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6.2 Dedicated I/O

AKD Firmware

AKD Connector AKD Pin

Name

SynqNet MPI
Name

Notes

DIN1.STATE

X7-10

Digital Input 1

Dedicated input
"HOME"

High speed opto
input. Also maps to
DIN 1 (HS).

DIN5.STATE

X8-6

Digital Input 5

Dedicated input
"LIMIT_HW_POS"

Also maps to "DIN
5."

DIN6.STATE

X8-5

Digital Input 6

Dedicated input
"LIMIT_HW_NEG"

Also maps to "DIN
6."

DIN11.STATE

X9-7/8

Emulated
Encoder Zero

Dedicated input
"INDEX_
SECONDARY"

Also maps to
"RS485 IO 3."

X10-6/7

Zero

Dedicated input
"INDEX_
PRIMARY"

Also maps to "Ana-
log Z Pulse." Some
encoder types do
not use index pin.

X8-1/2

Fault Relay Out-
put

Dedicated input
"AMP_FAULT"

Logical OR of AKD
and SynqNet faults

FB1.HALLSTATEU

X10-1

Hall U

Dedicated input
"Hall A"

See note on bit
order

FB1.HALLSTATEV

X10-2

Hall V

Dedicated input
"Hall B"

See note on bit
order

FB1.HALLSTATEW

X10-3

Hall W

Dedicated input
"Hall C"

See note on bit
order

MOTOR.BRAKESTATE

Dedicated output
"BRAKE_
RELEASE"
Dedicated input
"BRAKE_
APPLIED"

Brake release is
command from Syn-
qNet Brake applied
is status from AKD
drive (logical OR)

Notes:

Hall input bit order is swapped in beta release FPGAs. Planned (corrected) order shown above.

For AKD FPGA versions 0200 and prior, AKD U/V/W maps to Hall C/B/A.

For AKD FPGA versions TBD and later, AKD U/V/W maps to Hall A/B/C.

GPIO input "Analog Z Pulse" not supported on AKD Rev 7 control boards (AKD-SQ prototypes only).

6.3 Node I/O

AKD Firmware

AKD Connector

AKD Pin Name

SynqNet MPI Name

AOUT.VALUE

X8-7/8

Analog Output

Nodelo AnalogOut[0] output

AIN.VALUE

X8-10/9

Analog Input

Nodelo AnalogIn[0] input

AKD SynqNet | 6 AKD SynqNet I/O Mapping

Kollmorgen | kdn.kollmorgen.com | October 2020

Содержание AKD-x00306

Страница 1: ...on Edition October 2020 Revision F Valid for firmware version 1 20 Part Number 903 2000011 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 ...

Страница 2: ...ers SynqNet is a registered trademark of Motion Engineering 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 o...

Страница 3: ...5 Installation and Setup 11 5 1 Safety Instructions 12 5 2 SynqNet Onboard 13 5 3 Synqnet Cables 13 5 3 1 Recommended SynqNet Cabling 13 5 3 2 Synqnet Cable Length 13 5 4 LED functions 14 5 5 SynqNet Interconnection 14 5 5 1 String Topology 14 5 5 2 Dual String Topology 15 5 5 3 String and Dual String Topology with Termination 16 5 5 4 Ring topology 17 6 AKD SynqNet I O Mapping 18 6 1 General Purp...

Страница 4: ...AKD SynqNet 2 General 2 General 2 1 About this Manual 5 2 2 Target Group 5 2 3 Symbols Used 6 4 Kollmorgen kdn kollmorgen com October 2020 ...

Страница 5: ...ion for the para meters and commands used to program the AKD l Accessories Manual This manual provides documentation for accessories like cables and regen res istors used with AKD Regional versions of this manual exist 2 2 Target Group This manual addresses personnel with the following qualifications l Installation only by electrically qualified personnel l Setup only by qualified personnel with e...

Страница 6: ...ich if not avoided could result in minor or moderate injury Indicates situations which if not avoided could result in property damage This symbol indicates important 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 danger from suspended loads Warning of danger from high temperature Warnin...

Страница 7: ...3 Safety 3 1 Safety Instructions 8 3 2 Use as directed 8 3 3 Prohibited use 8 AKD SynqNet 3 Safety Kollmorgen kdn kollmorgen com October 2020 7 ...

Страница 8: ...Install the drive as described in the Installation Manual Never break any of the electrical connections to the drive while it is live This can result in destruction of the electronics Do not connect the Ethernet line for the PC with the set up software to the SynqNet interface X5 X6 The set up Ethernet cable must be connected to the service interface on X11 3 2 Use as directed Drives are component...

Страница 9: ...Mode 2 auto is least complex no parameters required Over WorkBench wake and shake is not affected by SynqNet unless SynqNet is cyclic which blocks WorkBench from enabling the motor 4 3 STO state ignored by Not Ready for Remote Control status bit The cyclic status bit Not Ready for Remote Control should indicate when the motor is ready to be enabled However if the AKD is disabled by STO the Not Rea...

Страница 10: ...hen exits cyclic operation the AKD SynqNet will declare a fieldbus fault This fault is cleared by the reset at the beginning of the next SynqNet discovery cycle WorkBench cannot clear this fieldbus fault so service motion is not possible until the drive is reset or power cycled 10 Kollmorgen kdn kollmorgen com October 2020 ...

Страница 11: ...and Setup 5 1 Safety Instructions 12 5 2 SynqNet Onboard 13 5 3 Synqnet Cables 13 5 4 LED functions 14 5 5 SynqNet Interconnection 14 AKD SynqNet 5 Installation and Setup Kollmorgen kdn kollmorgen com October 2020 11 ...

Страница 12: ...rous situations for personnel or machinery Software limit switches are not a substitute for the hardware limit switches in the machine Install the drive as described in the Installation Manual The wiring for the analog setpoint input and the pos itioning interface as shown in the wiring diagram in the Installation Manual is not required Never break any of the electrical connections to the drive wh...

Страница 13: ...edia converters Contact the cable factory for further information l The machine chassis must be effectively bonded together This is particularly important when using SynqNet nodes that do not have independently shielded IN and OUT ports l Be sure to take the usual precautions to secure the cabling so as to avoid chafing and fatigue l High flexure cables are required for cable retractors Only two s...

Страница 14: ...FF not running BLINK discovery phase LED4 OUT Link activity ON link active OFF link inactive 5 5 SynqNet Interconnection 5 5 1 String Topology The String Topology is the most basic network configuration Packets are sent downstream from the con troller to the nodes Each node repeats the downstream data to the next node Packets are also sent upstream from the nodes to the controller Each node repeat...

Страница 15: ...am data to the next node If a cable breaks the nodes downstream from the break will no longer be able to send receive packets to from the controller Due to the un terminated nature of a Dual String Topology discovering a topology of this type requires a timeout period to detect the end of the string Therefore more time is needed to discover an un terminated String Topology than other network types...

Страница 16: ...String or Dual String network with termination is the same as a String or Dual String topology except a loop back connector is added to the last node s The advantage of using a terminator on the last node is that the network ini tialization time is reduced because the controller can deterministically find the last node on a network 16 Kollmorgen kdn kollmorgen com October 2020 ...

Страница 17: ...y conventions to assist in cabling systems properly since each link is bi directional and there is no significant functional difference The redundant link plays no part during normal operation of SynqNet This link will become active if fault recovery is necessary In this example the redundant link is shown between Node 1 and the controller Although it may be any link in the network The farthest no...

Страница 18: ...N7 STATE X7 2 Digital Input 7 GPIO input DIN 7 DIN9 STATE DIO9 STATE X9 1 2 Emulated Encoder A GPIO bidir RS485 IO 1 See note to enable out put DIN10 STATE DIO10 STATE X9 4 5 Emulated Encoder A GPIO bidir RS485 IO 2 See note to enable out put DIN11 STATE DIO11 STATE X7 7 8 Emulated Encoder Zero GPIO bidir RS485 IO 3 See note to enable out put Also maps to INDEX_ SECONDARY DOUT1 STATE X7 8 7 Digita...

Страница 19: ... order FB1 HALLSTATEV X10 2 Hall V Dedicated input Hall B See note on bit order FB1 HALLSTATEW X10 3 Hall W Dedicated input Hall C See note on bit order MOTOR BRAKESTATE Dedicated output BRAKE_ RELEASE Dedicated input BRAKE_ APPLIED Brake release is command from Syn qNet Brake applied is status from AKD drive logical OR Notes l Hall input bit order is swapped in beta release FPGAs Planned correcte...

Страница 20: ...put pins AOUT MODE does not allow other values and the filter and scaling is bypassed AOUT VALUE does not read back the AnalogOutput value AOUT VALUEU is ignored AOUT MODE 12 6 3 2 Analog Input When the AKD SynqNet drive enters normal cyclic operation AIN MODE is automatically set to 0 Monitor and the drive sends the raw AnalogInput value to the SynqNet controller as NodeIo AnalogIn The offset and...

Страница 21: ...isolated DOUT1 and DOUT2 because these outputs are too slow to be useful 1 Set DRV EMUEMODE parameter in WorkBench to 10 General Purpose I Os 2 Set DOUT9 DIR in WorkBench to 1 Output For SynqNet DOUT9 INV forced to 0 SynqNet controls output polarity DOUT9 MODE forced to 0 SynqNet controls output source 3 Open MotionConsole AKD SynqNet 7 Enable PWM Output on RS485 I O Kollmorgen kdn kollmorgen com ...

Страница 22: ...ol method the scaling is sqNodeIoAnalogOut 1 DUTYCYCLE 16 bit unsigned integer DUTYCYCLE_ PERCENT 100 0x8000 min 0 max 0x8000 Example 0x1000 represents 12 5 duty cycle Since the hardware multiply truncates without roundoff adding 1 count may be helpful sqNodeIoAnalogOut 2 PERIOD 16 bit unsigned integer PERIOD_USEC 25 min 25 max 12500 Example 1000 represents a 40 uSec period 7 2 Brake Support for A...

Страница 23: ...e feature uses an internal 64 bit FPGA position value Depending on the feedback type and initial position the AKD firmware multi turn count may differ from the internal FPGA value This offset if any is determined only at SynqNet discovery and is always 1 multi turn count 1 rev 2 32 counts This issue does not affect any feature other than AKD SQ Compare This offset can also be detected by comparing...

Страница 24: ...ference a dm drive map file to define a set of parameters The dm file uses an ascii format and is often a helpful reference to the programmer An ascii editor may be used to modify the dm file The dm file may contain multiple parameters set specific to different firmware ver sions the format also allows multiple versions to reference the same parameter sets Each MPI release will ship with the lates...

Страница 25: ... Read Only or CMD Command For some MOTOR parameters the type will change between RO and RW depending on the setting of MOTOR AUTOSET This is reflected in the Motor parameter tables below The SynqNet Range column indicates any special range limits specific to AKDSyqnNet Most parameter ranges are identical to an AKD analog drive For a detailed description of all AKD parameters see the Parameter and ...

Страница 26: ...UEU NA AOUT VSCALE NA CAP Parameters SynqNet Type SynqNet Range CAPx EDGE NA CAPx EN NA CAPx EVENT NA CAPx FILTER NA CAPx MODE NA CAPx PLFB RO CAPx PREEDGE NA CAPx PREFILTER NA CAPx PRESELECT NA CAPx STATE RO CAPx T RO CAPx TRIGGER NA DIN Parameters SynqNet Type SynqNet Range DIN HCMDx NA DIN LCMDx NA DIN ROTARY RO DIN STATES RO DINx FILTER RW DINx INV NA DINx MODE RW 0 26 Kollmorgen kdn kollmorge...

Страница 27: ... DOUT STATES RO DOUTx MODE RW DOUT1 PARAM NA DOUTx STATE RO DOUT1 STATEU NA DRV Parameters SynqNet Type SynqNet Range DRV ACC RW DRV ACTIVE RO DRV BLINKDISPLAY CMD DRV CLRCRASHDUMP CMD DRV CLRFAULTHIST CMD DRV CLRFAULTS CMD DRV CMDDELAY NA DRV CMDSOURCE RW 0 DRV CRASHDUMP CMD DRV DBLIMIT RW DRV DEC RW DRV DIR NA DRV DIS CMD DRV DISMODE RW 0 2 DRV DISSOURCES RO AKD SynqNet 8 SynqNet Drive Parameter...

Страница 28: ...T RO DRV FAULTS RO DRV FEATURES INFO DRV HANDWHEEL RO DRV HELP RO DRV HELPALL RO DRV HWENMODE NA DRV ICONT RO DRV INFO RO DRV IPEAK RO DRV IZERO RW DRV LIST RO DRV LOGICVOLTS RO DRV MEMADDR RW DRV MEMDATA RW DRV MOTIONSTAT NA DRV NAME RW DRV NVCHECK RO DRV NVLIST RO DRV NVLOAD CMD DRV NVSAVE CMD DRV ONTIME RO DRV OPMODE RW DRV PWD RO 0 DRV READFORMAT RW DRV RSTVAR CMD 28 Kollmorgen kdn kollmorgen ...

Страница 29: ...et Range FBUS PARAMx RW FBUS PLLSTATE RO FBUS PLLTHRESH RW FBUS SAMPLEPERIOD RW FBUS SYNCACT RO FBUS SYNCDIST RW FBUS SYNCWND RW FBUS TYPE RO FB1 Parameters SynqNet Type SynqNet Range FB1 P R 64 bit count IL Parameters SynqNet Type SynqNet Range IL BUSFF RO IL CMD RO IL CMDU NA IL DIFOLD RO IL FB RO IL FF RO IL FOLDFTHRESH RW IL FOLDFTHRESHU RW AKD SynqNet 8 SynqNet Drive Parameters Kollmorgen kdn...

Страница 30: ...KPLOOKUPVALUES RW IL KVFF RW IL LIMITN NA IL LIMITP NA IL MFOLDD RO IL MFOLDR RO IL MFOLDT RO IL MI2T RO IL MI2TWTHRESH RW IL MIFOLD RO IL MIMODE RW IL OFFSET NA IL VCMD RO IL VUFB RO IL VVFB RO Some MOTOR parameters change type to RO when MOTOR AUTOSET is set to 1 MOTOR Parameters SynqNet Type MOTOR AUTOSET 1 SynqNet Range MOTOR AUTOSET RW MOTOR BRAKE RW MOTOR BRAKERLS NA MOTOR BRAKESTATE RO 30 K...

Страница 31: ...OR POLES RW RO MOTOR R RW RO MOTOR RTYPE RW MOTOR TBRAKEAPP NA MOTOR TBRAKERLS NA MOTOR TBRAKETO RW 1 to 30000 MOTOR TEMP RO MOTOR TEMPFAULT RW MOTOR TEMPWARN RW MOTOR TYPE RW MOTOR VMAX RW RO MOTOR VOLTMAX RW RO MOTOR VOLTMIN RW MOTOR VOLTRATED RW MOTOR VRATED RW PWM0 Parameters SynqNet Type SynqNet Range PWM0 DUTYCYCLE RW 0 to 100000 PWM0 MODE RW 0 to 1 PWM0 PERIOD RW 1000 to 500000 AKD SynqNet ...

Страница 32: ... SynqNet Range SWLS EN RW SWLS LIMIT0 RW SWLS LIMIT1 RW SWLS STATE RO USER Parameter SynqNet Type SynqNet Range USER INT RW VBUS Parameters SynqNet Type SynqNet Range VBUS HALFVOLT RW VBUS OVFTHRESH RO VBUS OVWTHRESH RW VBUS RMSLIMIT RO VBUS UVFTHRESH RW VBUS UVMODE RW VBUS UVWTHRESH RW VBUS VALUE RO WS Parameters SynqNet Type SynqNet Range WS ARM CMD WS DISARM CMD WS DISTMAX RW WS DISTMIN RW 32 K...

Страница 33: ...Net Type SynqNet Range WS IMAX RW WS MODE RW WS NUMLOOPS RW WS STATE RO WS T RW WS TDELAY1 RW WS TDELAY2 RW WS TDELAY3 RW WS VTHRESH RW AKD SynqNet 8 SynqNet Drive Parameters Kollmorgen kdn kollmorgen com October 2020 33 ...

Страница 34: ...downloads and suggest improve ments North America KOLLMORGEN 201 West Rock Road Radford VA 24141 USA Web www kollmorgen com Mail support kollmorgen com Tel 1 540 633 3545 Fax 1 540 639 4162 Europe KOLLMORGEN Europe GmbH Pempelfurtstr 1 40880 Ratingen Germany Web www kollmorgen com Mail technik kollmorgen com Tel 49 2102 9394 0 Fax 49 2102 9394 3155 South America KOLLMORGEN Avenida João Paulo Ablas...

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