Kollmorgen AKD PROFINET RT Communication, Manual

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1 Table of Contents
1 Table of Contents 3
2 General 5
2.1 About this Manual 6
2.2 Symbols Used 7
2.3 Abbreviations Used 7
3 Safety 9
3.1 Safety Instructions 10
3.2 You should pay attention to this 10
3.3 Use as directed 11
3.4 Prohibited use 11
4 Installation and Setup 12
4.1 Important Instructions 13
4.2 PROFINET Onboard 14
4.2.1 LED functions 14
4.2.2 Connection technology 14
4.2.3 Network Connection Examples 14
4.3 Guide to Setup 15
4.4 Configure IP Address parameters 16
4.4.1 Dependency Service channel (WorkBench) and PROFINET 18
4.4.2 Reset of IP Address parameters 18
4.5 Setup Step 7 19
4.6 Parameter Configuration with PROFIdrive over PROFINET IO 22
4.6.1 Parameter configuration 23
4.6.2 Example for writing the operation mode 24
5 PROFINET IO 25
5.1 Introduction 26
5.2 Restrictions and requirements 26
5.2.1 Conformance Classes 26
5.2.2 Cycle time of RT data 26
5.2.3 Connector 26
5.2.4 Network topology 26
6 PROFIDRIVE over PROFINET IO 27
6.1 Introduction 28
6.2 AKD as Drive Object (DO) 29
6.3 General State Machine 30
6.4 Control word bits (STW1) 31
6.5 Status word bits (ZSW1) 33
6.6 Supported PNU's 34
6.7 Signals 35
6.8 Telegram configuration 35
6.9 Velocity Mode (Application class 1) 36
6.10 Position Mode (Application class 3) 37
AKD PROFINET | Table of Contents
Kollmorgen | December 2014 3