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Record of Document Revisions

Revision

Remarks

...

Table with lifecycle information of this document see "Record of Document Revisions" (

E, 12/2013

Added bit 14 for position mode in Status word bits (ZSW1) (

F, 05/2014

Added Signal No. 100 and 101 to Telegram configuration (

p. 35). Added Manufacturer spe-

cific telegram 352 to I/O Telegrams (

G, 12/2014

Manufacturer specific telegram 353 (

p. 42) added. Signal number 102 and 103 added to Tele-

gram configuration (

p. 35). Acc-/Deceleration Units (

p. 43) scaling information added.

Trademarks

l

AKD is a registered trademark of Kollmorgen Corporation

l

EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH

l

EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH

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 is a registered trademark of Max Stegmann GmbH

l

PROFINET is a registered trademark of PROFIBUS and PROFINET International (PI)

l

SIMATIC is a registered trademark of SIEMENS AG

l

Windows is a registered trademark of Microsoft Corporation

Current patents

l

US Patent 5,162,798 (used in control card R/D)

l

US Patent 5,646,496 (used in control card R/D and 1 Vp-p feedback interface)

l

US Patent 6,118,241 (used in control card simple dynamic braking)

l

US Patent 8,154,228 (Dynamic Braking For Electric Motors)

l

US Patent 8,214,063 (Auto-tune of a Control System Based on Frequency Response)

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 be repro-
duced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed
by electronic means without the written permission of Kollmorgen.

2

Kollmorgen | December 2014

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Содержание AKD PROFINET RT Communication

Страница 1: ...evision G December 2014 Valid for firmware version 1 13 Part Number 903 200012 00 Original Documentation Keep all manuals as a product component during the life span of the product Pass all manuals to...

Страница 2: ...gistered trademark of sercos international e V l HIPERFACE is a registered trademark of Max Stegmann GmbH l PROFINET is a registered trademark of PROFIBUS and PROFINET International PI l SIMATIC is a...

Страница 3: ...f 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 PROFIN...

Страница 4: ...rer specific telegram 352 42 6 11 8 Manufacturer specific telegram 353 42 6 12 Units 43 6 12 1 Velocity units 43 6 12 2 Position Units 43 6 12 3 Acc Deceleration Units 43 6 12 4 Current units 43 6 13...

Страница 5: ...2 General 2 1 About this Manual 6 2 2 Symbols Used 7 2 3 Abbreviations Used 7 AKD PROFINET 2 General Kollmorgen December 2014 5...

Страница 6: ...series include l AKD Installation Manual This manual provides instructions for installation and drive setup l AKD User Guide This manual describes how to use your drive in common applications It also...

Страница 7: ...ortant notes Warning of a danger general The type of danger is spe cified by the text next to the symbol Warning of danger from electricity and its effects Warning of suspended loads 2 3 Abbreviations...

Страница 8: ...AKD PROFINET 2 General 8 Kollmorgen December 2014...

Страница 9: ...3 Safety 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 AKD PROFINET 3 Safety Kollmorgen December 2014 9...

Страница 10: ...et to a state that is safe for both machinery and personnel for instance with the aid of a mechanical brake Drives with PROFINET are remote controlled machines They can start to move at any time witho...

Страница 11: ...ufacturer Opening the housing causes loss of warranty 3 3 Use as directed Drives are components that are built into electrical plants or machines and can only be oper ated as integral components of th...

Страница 12: ...llation and Setup 4 1 Important Instructions 13 4 2 PROFINET Onboard 14 4 3 Guide to Setup 15 4 4 Configure IP Address parameters 16 4 5 Setup Step 7 19 4 6 Parameter Configuration with PROFIdrive ove...

Страница 13: ...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 Manual is not required Never br...

Страница 14: ...are both illuminated If both lights are illuminated then you have a good electrical connection PROFINET RT and WorkBench can operate simultaneously if a switch is used 4 2 1 LED functions The communic...

Страница 15: ...t switches are not a substitute for the hardware limit switches in the machine 1 Check assembly installation Check that all the safety instructions in the product manual for the drive and this manual...

Страница 16: ...ook for all PROFINET devices in your network Select the AKD and click ok If you have several AKD s in your network you can also use the MAC address to filter one PROFINET device To be sure that the in...

Страница 17: ...m the AKD DRV NAME parameter The PLC which acts as PROFINET IO Con troller will use the Device Name as address and can change the IP address for each Device Name You will usually see a status message...

Страница 18: ...meters stored in the drive are overwritten Should you need to use DHCP or static IP address ing later you must use WorkBench to set the IP MODE to something other than 1 See AKD User Guide for detail...

Страница 19: ...Manager 2 Open the hardware manager double click on Hardware 3 Go to Options and click Install GSD Files Here also the GSDML files for PROFINET devices can be installed AKD PROFINET 4 Installation an...

Страница 20: ...and click on install 5 The AKD GSDML file is installed now and can be found in the SIMATIC hardware cata log Open PROFINET I O Additional Fieldbus Devices Drives AKD 6 Click on the AKD device not a t...

Страница 21: ...g and drop telegram 7 into slot 1 8 Double click on the PROFINET network line which connects PLC and AKD and con figure the update time Click OK for closing this window 9 Save and compile the hardware...

Страница 22: ...the device can be used with different real and virtual modules Each module a functional component which for example can be a digital I O or Telegram with Position values AKD provides several virtual m...

Страница 23: ...rameter 0x02 Change parameter 0x81 Request parameter 0x82 Change parameter Axis DO ID Unsigned8 0x00 one Axis No of Parameters Unsigned8 0x01 0x27 Attribute Unsigned8 0x00 reserved 0x10 Value 0x20 Des...

Страница 24: ...meter request Operation mode Byte dec Value hex Description 0 0x05 Request reference e g 5 1 0x02 Request ID Change parameters 2 0x00 Axis 0 the AKD parameter manager 3 0x01 No of Parameter 1 4 0x10 A...

Страница 25: ...5 PROFINET IO 5 1 Introduction 26 5 2 Restrictions and requirements 26 AKD PROFINET 5 PROFINET IO Kollmorgen December 2014 25...

Страница 26: ...hardware for IO Devices and switches are required All diagnostic and configuration data is transferred via the non real time channel NRT The well known UDP protocol is used for this purpose Anyhow no...

Страница 27: ...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 6 11 I O Telegrams 41...

Страница 28: ...s The profile defines as main element the Drive Object DO which is controlling the motion task related parameters It is important to understand that PROFIdrive is only a user profile which can be used...

Страница 29: ...or control word and actual values actual position value actual velocity or status word between the master and the drive object These values are called IO data and are transferred in real time The acy...

Страница 30: ...AKD PROFINET 6 PROFIDRIVE over PROFINET IO 6 3 General State Machine 30 Kollmorgen December 2014...

Страница 31: ...eze the ramp gen erator in the drive If frozen the drive stays at current velocity without continuing to ramp up or down 6 Enable set point The drive accepts set point from the master If this bit is n...

Страница 32: ...is enabled drive is in stand still and STW1 bit 4 5 6 0 9 Jog 2 on off The drive runs up brakes along the ramp to jogging setpoint 2 standstill Prerequisite Operation is enabled drive is in stand stil...

Страница 33: ...op is executed 6 Switching on inhibited 7 Warning present 9 Control requested by the master In velocity mode ZSW1 Special bits Velocity mode Bit Number Description Comment 8 Velocity error within rang...

Страница 34: ...O identification 980 to 989 Number list of defined parameter Array of U16 1002 No of singleturn bits U16 Scaling of singleturn part in signal MDI_TARPOS 1004 Jog v1 S16 Jogging set point 1 1005 Jog v2...

Страница 35: ...DI target position MDI_TARPOS MT P 35 MDI velocity MDI_VELOCITY MT V 36 MDI acceleration MDI_ACC MT ACC 37 MDI deceleration MDI_DEC MT DEC 38 MDI mode MDI_MOD MT CNTL 52 Active current torque ITIST_GL...

Страница 36: ...2 bits 16 control word and 16 velocity command and read back 32 bits 16 status word and 16 velocity feedback 1 Send control word bits as follows to move the state machine to S1 0000_0100_0111_0000 Vel...

Страница 37: ...nd 5 to true Do not reject traversing task and no intermediate stop l Set STW1 Bit 6 from zero to one the motion task will be activated l ZSW1 Bit 13 will be set to one when the drive is moving l afte...

Страница 38: ...te machine needs to be in S4 Operational l Operation mode needs to be Position mode l Standard telegram 9 needs to be configured l Axis needs to be homed ZSW1 Bit 11 set See also Status word bits ZSW1...

Страница 39: ...g the Activate traversing task bit 6 in STW1 the signals MDI_ TARPOS MDI_VELOCITY MDI_ACC MDI_DEC and MDI_MOD with their current values are loaded into the drive The Traversing Task Acknowledgment bit...

Страница 40: ...01 l No motion task is active l Operation mode needs to be Position mode Home procedure l STW1 Bit 11 set to one l ZSW1 Bit 10 11 13 will be set to false if homing is running l ZSW1 Bit 10 11 13 will...

Страница 41: ...lass 1 velocity mode The set point velocity value can be dir ectly controlled by an PROFINET master IO Data Number Set point Actual values 1 STW1 ZSW1 2 NSOLL_A NIST_A 6 11 3 Standard telegram 7 Typic...

Страница 42: ...to tele gram 1 the actual current value and position value can be monitored in the IO data IO Data number Set point Actual values 1 STW1 ZSW1 2 NSOLL_A NIST_A 3 ITIST_GLATT 4 5 XIST_A 6 11 7 Manufactu...

Страница 43: ...the default configuration the res olution per revolution is 2 16 65536 counts The number of singleturn bits default 16 can be changed through PNU 1002 6 12 3 Acc Deceleration Units The acceleration s...

Страница 44: ...ituation the fault numbers are shifted to the acknowledged faults section shift of 8 pos itions in the fault buffer PNU 947 Each time a fault situation is generated a fault message counter is incremen...

Страница 45: ...ommunication lost is triggered if the PROFINET master changes states from RUN to STOP Value of 0 No fault is triggered if the PROFINET master changes states from RUN to STOP PN STW1 Returns the contro...

Страница 46: ...AKD PROFINET 7 Sample Projects 7 Sample Projects 7 1 Sample S7 Project 47 46 Kollmorgen December 2014...

Страница 47: ...controller Kollmorgen does not guarantee correctness 7 1 2 Project description You will find in the STEP 7 program three organization blocks that need to be implemented l OB1 which is used for the mai...

Страница 48: ...n IO cycle time of 128 ms Change the IP addresses for AKD and the PLC to your specific setup 4 Verify the hardware configuration in the hardware manager and click the save and com pile button in your...

Страница 49: ...field bus 2 QW 2 0000_0100_0000_0110 Go to S2 Switch on inhibited 3 QW 2 0000_0100_0000_1110 Go to S3 Switched on 4 QW 2 0000_0100_0000_1111 Go to S4 Operational The drive is enabled if the correspond...

Страница 50: ...ctions formatting acc to 82079 E 12 2013 Added bit 14 for position mode in Status word bits ZSW1 p 33 F 05 2014 Added Signal No 100 and 101 to Telegram configuration p 35 Added Manufacturer specific t...

Страница 51: ...E 27 PROFINET Hardware 14 Prohibited Use 11 S Safety Instructions General 10 Setup Step 7 19 Signals 35 Status word 33 Submode Manual data input MDI 38 Submode Program mode 37 Supported PNU s 34 Symbo...

Страница 52: ...This page intentionally left blank AKD PROFINET 9 Index 52 Kollmorgen December 2014...

Страница 53: ...marketplace 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 Web www kollmorgen com Mail...

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