Kollmorgen AKD PDMM series, User Manual

Page: 497 / 513

AKD PDMM User Guide | 50.14 Fieldbus Parameters
50.14 Fieldbus Parameters
The AKD PDMM holds several fieldbus-specific, general purpose parameters. Some of them contain the
following EtherCAT relevant data:
l
FBUS.PARAM02 : This parameter activates the synchronization feature of the AKD PDMM. The DC
feature must be activated in order to allow the AKD PDMM to get synchronized with the master. A
value of 1 enables the drive internal PLL functionality, a value of 0 deactivates this feature.
l
FBUS.PARAM03 : This parameter contains the Configured Station Alias address of the AKD PDMM.
An EEPROM emulation write access to the Configured Station Alias address forces the AKD PDMM
to store the drive parameters automatically using the DRV.NVSAVE command.
l
FBUS.PARAM04 : This parameter enables (1) or disables(0) the synchronization supervision of the
CANOpen 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 mes-
sage or first EtherCAT frame is received. When more than three CANOpen sync messages or seven
EtherCAT frames have not been received and the drive is enabled, fault F125 (“Synchronization lost“),
occurs.
50.15 EEProm Content
AKD PDMM has a built-in emulated EEProm. This EEProm can be read by the EtherCAT master to get
some information about drive properties, like PDO-information, drive name, serial numbers and com-
munication-specific attributes.
They are organized in categories. There are two manufacturer-specific categories implemented in the
AKD PDMM:
l
Category 0x0800: Holds a string with the model type in the format AKD PDMM-P00000-NxxC-0000
l
Category 0x0801: Holds the firmware version in the format 0x_xx-xx-yyy
Kollmorgen™ | December 2012 497