only the next SYNC telegram is interpreted 5 3 21 Objects 1600 1603h 1st 4th RxPDO mapping parameter DS301 1600h to 1603h for RxPDO 1 to 4 Index 1600h 1601h 1602h 1603h Name receive PDO mapping Objec...

Page 107: ...lue 5 Subindex 1 Name COB ID used by PDO Category mandatory Access R W PDO Mapping not possible Value Range UNSIGNED32 Default Value Index 1800h 180h Node IDIndex 1801h 280h Node ID Index 1802h 380h N...

Page 108: ...e of the PDO There are two ways of setting l A value of FFh or 255d for an event triggered PDO which is sent immediately after a change in the mapped application objects Setting of Subindex 3 or 5 has...

Page 109: ...ype UNSIGNED8 Category mandatory Access R W PDO Mapping not possible Value Range 0 PDO is not active 1 8 PDO activated mappings are taken only byte wise Default Value PDO1 1 PDO2 2 PDO3 2 PDO4 2 Subin...

Page 110: ...sign Object code ARRAY Data type UNSIGNED16 Category optional Defined sub indices Subindex 0 Name highest sub index supported Data type UNSIGNED8 Category mandatory Access R W PDO Mapping not possible...

Page 111: ...ata type UNSIGNED16 Category optional Defined sub indices Subindex 0 Name highest sub index supported Data type UNSIGNED8 Category mandatory Access R O PDO Mapping not possible Value Range 0 pdo not a...

Page 112: ...ode independent Access R O PDO mapping not possible Unit Value range 0 to 999 Default value 0 5 3 27 Object 2001h System Faults This object is used to show up to ten actual faults with their AKD speci...

Page 113: ...de ARRAY Data type UNSIGNED8 Subindex 0 Description highest sub index supported Category mandatory Access R O PDO mapping not possible Value range 0x4 Default value 0x4 Subindex 1 to 4 Description Man...

Page 114: ...TIME in seconds This object delivers the runtime of the drive in seconds Index 2011h Name DRV RUNTIME in seconds Object code VAR Data type UNSIGNED32 Access R O Unit Value range UNSIGNED32 Default val...

Page 115: ...tory Fault numbers Object code ARRAY Data type UNSIGNED32 Subindex 0 Description highest sub index supported Category mandatory Access R O PDO mapping not possible Value range 0x14h Default value 0x14...

Page 116: ...sub indices Index 2013h Name Fault history Time stamps Object code ARRAY Data type UNSIGNED32 Subindex 0 Description highest sub index supported Category mandatory Access R O PDO mapping not possible...

Page 117: ...bytes although 4 bytes of mask information have been transmitted An activated bit in the mask means that monitoring is active for the corresponding bit in the PDO Index 2014h 2015h 2016h 2017h Name t...

Page 118: ...independent Access R O PDO mapping not possible Unit Value range UNSIGNED16 Default value 0 Subindex 2 Description minor version Mode independent Access R O PDO mapping not possible Unit Value range U...

Page 119: ...y mandatory Access R O PDO mapping not possible Value range 2 Default value 2 Subindex 1 is used to send four ASCII characters to the drive Subindex 1 Description Command Category mandatory Access wo...

Page 120: ...hall not be used The velocity scaling factor is only active when bit 4 of FBUS PARAM05 is set to 1 Other wise velocities are scaled as 1 1000 rpm Index 204Ch Name pv scaling factor Object code ARRAY D...

Page 121: ...ategory optional Access RO PDO mapping possible Value range depends on DRV IPEAK and MOTOR IPEAK Default value 0 5 3 38 Object 20A0h Latch position 1 positive edge This object is used to output the po...

Page 122: ...Access R O PDO mapping possible Value range INTEGER32 Float scaling var Default value 0 5 3 40 Object 20A2h Latch position 2 positive edge This object is used to output the position or a time dependi...

Page 123: ...ith a 0 signal Whether or not a latch event has occurred can be recognised by the latch status register object 20A5 Index 20A4h Name Latch Control Register Object code VAR Data type UNSIGNED16 Categor...

Page 124: ...latch 1 negative rise 10 00000011 00000000 z3zz Acknowledge value external latch 2 positive rise 11 00000100 00000000 z4zz Acknowledge value external latch 2 negative rise 12 00010000 00000000 1zzz St...

Page 125: ...Category optional Access ro PDO mapping possible Value range INTEGER32 Float scaling var Default value 0 5 3 46 Object 20B8h Reset of changed input information This object is used in PDOs to reset th...

Page 126: ...t state is RELEASE the brake will begin to apply The default value of the fieldbus control will be disabled so that the drive is always in control until the fieldbus is operational It is recommended t...

Page 127: ...subindex 2 the brake status can be checked Bit definition Bit Name Description 0 Fieldbus control Status 0 brake control via 0x345A is disabled or not possible due to drive failure 1 enable fieldbus c...

Page 128: ...first The access to the lower 32 bits then writes the parameter If the to be written value fits into 32 bit only the lower part needs to be written The most significant bit is then taken as sign bit...

Page 129: ...he lower 32 bits then writes the parameter If the to be written value fits into 32 bit only the lower part needs to be written The most significant bit is then taken as sign bit for the number Index 3...

Page 130: ...me is too low or lowers in case that the measured time is too high the sample time of the upcom ing 16 kHz tasks for one fieldbus sample by a selectable value object 3496 sub 4 in order to move the PL...

Page 131: ...g case FBUS SYNCDIST FBUS SYNCWND FBUS SYNCACT FBUS SYNCDIST FBUS SYNCWND Subindex 4 Description FBUS COMPTIME Category optional Access R W PDO mapping not possible Value range UNSIGNED32 Default valu...

Page 132: ...eserved 2 Quick Stop 10 reserved 3 Enable Operation 11 reserved 4 Operation mode specific 12 reserved 5 Operation mode specific 13 Manufacturer specific 6 Operation mode specific 14 Manufacturer speci...

Page 133: ...ed below Bit 8 Pause If Bit 8 is set then the drive halts pauses in all modes The setpoints speed for homing or jogging motion task number setpoints for digital mode for the individual modes are retai...

Page 134: ...fieldbus master Bit 10 target_reached This is set when the drive has reached the target position In profile position mode the position window is set via MT TPOSWND in homing mode via HOME TPOSWND Bit...

Page 135: ...W PDO mapping not possible Value range 1 2 5 6 Default value 2 Supported codes Bit Description 1 Slow down on slow down ramp and transit into Switch On Disabled 2 Slow down on quick stop ramp and tra...

Page 136: ...tic Start Risk of death or serious injury for humans working in the machine The drive could move unexpectedly When the drive is enabled a mode change is only permissible at zero speed l Never change t...

Page 137: ...esolution is defined with Object 608F as power of two number Index 6063h Name position actual value Object code VAR Data type INTEGER32 Mode pc pp Access R W PDO mapping possible Unit increments 1 tur...

Page 138: ...switched off Index 6065h Name Following error window Object code VAR Data type UNSIGNED32 Category optional Access R W PDO mapping not possible Value range UNSIGNED32 Default value 0 5 3 59 Object 606...

Page 139: ...he motor and is given per thousand 1 of rated current Index 6073h Name Max current Object code VAR Data type UNSIGNED16 Category optional Access R W PDO mapping not possible Value range UNSIGNED16 Def...

Page 140: ...a the scaling objects 6091h and 6092h Index 607Ah Name target position MT P Object code VAR Data type INTEGER32 Mode pp csp Access R W PDO mapping possible Unit user defined Value range 231 1 to 231 1...

Page 141: ...the software limits Index 607Dh Name Software position limit SWLS LIMIT0 Object code ARRAY Data type INTEGER32 Category optional Subindex 0 Description highest sub index supported Category mandatory...

Page 142: ...nnected to the AKD parameter DRV ACC in the Profile Velocity Mode and to the motion task parameter MT ACC in all other modes Index 6083h Name profile acceleration MT ACC DRV ACC in Profile Velocity Mo...

Page 143: ...e ratio of encoder increments per motor revolution on the CANopen end Encoder increments are set either directly by subindex 1 only powers of 2 available or implicit by writing to the parameter FB1 PS...

Page 144: ...ata Type UNSIGNED 32 Category optional Subindex 0 Name highest sub index supported Data type UNSIGNED8 Category mandatory Access R O PDO Mapping not possible Value Range 2 Default Value 2 Subindex 1 N...

Page 145: ...dex 0 Name highest sub index supported Data type UNSIGNED8 Category mandatory Access R O PDO Mapping not possible Value Range 2 Default Value 2 Subindex 1 Name Feed Category mandatory Access R W PDO M...

Page 146: ...nd home input in negative direction then find next feedback zero HOME MODE 18 HOME DIR 0 6 find home input in positive direction then find next feedback zero HOME MODE 18 HOME DIR 1 5 set reference po...

Page 147: ...3 homing within a single turn negative count dir ection If the feedback has an index pulse HOME MODE 11 will be used HOME MODE 7 11 HOME DIR 0 34 homing within a single turn positive count direction I...

Page 148: ...AKD EtherCAT 5 Appendix Value range 0 to 232 1 Default value 50 of Object 6099 sub 1 148 Kollmorgen kdn kollmorgen com October 2017...

Page 149: ...object 204Ch Index 60B1h Name Velocity Offset Object code VAR Data type INTEGER32 Category optional Access R W PDO mapping possible Value range INTEGER32 Default value 0 5 3 77 Object 60B2h Torque Of...

Page 150: ...tive edge of touch probe 1 1 Enable sampling at negative edge of touch probe 1 6 7 User defined e g for testing 8 0 Switch off touch probe 2 1 Enable touch probe 2 9 0 Trigger first event 1 continuous...

Page 151: ...e edge value stored 1 Touch probe 1 positive edge position stored 2 0 Touch probe 1 no negative edge value stored 1 Touch probe 1 negative edge position stored 3 to 5 0 reserved 6 7 User defined e g f...

Page 152: ...provides the position value of the touch probe 1 at negative edge Index 60BBh Name Touch probe 1 negative edge Object code Variable Data type INTEGER32 Category optional Access R O PDO Mapping yes Va...

Page 153: ...EGER32 Default value no 5 3 84 Object 60C0h Interpolation sub mode select In the AKD linear interpolation between position setpoints is supported Index 60C0h Name Interpolation sub mode select Object...

Page 154: ...ubindex 0 Description highest sub index supported Data type UNSIGNED8 Category mandatory Access R O PDO mapping not possible Value range 1 Default value 1 Subindex 1 Description Interpolation target p...

Page 155: ...nly be updated then Index 60C2h Name Interpolation time period Object code RECORD Data type Interpolation time period record 0080h Category optional Subindex 0 Description highest sub index supported...

Page 156: ...upported Category mandatory Access R O PDO mapping not possible Value range 6 Default value 6 Subindex 1 Description Maximum buffer size Category mandatory Access R O PDO mapping not possible Value ra...

Page 157: ...Subindex 5 Description Size of data record Category mandatory Access W PDO mapping not possible Value range 1 to 254 Default value 1 Subindex 6 Description Buffer clear Category mandatory Access W PD...

Page 158: ...cess R O PDO mapping not possible Value range 2 Default value 2 Subindex 1 Description Touch probe 1 source Category mandatory Access R W PDO mapping not possible Value range 11 to 1 1 to 5 Default va...

Page 159: ...UINTEGER16 limited by DRV IPEAK and MOTOR IPEAK Default value 0 5 3 90 Object 60E1h Negative Torque Limit Value The object gives the configured maximum motor torque in negative direction The value is...

Page 160: ...EGER32 Category optional Subindex 0 Description highest sub index supported Category mandatory Access R O PDO mapping not possible Value range 3 Default value 3 Subindex 1 Description 1st additional p...

Page 161: ...ARRAY Data type UNSIGNED32 Category optional Subindex 0 Description highest sub index supported Category mandatory Access R O PDO mapping not possible Value range 3 Default value 3 Subindex 1 Descrip...

Page 162: ...ect code ARRAY Data type UNSIGNED32 Category optional Subindex 0 Description highest sub index supported Category mandatory Access R O PDO mapping not possible Value range 3 Default value 3 Subindex 1...

Page 163: ...ARRAY Data type UNSIGNED32 Category optional Subindex 0 Description highest sub index supported Category mandatory Access R O PDO mapping not possible Value range 3 Default value 3 Subindex 1 Descrip...

Page 164: ...RRAY Data type UNSIGNED32 Category optional Subindex 0 Description highest sub index supported Category mandatory Access R O PDO mapping not possible Value range 3 Default value 3 Subindex 1 Descripti...

Page 165: ...of the following error in units defined by the user Index 60F4h Name Following error actual value Object code VAR Data type Integer32 Category optional Access R O PDO mapping possible Value range INTE...

Page 166: ...alue 0 5 3 98 Object 60FDh Digital inputs DS402 This index defines simple digital inputs for drives The manufacturer bits 16 to 22 display the actual state of the digital inputs 1 to 7 DINx STATE The...

Page 167: ...b index supported Category mandatory Access R O PDO mapping not possible Value range 2 Default value 2 Subindex 1 Description physical outputs Category mandatory Access R W PDO mapping possible Value...

Page 168: ...6502h Supported drive modes DS402 A drive can support more then one and several distinct modes of operation This object gives an overview of the implemented operating modes in the device This object...

Page 169: ...according to 82079 J 05 2014 Appendix with object dictionaries and object descriptions K 12 2014 Object dictionaries and object descriptions updated L 11 2015 Objects 60C1 60D0 20A4 20A5 updated obje...

Page 170: ...This page intentionally left blank AKD EtherCAT 6 Record of Document Revisions 170 Kollmorgen kdn kollmorgen com October 2017...

Page 171: ...20A4h 123 20A5h 124 20A6h 124 20A7h 125 20B8h 125 3 345Ah 126 3474h 128 3475h 129 3496h 130 6 6040h 132 6041h 133 605Ah 135 6060h 136 6061h 137 6063h 137 6064h 137 6065h 138 606Ch 138 6071h 139 6073h...

Page 172: ...Fieldbus 16 Fieldbus Parameters 16 I Interrupt Event 35 K KAS IDE 32 L Latch Words 53 M Mailbox 54 O Object Dictionary 65 Objects sorted 90 Operating mode 136 Operation Modes 51 P PDO Fixed Mapping 42...

Page 173: ...This page intentionally left blank AKD EtherCAT Kollmorgen kdn kollmorgen com October 2017 173...

Page 174: ...s search the knowledge base for answers get downloads and suggest improve ments North America KOLLMORGEN 203A West Rock Road Radford VA 24141 USA Web www kollmorgen com Mail support kollmorgen com Tel...

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