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Ethernet/IP Communications | 6 Communication Profile

Error Code (hex) Additional Code (hex) EtherNet IP Error

B

FF

ALREADY_IN_STATE

C

FF

OBJ_STATE_CONFLICT

D

FF

OBJECT_ALREADY_EXISTS

E

FF

ATTRIBUTE_NOT_SETTABLE

F

FF

ACCESS_DENIED

10

FF

DEVICE_STATE_CONFLICT

11

FF

REPLY_DATA_TOO_LARGE

13

FF

NOT_ENOUGH_DATA

14

FF

ATTRIBUTE_NOT_SUPP

15

FF

TOO_MUCH_DATA

16

FF

OBJECT_DOES_NOT_EXIST

17

FF

FRAGMENTATION_SEQ_ERR

20

FF

INVALID_PARAMETER

6.2.4 Data Handshake

Data handshaking is used to transmit data commands with I/O Assembly Messaging. To transmit a com-
mand to the amplifier, set the Command Type and load data into the data fields, then toggle the Load/Start bit
high. The amplifier will accept data only when Load/Start transitions from 0 to 1. If the data is loaded suc-
cessfully, the amplifier will set the Load Complete response flag high. Load Complete will be cleared by the
amplifier after Load/Start is cleared by the controller. If the data does not load successfully due to an error in
the command assembly, the amplifier will load an error response into the response assembly (Response
Type = 0x14, byte 4 = Error Code, byte 5 = Additional Code, bytes 6-7 echo command assembly bytes 2-3).
See I/O Assembly Messaging Response Type 0x14 – Command/Response Error for more information.

I/O Assembly Messaging Handshaking Sequence

Example

1. Controller loads a valid Command Type and data into
the command assembly with Load/Start low (0).

Load a Target Position command of 1000. C: 0x80
0x00 0x21 0x20 0xE8 0x03 0x00 0x00 Enable=1,
Load/Start=0, Command Axis=1, Command
Type=1, Response Axis=1, Response Type=0
(none), Data=1000

2. Amplifier clears the Load Complete flag in the
response assembly when Load/Start is low in the com-
mand assembly.

Respond with status flags. No command yet. R:
0x84 0x00 0x00 0x20 0x00 0x00 0x00 0x00
Enabled=1, In Position=1, Load Complete=0,
Response Axis=1, Response Type=0 (none),
Data=0

3. Controller checks that the Load Complete flag in the
response assembly is low to ensure that the amplifier is
ready to receive data. Controller sets the Load Data flag
in the command assembly.

Set the Load Data flag. C: 0x81 0x00 0x21 0x20
0xE8 0x03 0x00 0x00 Enable=1, Load/Start=1,
Command Axis=1, Command Type=1, Response
Axis=1, Data=1000

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Kollmorgen | December 2014

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Summary of Contents for AKD series

Page 1: ...tion Edition December 2014 Revision E Valid for firmware version 1 13 Part Number 903 200008 00 Keep all manuals as a product component during the life span of the product Pass all manuals to future users owners of the product ...

Page 2: ...erNet IP is a registered trademark of ODVA Inc Windows is a registered trademark of Microsoft Corporation AKD is a registered trademark of Kollmorgen Corporation 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 b...

Page 3: ...2 Control Word 12 6 2 2 3 Command Type 0x05 Torque 12 6 2 2 4 Command Type 0x06 Position Move 12 6 2 2 5 Command Type 0x07 Jog Move 13 6 2 2 6 Command Type 0x1B Set Attribute of Position Controller Object 13 6 2 2 7 Command Type 0x1F Read or Write Parameter Value 13 6 2 2 8 Get Attribute 13 6 2 3 Response Assemblies 14 6 2 3 1 Response Assemly Data Structure 14 6 2 3 2 Status Word 1 14 6 2 3 3 Sta...

Page 4: ...Execute a Command Parameter 26 8 Units 27 8 1 Position Units 27 8 2 Velocity and Acceleration Units 27 8 3 Torque Units 27 8 4 Other Floating Point Values 27 9 EIP Parameters 28 9 1 EIP CMDMAP 29 9 2 EIP CONNECTED 31 9 3 EIP POSUNIT 32 9 4 EIP PROFUNIT 33 9 5 EIP RSPMAP 34 10 RS Logix Sample Projects 36 10 1 Add On Instructions 36 10 2 AKD Sample Project 36 10 3 Registration Example Project 36 11 ...

Page 5: ...asy start guide for RSLogix programs as well as a reference to the sample add on instructions l AKD Quick Start also provided in hard copy This guide provides instructions for initial drive setup and connection to a network l AKD Installation Manual also provided in hard copy This manual provides instructions for installation and drive setup l AKD Parameter and Command Reference Guide This guide p...

Page 6: ...cit message I O Assembly messages combine many control and status bits into command and response messages They are less versatile than explicit messages only certain parameters are accessible but several control values may be changed within one message For this reason Explicit Messaging is better for configuration and I O Assembly Messaging is better for motion control The Position Controller Obje...

Page 7: ...d faulted homed in position in motion etc on every cycle l Monitor actual position and velocity on every cycle l Monitor any drive value using explicit messaging on demand 4 2 Expected Packet Rate The Expected Packet Rate EPR is also called the Requested Packet Interval RPI The fastest supported cyclic rate for EtherNet IP on AKD is 10 milliseconds For simultaneous operation of Workbench and an Et...

Page 8: ... must be set to the same subnet as the AKD The controller will typically need to be setup to know the IP address of the AKD The process required will vary by controller 5 3 Setting Expected Packet Rate in the Controller The controller is responsible for setting the Expected Packet Rate The AKD and controller will each send cyclic messages at this rate The fastest supported cyclic rate for EtherNet...

Page 9: ...instance number references the desired parameter See Appendix B for a list of available para meters Description The parameter object gives direct access to amplifier configuration parameters Position Controller Supervisor Object Class Code 0x24 Instance 1 Description The position controller supervisor handles errors for the position controller Position Controller Object Class Code 0x25 Instance 1 ...

Page 10: ...ocity or status word between the master and the drive The data commands and responses contain multiple values in pre defined data structures called assemblies AKD defines one Command Assembly sent from the controller to the drive and one Response Assembly sent from the drive to the controller Assemblies are transmitted on a timer according to the Expected Packet Rate I O Assembly Messages and Expl...

Page 11: ...the amplifier will result in a fault that must be cleared before amplifier operation can continue 6 2 2 1 Command Assembly Data Structure Byte Data Comment 0 Control Word The control word contains bits for enabling moving and handshaking with the drive 1 Block The block number is used to start a particular Motion Task in combination with the Start Block bit in the Control Word 2 Command Type Speci...

Page 12: ... into the data fields then toggle Load Start high The amplifier will accept data only when Load Start transitions from 0 to 1 If the command type matches the operating mode Target Position or Position Move in position mode Target Velocity or Jog in velocity mode Torque in torque mode the amplifier will start motion when the data is loaded When the data has been loaded successfully the amplifier wi...

Page 13: ...2 2 7 Command Type 0x1F Read or Write Parameter Value This command type is used to configure or read any parameter in the drive See Appendix B for a listing of parameter indexes data types and scaling Use this command to either read or write the desired parameter Byte 6 is used to determine whether this is a read or write command Some parameters can take a very long time to execute When the comman...

Page 14: ... 15 Velocity Actual Velocity 16 19 Motion Status Status bits This provides the status word DRV MOTIONSTAT See the Para meter Reference Guide 20 23 Reserved 24 31 Parameter Attribute Data Response Data for Command Type 0x1F Set Parameter and the Attribute to Get 32 Attribute to Get Mirrors the Attribute to Get from the Command Assembly If non zero the data will be in the Parameter Data field 33 Map...

Page 15: ...equal to the Negative Software Limit Position Positive SW Limit This bit indicates when the position is greater than or equal to the Positive Software Limit Position Negative HW Limit This bit indicates the state of the Negative Hardware Limit Input Positive HW Limit This bit indicates the state of the Positive Hardware Limit Input 6 2 3 4 Response Type 0x05 Actual Torque This I O response assembl...

Page 16: ...ll load an error response into the response assembly Response Type 0x14 byte 4 Error Code byte 5 Additional Code bytes 6 7 echo command assembly bytes 2 3 See I O Assembly Messaging Response Type 0x14 Command Response Error for more information I O Assembly Messaging Handshaking Sequence Example 1 Controller loads a valid Command Type and data into the command assembly with Load Start low 0 Load a...

Page 17: ...e met l Faults are cleared query the General Fault bit in Status Word 1 and issue an explicit message to clear faults if necessary l Drive is enabled set Enable bit in the Control Word l Drive is in velocity mode set Attribute 3 Operational Mode of the Position Controller object l Smooth Stop and Hard Stop bits are cleared in Status Word 1 l Position Limits are cleared check bits in Status Word 2 ...

Page 18: ...n Moves While a Position Move is operating the In Motion bit in Status Word 1 will be set and In Position will be cleared The Direction status bit will reflect the actual direction of motion In Position will be set when the tar get position is reached Set the Smooth Stop bit to stop the motor at the previously set deceleration rate and remain enabled Set the Hard Stop bit to immediately stop at th...

Page 19: ...condition you must clear the Hard Stop and Enable bits then set the Enable bit Torque move values can be verified in Workbench From the terminal the affected value is IL CMD 6 6 Handling Faults Drive fault conditions are reported with the General Fault bit in Status Word 1 of the response assembly Specific fault numbers can be read through fault registers using the Parameter Class The fault regist...

Page 20: ...List Description Returns an array with a list of the attributes supported by this unit in the Position Controller Class The length of this list is specified in Number of Attributes Access Rule Get Data Type Array of Unsigned Short Integer Range Array size is defined by Attribute 1 Default N A Non Volat ile N A See Also N A Attribute 0x03 Operation Mode Description This attribute is used to get or ...

Page 21: ...ttribute 0x06 Target Position Description This attribute specifies the target position in counts Set Start Trajectory 1 attribute 11 or the Polled I O Start Trajectory Load Data bit to initiate the positioning move Access Rule Get Set Data Type Double Integer Range 231 to 231 Default 0 Non Volat ile No See Also N A Attribute 0x07 Target Velocity Description This attribute specifies the target velo...

Page 22: ...etup Non Volat ile Yes See Also N A Attribute 0x09 Deceleration Description This attribute specifies the deceleration for positioning and homing DECR when in position opmode and the acceleration for constant velocity DEC when in velocity opmode Units are determined by amplifier setup ACCUNIT Position controller attributes 40 41 All position moves initiated through a Command Assembly or Command Blo...

Page 23: ...d the previous command value It is used in com bination with attribute 0x0B Trajectory Start Complete to handshake motion starts between the AKD and controller Access Rule Get Data Type Boolean Range 0 Load not complete 1 Load complete Default 0 Non Volat ile No See Also N A Attribute 0x11 Enable Description This flag is used to control the enable output Clearing this bit sets the enable output in...

Page 24: ...ming mode Access Rule Get Set Data Type U16 Range N A Default 0 Non Volatile Yes See Also N A Attribute 0x65 Start Home Move Description Start homing Access Rule Get Set Data Type Boolean Range 0 Do not move home 1 Initiate a home move Default 0 Non Volatile No See Also N A 7 2 Position Controller Supervisor Class 0x24 Attribute 0x05 General Fault Description When active this indicates that an amp...

Page 25: ... 0x01 data length 1 data value 0x01 7 3 1 Supported Attributes The following attributes are supported for each parameter index 1 Get Set parameter value 5 Get data type 6 Get data size Attribute 0x01 Parameter Value Description Directly access the parameter value Check the command reference for the data type and read write access rule Float types are multiplied by 1000 to get an integer value Set ...

Page 26: ...rameter value through Explicit messaging use Service 0x10 Write Value Class 0x0F Para meter class Attribute 1 Parameter Value The instance number corresponds to the index of the desired parameter This number may be found in Appendix B The length of the data written must match the length of the parameter Read attribute 0x06 Data Length to determine the correct length to send In the case of 64 bit p...

Page 27: ...T0 and SWLS LIMIT1 8 2 Velocity and Acceleration Units Velocity and Acceleration values are scaled according to the EtherNet IP Position Controller Device stand ard One Profile Units scaling value is defined which affects both velocity and acceleration For velocity values Profile Units gives the number of actual position feedback counts at 32 bits per revolu tion per second equal to one velocity u...

Page 28: ...Communications 9 EIP Parameters 9 EIP Parameters This section describes the EIP parameters 9 1 EIP CMDMAP 29 9 2 EIP CONNECTED 31 9 3 EIP POSUNIT 32 9 4 EIP PROFUNIT 33 9 5 EIP RSPMAP 34 28 Kollmorgen December 2014 ...

Page 29: ...d to set the following parameters in the dynamic portion of command assembly using the syntax EIP CMDMAP index parameter id ID Parameter Data Size Data Type 383 SWLS EN 2 Byte Integer 384 SWLS LIMIT0 4 Byte Signed scaled using EIP POSUNIT Position 386 SWLS LIMIT1 4 Byte Signed scaled using EIP POSUNIT Position Position unit values are scaled from 8 bytes to 4 bytes This results in a loss of precis...

Page 30: ...ers 9 0 10 0 11 0 12 0 13 0 14 0 15 0 Example The following example maps the parameter to SWLS EN to the dynamic portion of command assembly using its index ID EIP CMDMAP 0 383 Related Topics EtherNet IP View pg 1 30 Kollmorgen December 2014 ...

Page 31: ...ith Position Indexer No AKD EtherCAT No AKD CANopen No AKD BASIC No AKD SynqNet No AKD EtherNet IP Yes AKD Profinet No AKD sercos III No AKD N No AKD C No Fieldbus Information Fieldbus Instance Data Size Data Type EtherNet IP 795 1 byte Integer Description Returns state of EtherNet IP connection Value Description 0 Not connected 1 Connected Related Topics EtherNet IP View pg 1 Ethernet IP Communic...

Page 32: ...t Start Version Modbus 1590 No 32 bits No M_01 06 03 000 Description Position values are scaled according to the Ethernet IP Position Controller Device standard One Position Units scaling value is defined which gives the number of actual position feedback counts at 32 bits per revolution equal to one position unit From Workbench this scaling parameter is visible in the Ethernet IP screen or as EIP...

Page 33: ...rd One Profile Units scaling value is defined which affects both velocity and acceleration For velocity values Profile Units gives the number of actual position feedback counts at 32 bits per revolu tion per second equal to one velocity unit For acceleration values Profile Units gives the number of actual position feedback counts at 32 bits per revolution per second 2 equal to one acceleration uni...

Page 34: ... No AKD C No Description EIP RSPMAP can be used to set the following parameters in the dynamic portion of response assembly using the syntax EIP RSPMAP index parameter id ID Parameter Data Size Data Type 286 PL CMD 4 Byte Position 288 PL ERR 4 Byte Position 478 DRV FAULT1 2 Byte Integer 8192 VBUS VALUE 2 Byte Integer 8193 STATUS3 1 Byte Integer 8195 DIN STATES 1 Byte Integer Position unit values a...

Page 35: ...0 15 0 Example The following example maps the parameter to SWLS EN to the dynamic portion of command assembly using its index ID EIP CMDMAP 0 383 Related Topics EtherNet IP View pg 1 Ethernet IP Communications 9 EIP Parameters Kollmorgen December 2014 35 ...

Page 36: ...ey provide easy control of IO Assembly messages The native MSG instruction is used in RSLogix for sending Explicit Messages Add On Instructions include l AKD_Enable l AKD_Disable l AKD_Home l AKD_Jog l AKD_Move l AKD_Set_Home_Mode l AKD_Set_Mode l AKD_Shutdown l AKD_Shutdown_Reset l AKD_Stop_Smooth l AKD_Get_Attribute l AKD_Get_Parameter l AKD_Set_Attribute l AKD_Set_Parameter l AKD_Set_Units 10 2...

Page 37: ...celeration or deceleration unit default 1 6 Target Pos ition Get Set DINT Specifies the target position in counts 7 Target Velo city Get Set DINT Specifies the Target Velocity in counts per second 8 Acceleration Get Set DINT Not used yet 9 Deceleration Get Set DINT Not used yet 10 Incremental Position Flag Get Set BOOL Incremental Position Flag 0 absolute 1 incremental 11 Load Data Profile Handsha...

Page 38: ...N PSCALE 8 Byte Position 7 AIN VALUE 2 Byte Float 8 AIN VSCALE 4 Byte Velocity 9 AIN ZERO Command None 10 AOUT ISCALE 4 Byte Float 11 AOUT MODE 2 Byte Integer 12 AOUT OFFSET 2 Byte Signed Float 13 AOUT PSCALE 8 Byte Position 15 AOUT VALUE 8 Byte Signed Float 17 AOUT VALUEU 8 Byte Signed Float 19 AOUT VSCALE 4 Byte Velocity 20 BODE EXCITEGAP 1 Byte Integer 21 BODE FREQ 4 Byte Float 22 BODE IAMP 2 B...

Page 39: ...STATE 1 Byte Integer 57 CS TO 4 Byte Integer 58 CS VTHRESH 8 Byte Velocity 59 DIN ROTARY 1 Byte Integer 60 DIN STATES 1 Byte Array 61 DIN1 INV 1 Byte Integer 62 DIN1 MODE 2 Byte Integer 63 DIN1 PARAM 8 Byte Signed Varies 65 DIN1 STATE 1 Byte Integer 66 DIN2 INV 1 Byte Integer 67 DIN2 MODE 2 Byte Integer 68 DIN2 PARAM 8 Byte Signed Varies 70 DIN2 STATE 1 Byte Integer 71 DIN3 INV 1 Byte Integer 72 D...

Page 40: ...00 DOUT1 PARAM 8 Byte Signed Float 102 DOUT1 STATE 1 Byte Integer 103 DOUT1 STATEU 1 Byte Integer 104 DOUT2 MODE 1 Byte Integer 105 DOUT2 PARAM 8 Byte Signed Float 107 DOUT2 STATE 1 Byte Integer 108 DOUT2 STATEU 1 Byte Integer 109 DRV ACC 8 Byte Acceleration 111 DRV ACTIVE 1 Byte Integer 112 DRV CLRFAULTHIST Command None 113 DRV CLRFAULTS Command None 114 DRV CMDSOURCE 1 Byte Integer 115 DRV DBILI...

Page 41: ...NITSIGNED 1 Byte Signed Integer 145 FB1 MECHPOS 4 Byte Integer 146 FB1 OFFSET 8 Byte Signed Position 148 FB1 ORIGIN 8 Byte Position 150 FB1 PFIND 1 Byte Integer 151 FB1 PFINDCMDU 2 Byte Float 152 FB1 POLES 2 Byte Integer 153 FB1 PSCALE 1 Byte Integer 154 FB1 RESKTR 2 Byte Float 155 FB1 RESREFPHASE 4 Byte Signed Float 156 FB1 SELECT 1 Byte Signed Integer 157 FB1 TRACKINGCAL 1 Byte Integer 158 FBUS ...

Page 42: ...er 199 HOME DIST 8 Byte Signed Position 201 HOME FEEDRATE 2 Byte Integer 202 HOME IPEAK 4 Byte Signed Float 204 HOME MODE 2 Byte Integer 205 HOME MOVE Command None 206 HOME P 8 Byte Signed Position 208 HOME PERRTHRESH 8 Byte Signed Position 210 HOME SET Command None 211 HOME V 8 Byte Velocity 212 HWLS NEGSTATE 1 Byte Integer 213 HWLS POSSTATE 1 Byte Integer 214 IL BUSFF 2 Byte Signed Float 215 IL ...

Page 43: ...Byte Integer 244 MOTOR CTF0 4 Byte Float 245 MOTOR ICONT 4 Byte Float 246 MOTOR IDDATAVALID 1 Byte Integer 247 MOTOR INTERTIA 4 Byte Float 248 MOTOR IPEAK 4 Byte Float 249 MOTOR KT 4 Byte Float 250 MOTOR LQLL 4 Byte Float 251 MOTOR PHASE 2 Byte Integer 252 MOTOR PITCH 4 Byte Float 253 MOTOR POLES 2 Byte Integer 254 MOTOR R 4 Byte Float 255 MOTOR RTYPE 1 Byte Integer 256 MOTOR TBRAKEAPP 2 Byte Inte...

Page 44: ...e Velocity 284 MT V 8 Byte Velocity 285 MT VCMD 8 Byte Signed Velocity 286 PL CMD 8 Byte Position 288 PL ERR 8 Byte Position 290 PL ERRMODE 1 Byte Integer 291 PL ERRFTHRESH 8 Byte Position 293 PL ERRWTHRESH 8 Byte Position 295 PL FB 8 Byte Signed Position 297 PL FBSOURCE 1 Byte Integer 298 PL INTINMAX 8 Byte Position 300 PL INTOUTMAX 8 Byte Position 302 PL KI 4 Byte Float 303 PL KP 4 Byte Float 30...

Page 45: ...WIDTH3 8 Byte Signed Position 345 PLS WIDTH4 8 Byte Signed Position 347 PLS WIDTH5 8 Byte Signed Position 349 PLS WIDTH6 8 Byte Signed Position 351 PLS WIDTH7 8 Byte Signed Position 353 PLS WIDTH8 8 Byte Signed Position 355 REC ACTIVE 1 Byte Integer 356 REC DONE 1 Byte Integer 357 REC GAP 2 Byte Integer 358 REC NUMPOINTS 2 Byte Integer 359 REC OFF Command None 360 REC STOPTYPE 1 Byte Integer 361 R...

Page 46: ...STATE 2 Byte Integer 389 UNIT ACCLINEAR 1 Byte Integer 390 UNIT ACCROTARY 1 Byte Integer 391 UNIT PIN 4 Byte Integer 392 UNIT PLINEAR 1 Byte Integer 393 UNIT POUT 4 Byte Integer 394 UNIT PROTARY 1 Byte Integer 395 UNIT VLINEAR 1 Byte Integer 396 UNIT VROTARY 1 Byte Integer 397 VBUS CALGAIN 4 Byte Float 398 VBUS OVFTHRESH 2 Byte Integer 399 VBUS OVWTHRESH 2 Byte Integer 400 VBUS RMSLIMIT 1 Byte Int...

Page 47: ...ty 429 VL FB 8 Byte Signed Velocity 430 VL FBFILTER 8 Byte Signed Velocity 431 VL FBSOURCE 1 Byte Integer 432 VL FF 8 Byte Signed Velocity 433 VL GENMODE 2 Byte Velocity 434 VL KBUSFF 4 Byte Float 435 VL KI 4 Byte Float 436 VL KO 4 Byte Float 437 VL KP 4 Byte Float 438 VL KVFF 4 Byte Float 439 VL LIMITN 8 Byte Signed Velocity 440 VL LIMITP 8 Byte Velocity 441 VL LMJR 4 Byte Float 442 VL MODEL 8 By...

Page 48: ...e Integer 467 FB1 HALLSTATEU 1 Byte Integer 468 FB1 HALLSTATEV 1 Byte Integer 469 FB1 HALLSTATEW 1 Byte Integer 470 DRV NVSAVE Command None 471 MODBUS DIO 4 Byte Integer 472 MODBUS DRV 4 Byte Integer 473 MODBUS DRVSTAT 4 Byte Integer 474 MODBUS HOME 4 Byte Integer 475 MODBUS MOTOR 4 Byte Integer 476 MODBUS MT 2 Byte Integer 477 MODBUS SM 4 Byte Integer 478 DRV FAULT1 2 Byte Integer 479 DRV FAULT2 ...

Page 49: ... INT10 4 Byte Signed Integer 508 USER INT11 4 Byte Signed Integer 509 USER INT12 4 Byte Signed Integer 510 USER INT13 4 Byte Signed Integer 511 USER INT14 4 Byte Signed Integer 512 USER INT15 4 Byte Signed Integer 513 USER INT16 4 Byte Signed Integer 514 USER INT17 4 Byte Signed Integer 515 USER INT18 4 Byte Signed Integer 516 USER INT19 4 Byte Signed Integer 517 USER INT20 4 Byte Signed Integer 5...

Page 50: ...LO 8 Byte Integer 545 MOVE ACC 8 Byte None 547 MOVE DEC 8 Byte None 549 MOVE DIR 4 Byte Integer 550 MOVE GOABS Command None 551 MOVE GOABSREG Command None 552 MOVE GOHOME Command None 553 MOVE GORELREG Command None 554 MOVE GOREL Command None 555 MOVE GOUPDATE Command None 556 MOVE GOVEL Command None 557 MOVE INPOSITION 4 Byte Integer 558 MOVE INPOSLIMIT 8 Byte Signed Position 560 MOVE MOVING 4 By...

Page 51: ...teger 599 DIO11 INV 1 Byte Integer 600 DIO9 DIR 1 Byte Integer 601 DIO9 INV 1 Byte Integer 602 FAULT130 ACTION 1 Byte Integer 603 FAULT131 ACTION 1 Byte Integer 604 FAULT132 ACTION 1 Byte Integer 605 FAULT134 ACTION 1 Byte Integer 606 FAULT702 ACTION 1 Byte Integer 607 IP MODE 2 Byte Integer 608 LOAD INERTIA 4 Byte Float 609 MOTOR KE 4 Byte Float 610 VBUS HALFVOLT 1 Byte Integer 611 FB2 DIR 1 Byte...

Page 52: ...T2 VALUEU 8 Byte Signed Float 647 AOUT2 VSCALE 8 Byte Velocity 649 BODE IFLIMIT 4 Byte Signed Float 650 BODE IFTHRESH 4 Byte Signed Float 651 BODE VFLIMIT 4 Byte Signed Float 652 BODE VFTHRESH 8 Byte Signed Velocity 654 DIN10 STATE 1 Byte Integer 655 DIN11 STATE 1 Byte Integer 656 DIN21 FILTER 2 Byte Integer 657 DIN21 INV 1 Byte Integer 658 DIN21 MODE 2 Byte Integer 659 DIN21 PARAM 8 Byte Signed V...

Page 53: ...Byte Integer 694 DIN27 MODE 2 Byte Integer 695 DIN27 PARAM 8 Byte Signed Varies 697 DIN27 STATE 1 Byte Integer 698 DIN28 FILTER 2 Byte Integer 699 DIN28 INV 1 Byte Integer 700 DIN28 MODE 2 Byte Integer 701 DIN28 PARAM 8 Byte Signed Varies 703 DIN28 STATE 1 Byte Integer 704 DIN29 FILTER 2 Byte Integer 705 DIN29 INV 1 Byte Integer 706 DIN29 MODE 2 Byte Integer 707 DIN29 PARAM 8 Byte Signed Varies 70...

Page 54: ... DOUT21 STATEU 1 Byte Integer 738 DOUT22 MODE 1 Byte Integer 739 DOUT22 PARAM 8 Byte Signed Float 741 DOUT22 STATE 1 Byte Integer 742 DOUT22 STATEU 1 Byte Integer 743 DOUT23 MODE 1 Byte Integer 744 DOUT23 PARAM 8 Byte Signed Float 746 DOUT23 STATE 1 Byte Integer 747 DOUT23 STATEU 1 Byte Integer 748 DOUT24 MODE 1 Byte Integer 749 DOUT24 PARAM 8 Byte Signed Float 751 DOUT24 STATE 1 Byte Integer 752 ...

Page 55: ... DRV BLINKDISPLAY Command None 786 DRV CLRCRASHDUMP Command None 787 DRV CMDDELAY Float 789 DRV NVLOAD Command None 790 DRV RUNTIME String 791 DRV SETUPREQBITS 4 Byte Integer 792 DRV WARNING1 4 Byte Integer 793 DRV WARNING2 4 Byte Integer 794 DRV WARNING3 4 Byte Integer 795 EIP CONNECTED 1 Byte Integer 796 EIP POSUNIT 4 Byte Integer 797 EIP PROFUNIT 4 Byte Integer 798 FAULT139 ACTION 1 Byte Intege...

Page 56: ...RESH 1 Byte Integer 836 IL MIMODE 1 Byte Integer 837 IP RESET Command None 838 MOTOR VOLTMIN 2 Byte Integer 839 MOTOR VOLTRATED 2 Byte Integer 840 MOTOR VRATED 8 Byte Signed Float 843 SD LOAD Command None 844 SD SAVE Command None 845 SD STATUS 1 Byte Integer 846 VL FBUNFILTERED 8 Byte Signed Velocity 848 WS DISARM Command None 849 WS FREQ 4 Byte Float 850 WS TDELAY4 2 Byte Integer 851 WS CHECKT 2 ...

Page 57: ...ze Data Type 869 REGEN POWERFILTERED 8 Byte Integer 8192 VBUS VALUE 2 Byte Integer 8193 STATUS3 1 Byte Integer 8195 DIN STATES 1 Byte Integer Ethernet IP Communications 12 Appendix B Parameter Listing Kollmorgen December 2014 57 ...

Page 58: ...r does this software result in any license to use the Ether Net IP mark owned by ODVA To make have made use import offer to sell sell lease market or oth erwise distribute or dispose of any products that implement this software and to use the EtherNet IP mark one must obtain the necessary license from ODVA through its Terms of Usage Agreement for the Ether Net IP technology available through the O...

Page 59: ...e advantage For assistance with your application needs visit www kollmorgen com or contact us at North America KOLLMORGEN 203A West Rock Road Radford VA 24141 USA Internet www kollmorgen com E Mail support kollmorgen com Tel 1 540 633 3545 Fax 1 540 639 4162 Europe KOLLMORGEN Europe GmbH Pempelfurtstraße 1 40880 Ratingen Germany Internet www kollmorgen com E Mail technik kollmorgen com Tel 49 2102...

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