Kollmorgen AKD User manual

AKD®
EtherNet/IP Communication
Edition December 2013, Revision D
Valid for firmware version 1.12
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.

Ethernet/IP Communications |
Record of Document Revisions:
Revision Remarks
A, 10/2011 Launch version
C, 08/2012 Minor updates to formatting.
D, 12/2012
Add information on using Jog Move and Position Move while in position mode (Com-
munication Profile (pg 9). Data size of IL.FBcorrected in Appendix B: Parameter Listing
(pg 31).
EtherNet/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 be
reproduced 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 2013

Ethernet/IP Communications | 1 Table of Contents
1 Table of Contents
1 Table of Contents 3
2 About this Manual 5
3 Overview 6
4 AKD EtherNet/IP Features 7
4.1 Supported Features 7
4.2 Expected Packet Rate 7
4.3 Connection Port 7
4.4 Network Topology 7
5 Setup 8
5.1 Setting an IP Address in the Drive 8
5.2 Controller Setup 8
5.3 Setting Expected Packet Rate in the Controller 8
6 Communication Profile 9
6.1 Explicit Messaging (on-demand) 9
6.1.1 Supported Services 9
6.1.2 Supported Objects 9
6.1.3 Data Types 10
6.1.4 Error Codes 10
6.2 I/O Assembly Messaging (cyclic) 10
6.2.1 Controller Configuration 10
6.2.2 Command Assemblies 11
6.2.2.1 Command Assembly Data Structure 11
6.2.2.2 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 Status Word 2 15
6.2.3.4 Response Type 0x05 - Actual Torque 15
6.2.3.5 Response Type 0x14 - Command/Response Error 15
6.2.4 Data Handshake 16
6.3 Velocity Mode 17
6.3.1 Setup Velocity Mode 17
6.3.2 Velocity Moves 17
6.4 Position Mode 17
6.4.1 Setup Position Mode 17
6.4.2 Homing 17
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Ethernet/IP Communications | 1 Table of Contents
6.4.3 Position Moves (point to point) 18
6.4.4 Running a Stored Motion Task Sequence 18
6.5 Torque 18
6.5.1 Setup Torque Mode 18
6.5.2 Torque Moves 19
6.6 Handling Faults 19
6.7 Saving to Non-volatile Memory 19
7 Drive Objects 20
7.1 Position Controller Class 0x25 20
7.2 Position Controller Supervisor Class 0x24 24
7.3 Parameter Class 0x0F 24
7.3.1 Supported Attributes 25
7.3.2 Read a Parameter Value 26
7.3.3 Write a Parameter Value 26
7.3.4 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 RS Logix Sample Projects 28
9.1 Add On Instructions 28
9.2 AKD Sample Project 28
9.3 "Registration Example" Project 28
10 Appendix A: Supported EtherNet/IP Objects and Attributes 30
10.1 Position Controller Object 0x25 30
11 Appendix B: Parameter Listing 31
12 Appendix C: Software Distribution License 48
4 Kollmorgen | December 2013

Ethernet/IP Communications | 2 About this Manual
2 About this Manual
This manual describes the installation, setup, range of functions, and software protocol for the AKD Eth-
erNet/IP product series. All AKD EtherNet/IP drives have built-in EtherNet/IP functionality - an additional
option card is not required.
A digital version of this manual (pdf format) is available on the disk included with your drive. Manual
updates can be downloaded from the Kollmorgen™ website.
Related documents for the AKD series include:
lUsing AKD EtherNet/IP with RSLogix. This manual provides easy start guide for RSLogix pro-
grams, as well as a reference to the sample add-on instructions.
lAKD Quick Start (also provided in hard copy). This guide provides instructions for initial drive setup
and connection to a network.
lAKD Installation Manual (also provided in hard copy). This manual provides instructions for instal-
lation and drive setup.
lAKD Parameter and Command Reference Guide. This guide provides documentation for the
parameters and commands used to program the AKD.
Additional documentation:
lThe CIP Networks Library Volume 1: Common Industrial Protocol. ODVA
lThe CIP Networks Library Volume 2: EtherNet/IP Adaptation of CIP. ODVA
Kollmorgen | December 2013 5

Ethernet/IP Communications | 3 Overview
3 Overview
EtherNet/IP is an industrial communication protocol based on TCP/IP and UDP/IP. It is used as high
level network for industrial automation applications. EtherNet/IP shares a common data structure with
DeviceNet and ControlNet, but built on Ethernet as a physical medium.
The protocol uses two communication channels:
lExplicit Messages are used for reading or writing values on-demand. Typically they are used for
drive configuration and occasional reads or writes of parameter values. Communication rates
depend on the particular parameter or command, and can range from approximately 5ms to 5s. The
AKD can be fully configured using Explicit Messages.
lI/O Assembly Messages are data structures usually sent on a timed cyclic basis. These are nor-
mally use for drive control and status. The data structure is predetermined and only certain values
can be read and written.
Typically, Explicit Messaging is used to configure the amplifier and I/O Assemblies are used to control
movement. Most PLC’s will support both types of messaging simultaneously.
Explicit Messages allow you to access a single parameter value at a time. The desired parameter is
selected by specifying the class object number, instance number and attribute number in an explicit mes-
sage.
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 con-
trol values may be changed within one message. For this reason, Explicit Messaging is better for con-
figuration and I/O Assembly Messaging is better for motion control.
The Position Controller Object and Position Controller Supervisor Objects are used to set the operational
mode (torque, velocity, or position), home, and configure motion.
Additional configuration may be done through the Parameter Object, which exposes vendor configuration
parameters such as those accessible through Workbench.
Motion sequences may be pre-programmed into the amplifier using the AKD motion tasking feature. Once
the motion task sequence has been configured, it may be executed with the Command Assembly Mes-
sage Block Number field and Start Block bit.
I/O Assembly Messaging is used for most motion control. Control bits in a command message are used to
enable the amplifier, do a controlled stop of the motor, initiate motion, and initiate stored motion block pro-
grams. Command messages can also set the target position, target velocity, acceleration, deceleration,
and torque set points. Status bits in a response message display error states and the general state of the
amplifier. Response messages can also display the actual position, commanded position, actual velocity
and torque.
6 Kollmorgen | December 2013

Ethernet/IP Communications | 4 AKD EtherNet/IP Features
4 AKD EtherNet/IP Features
4.1 Supported Features
AKD follows the ODVA standard for EtherNet/IP. It provides necessary standard objects, as well as cer-
tain vendor-specific objects. CIP-Motion (for real-time multi-axis synchronized motion control) is not sup-
ported.
The following general drive features are supported through EtherNet/IP:
lDrive setup and configuration
lA full range of drive parameters can be accessed
lConfigure parameters through user programs
lSetup motion tasks
lPosition Control
lSetup and trigger homing
lPoint to point moves
lAbsolute and relative motion
lConfigure and execute motion task sequences
lVelocity Control
lInitiate jog moves
lTorque Control
lWrite torque commands
lRead actual torque
lStatus and actual values
lMonitor drive status (enabled, faulted, homed, in position, in motion, etc) on every cycle
lMonitor actual position and velocity on every cycle
lMonitor 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 EtherNet/IP controller communicating with an AKD, the cycle rate should be
reduced to 20 milliseconds.
4.3 Connection Port
The EtherNet/IP network connection port with the AKD is the same RJ45 connector used for the Telnet.
This port is numbered as X11 on the AKD side panel.
4.4 Network Topology
AKD can be connected on an EtherNet/IP network in two manners:
lAs the last node in the network (since AKD has only one connector) in a line topology
lAs another node on the network in star topology (using a switch)
Kollmorgen | December 2013 7

Ethernet/IP Communications | 5 Setup
5 Setup
5.1 Setting an IP Address in the Drive
The IP address of the AKD must be configured properly on the same subnet as the controller. The same
address is used for both EtherNet/IP and Workbench connections (though they use different TCP/IP
ports). See the AKD Quick Start or AKD Use Guide for instructions on setting this address.
5.2 Controller Setup
Some controllers request an EDS file (electronic data sheet) for configuring each EtherNet/IP node. The
AKD EtherNet/IP EDS file can be found on the Kollmorgen web site and on the product disk.
The IP address of the controller 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/IP on AKD is 10 milliseconds. For simultaneous operation
of Workbench and an EtherNet/IP controller communicating with an AKD, the cycle rate should be
reduced to 20 milliseconds.
If the rate is set to too short of a time, communication may timeout between the drive and controller, result-
ing in fault F702 Fieldbus Communication Lost. In this case, the EPR should be set to a larger value.
8 Kollmorgen | December 2013

Ethernet/IP Communications | 6 Communication Profile
6 Communication Profile
6.1 Explicit Messaging (on-demand)
Typically, Explicit Messages are used to configure the amplifier and setup drive parameters. Explicit Mes-
sages allow you to access a single parameter value at a time. The desired parameter is selected by spec-
ifying the class object number, instance number and attribute number in an explicit message.
See chapter 2, “Overview” for an overview of Explicit versus IO Assembly messaging.
6.1.1 Supported Services
l0x10 – Write Value
l0x0E – Read Value
6.1.2 Supported Objects
AKD supports a number of standard and vendor-specific objects for motion control. See the Drive Objects
chapter for information about these objects.
Parameter Object
Class Code: 0x0F
Instance: The instance number references the desired parameter. See Appendix B for a list of available
parameters.
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
Description: The position controller object is used to set the operating mode (torque, velocity, position),
configure motion profiles, and initiate movement.
AKD also supports the required standard objects for EtherNet/IP communication. Typically the controller
will automatically configure these objects, and the user program will not need to directly use them:
lIdentity
lMessage Router
lAssembly
lConnection Manager
lTCP/IP
lEthernet Link
Kollmorgen | December 2013 9

Ethernet/IP Communications | 6.1.3 Data Types
6.1.3 Data Types
The table below describes the data type, number of bytes, minimum and maximum Range.
Data Type Number of
Bytes
Minimum
Value
Maximum
Value Abbreviation
Boolean 1 0(false) 1(true) Bool
Short Integer 1 -16 15.875 S8
Unsigned Short Integer 1 0 31.875 U8
Integer 2 -4096 4095.875 S16
Unsigned Integer 2 0 8191.875 U16
Double Integer 4 -228 228-1 S32
Unsigned Double
Integer 4 0 228-1 U32
6.1.4 Error Codes
The following error codes may be returned in response to an Explicit Message.
Error Error Code
Not Settable 0x0E
Attribute Not Supported 0x14
Service Not Supported 0x08
Class Not Supported 0x16
Value is Out of Range 0x09
6.2 I/O Assembly Messaging (cyclic)
The cyclic data exchange includes the transmission and reception of data values like set point values
(e.g. Position set point, velocity set point or control word) and actual values (actual position value, actual
velocity 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 Explicit Messages may be used simultaneously.
6.2.1 Controller Configuration
A controller must be configured with the correct assembly information in order to open an IO connection to
the AKD. This setup will differ depending on the controller type.
See the guide Using AKD with EtherNet/IP and RSLogix for information specific to Allen Bradley con-
trollers.
In addition to configuring the IP address of the AKD in the controller setup, the following values must be
configured:
Input Assembly (also called Response Assembly or “Target to Originator Connection”)
Instance: 102
Size: 64 bytes
Run/Idle Header: No
Output Assembly (also called Command Assembly or “Originator to Target Connection”)
10 Kollmorgen | December 2013

Ethernet/IP Communications | 6.2.2 Command Assemblies
Instance: 101
Size: 64 bytes
Run/Idle Header: Yes
Configuration Assembly
Instance: 100
Size: 0 bytes
Requested Packet Interval (also called Expected Packet Rate)
20ms or greater for simultaneous use with Workbench, such as during commissioning
10ms or greater if simultaneous Workbench use is not required
IO Connection Type: Multicast, Class 1 Type
6.2.2 Command Assemblies
Command assemblies contain a control word and several fields used for setting values, requesting
response data, and commanding moves. A command assembly may be used to send one data command
at a time (target position, target velocity, acceleration, deceleration or torque). The command type is spec-
ified in the Command Type field. A command assembly also specifies a Response Type, requesting a par-
ticular kind of data in the response assembly.
A command assembly may contain both a Command Type and a Response Type to transmit a command
and request a particular response in the same assembly.
A valid Command Type is required to be set in each command assembly. Data outside the allowed range
will result in an Error Response Assembly.
The amplifier must be homed before motion is begun in position mode. Failure to home 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 hand-
shaking with the drive.
1 Block # The block number is used to start a particular Motion Task, in com-
bination with the Start Block bit in the Control Word.
2 Command Type Specifies the desired command to execute, such as Set Position or
Set Parameter.
3 Response Type Specifies the desired response data to return in the Response
Assembly.
4-7 Data The command data for most Command Types*
8-11 Position Position data for Command Type 6 (Position Move)*
12-15 Velocity Velocity data for Command Type 6 (Position Move) and 7 (Jog)*
16-19 Acceleration Acceleration data for Command Type 6 (Position Move) and 7 (Jog)*
20-23 Deceleration Deceleration data for Command Type 6 (Position Move) and 7 (Jog)*
24-31 Parameter/Attribute
Data
Command Data for Command Type 0x1B (Set Position Controller
Attribute) and 0x1F (Set Parameter)*
32 Attribute to Get Index of desired Position Controller Attribute value to return in the
Response Assembly bytes 24-31)
33-63 Reserved
*Least significant byte first for all data fields
Kollmorgen | December 2013 11

Ethernet/IP Communications | 6.2.2.2 Control Word
6.2.2.2 Control Word
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0Enable Reserved Hard Stop Smooth Stop Direction Relative Start Block Load/Start
Enable: Setting this bit enables the amplifier.
Hard Stop: Setting this bit causes the amplifier to execute a Controlled Stop. The Enable bit must be
cleared and reset in order to enable motion again.
Smooth Stop: Setting this bit causes the amplifier to decelerate to a stop.
Direction: This bit is used only in velocity mode. Positive direction=1 and negative
direction=0.
Relative: This bit is used in only in position mode. This bit indicates whether a move executed with Com-
mand Type 1 (Target Position) or 6 (Position Move) should be absolute (0) or incremental (1).
Start Block: Executes a Motion Task sequence previously generated and stored in the drive. Put the start-
ing block number in the Block Number field (byte 1) and transition this bit high (1). The Load/Start flag
must be zero (0) while transitioning Start Block.
Load/Start: This bit is used for data handshaking between the controller and amplifier.
To transmit a command to the amplifier, set the Command Type and load data 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, Tar-
get 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 will set the Load Complete response flag high.
6.2.2.3 Command Type 0x05 - Torque
This command type is used to change the target torque. This can only be used in torque mode. Motion will
begin as soon as the value is loaded.
lPut drive in torque mode by sending a message to Position Controller class 0x25, Instance 1,
Attribute 3 Operation Mode.
lLoad the desired torque value in bytes 4-7.
lSet the Load/Start bit to begin the move.
Torque values are in milliamps [mA].
6.2.2.4 Command Type 0x06 - Position Move
This command type is used to start a trajectory (Position mode only) of the specified distance, velocity,
acceleration and deceleration. Since all command values are sent to the drive in a single assembly, this is
the preferred way
The trajectory can be absolute or relative, depending on the value of the Relative bit. The move will begin
as soon as the command is loaded.
The position move is loaded into Motion Task 0 and can be viewed within Workbench.
lPut drive in position mode by sending a message to Position Controller class 0x25, Instance 1,
Attribute 3 Operation Mode.
lLoad Target Position, Velocity, Acceleration and Deceleration into bytes 8-23 (see Data Structure
section).
lSet the Load/Start bit to begin the move.
Position values are scaled according to EIP.POSUNIT. Velocity and acceleration values are scaled
according to EIP.PROFUNIT.
12 Kollmorgen | December 2013

Ethernet/IP Communications | 6.2.2.5 Command Type 0x07 - Jog Move
6.2.2.5 Command Type 0x07 - Jog Move
This command type is used to change the target velocity, acceleration and deceleration in velocity and
position mode. The Direction bit sets the desired direction. The move will begin as soon as the target
velocity is loaded.
lPut drive in velocity mode by sending a message to Position Controller class 0x25, Instance 1,
Attribute 3 Operation Mode.
lLoad Target Velocity, Acceleration and Deceleration into bytes 12-23 (see Data Structure section).
lSet the Load/Start bit to begin the move.
Velocity and acceleration values are scaled according to EIP.PROFUNIT.
In position mode, a Jog Move may be blended into a Position Move.
6.2.2.6 Command Type 0x1B - Set Attribute of Position Controller Object
This command type is used to set a value in the Position Controller object, such as for configuring and trig-
gering a home move. See the Drive Objects chapter for a listing of available attributes in this object.
lSet Command Type to 0x1B
lLoad the Attribute number which you wish to set into bytes 4-5 (first half of the Data field, least sig-
nificant byte first).
lLoad the desired value into bytes 24-31 Parameter/Attribute Data (see Data Structure section).
lSet the Load/Start bit to set the value in the drive.
6.2.2.7 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 command has completed, the Load
Complete status bit will be set in the response, or else an Error Response Assembly will be returned.
lSet Command Type to 0x1F
lLoad the parameter Index which you wish to access into bytes 4-5 (first half of the Data field, least
significant byte first).
lSet byte 6 according to whether you wish to read or write the parameter. 0=read, 1=write.
lIf writing a parameter, load the desired value into bytes 24-31 Parameter/Attribute Data.
lSet the Load/Start bit to execute the command.
lIf reading a parameter, the value will be returned in bytes 24-31 of the response.
6.2.2.8 Get Attribute
Get Attribute field operates differently from the Command Types listed above, as it does not make use of
the Command Type field or require Load/Start to be set.
To read an attribute of the Position Controller in each cycle, just set byte 32 Attribute to Get to the desired
attribute number. The data will be returned in each response assembly in bytes 24-31 Parameter Data
with the Attribute to Get mirrored in byte 32 of the response.
Note: Attribute to Get and Command Type 0x1F Read Parameter Value both use bytes 24-31 of the
response assembly. When using command 0x1F to read a parameter, set the Attribute to Get field to 0.
lLoad the desired attribute number of the Position Controller Object into byte 32 Attribute to Get.
lThe value will be updated each communication cycle in bytes 24-31 of the response assembly.
Kollmorgen | December 2013 13

Ethernet/IP Communications | 6.2.3 Response Assemblies
6.2.3 Response Assemblies
In I/O Assembly Messaging, the amplifier transmits a response assembly back to the controller. The
response assembly has a number of pre-defined status words and data values. In addition, it can contain
one data value which is selected by the Response Type field of the command assembly.
6.2.3.1 Response Assemly Data Structure
Byte Data Comment
0 Status Word 1 Various status bits
1 Executing Block # The index of the Motion Task which is currently being executed
2 Status Word 2 Various status bits
3 Response Type Specifies the response type of this assembly, echoing the Response Type
set in the command assembly.
4-7 Data The response data for most Response Types*
8-
11 Position Actual Position*
12-
15 Velocity Actual Velocity*
16-
19 Motion Status Status bits. This provides the status word DRV.MOTIONSTAT. See the Parameter 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-
63 Reserved
* Least significant byte first for all data fields
Status 1, Status 2, Actual Position, Actual Velocity, and Motion Status data are updated in every
response assembly.
Data in bytes 4-7 will be updated depending on the value of the Response Type.
Parameter/Attribute Data in bytes 24-31 will be updated when Attribute to Get is non-zero or when a Get
Parameter command was completed.
6.2.3.2 Status Word 1
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0Enable
State Reserved Homed Current Direction General Fault In Position Block in Execution In Motion
Enable State: This bit reflects the enable state of the amplifier.
Homed: This bit is set when the drive has been successfully homed.
Current Direction: This bit reflects the actual direction of motion.
General Fault: This bit indicates whether or not a fault has occurred.
In Position: This bit indicates whether or not the motor is on the last targeted position
(1=On Target).
Block in Execution: When set, indicates the amplifier is running a motion task.
14 Kollmorgen | December 2013

Ethernet/IP Communications | 6.2.3.3 Status Word 2
Executing Block # (Byte 1 in Response Assembly): Indicates the index of the currently executing
Motion Task when the Block in Execution bit is set.
In Motion: This bit indicates whether a trajectory is in progress (1) or has completed (0).
This bit is set immediately when motion begins and remains set for the entire motion.
6.2.3.3 Status Word 2
Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
2
Load
Com-
plete
Reserved Reserve-
d
Neg SW
Limit Pos SW Limit Neg HW Limit
Pos HW
Limit
Reserve-
d
Load Complete: This bit indicates that the command data contained in the command message has been
successfully loaded into the device. Used for handshaking between
the controller and amplifier – see Data Handshaking.
Negative SW Limit: This bit indicates when the position is less than or 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 assembly is used to return the actual torque (current) of the motor in milliarms. Data will
be received in the Data field, bits 4-7. Set Response Type = 0x05 in the command assembly to read this
value.
6.2.3.5 Response Type 0x14 - Command/Response Error
This I/O response identifies an error that has occurred. This response will always be returned in response
to an invalid Command Assembly. The Response Type field of the response assembly usually echoes
the matching field from the previous command assembly. But in the case of an invalid command
assembly, the Response Assembly Type field of the response assembly will be set to 0x14 and error
codes will be returned in the Data field.
Error Code
(hex)
Additional Code
(hex) EtherNet IP Error
0 FF NO ERROR
2 FF RESOURCE_UNAVAILABLE
5 FF PATH_UNKNOWN
5 1 COMMAND_AXIS_INVALID
5 2 RESPONSE_AXIS_INVALID
8 FF SERVICE_NOT_SUPP
8 1 COMMAND_NOT_SUPPORTED
8 2 RESPONSE_NOT_SUPPORTED
9 FF INVALID_ATTRIBUTE_VALUE
B FF ALREADY_IN_STATE
C FF OBJ_STATE_CONFLICT
D FF OBJECT_ALREADY_EXISTS
E FF ATTRIBUTE_NOT_SETTABLE
F FF ACCESS_DENIED
Kollmorgen | December 2013 15

Ethernet/IP Communications | 6.2.4 Data Handshake
Error Code
(hex)
Additional Code
(hex) EtherNet IP Error
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
successfully, 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 Ena-
ble=1, Load/Start=0, Command Axis=1, Com-
mand 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
command assembly.
Respond with status flags. No command yet. R:
0x84 0x00 0x00 0x20 0x00 0x00 0x00 0x00 Ena-
bled=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 ampli-
fier 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
4. Amplifier sees the Load/Start flag transition high
and attempts to execute the command specified in
the Command Type field on the data in the Data
bytes. If successful, the amplifier sets the Load Com-
plete flag. If the command fails or the command
assembly is invalid, the amplifier will set Response
Type to Error and load error information in the
response assembly Data fields. If the command
matches the operating mode (e.g. Target Position in
positioning mode), the amplifier will start motion.
If no error, execute the requested command R:
0x81 0x00 0x80 0x20 0x00 0x00 0x00 0x00 Ena-
bled=1, In Motion=1, Load Complete=1,
Response Axis=1, Response Type=0 (none),
Data=0 If there was an error (e.g. data out of
range): R: 0x80 0x00 0x00 0x34 0x09 0xFF 0x21
0x20 Enabled=1, Load Complete=0, Response
Axis=1, Response Type=0x14 (Error), Error
codes=0x09FF (Invalid Attribute), bytes 6-7
echo command assembly bytes 2-3.
5. Controller waits for either the Load Complete flag to
transition high or for an Error Response Type in the
response assembly, then clears Load/Start. Ready
for next command
Clear Load/Start C: 0x80 0x00 0x21 0x20 0xE8
0x03 0x00 0x00 Enable=1, Load/Start=0, Com-
mand Axis=1, Command Type=1, Response
Axis=1, Data=1000
16 Kollmorgen | December 2013

Ethernet/IP Communications | 6.3 Velocity Mode
6.3 Velocity Mode
In this mode, the drive is controlled via a speed set point sent from the controller to the drive using I/O
Assembly Messaging (the Jog command). When changing velocity, the commanded acceleration and
deceleration rates will be used.
6.3.1 Setup Velocity Mode
Before Jog commands may be issued, the following conditions must be met:
lFaults are cleared (query the General Fault bit in Status Word 1 and issue an explicit message to
clear faults if necessary)
lDrive is enabled (set Enable bit in the Control Word)
lDrive is in velocity mode (set Attribute 3 Operational Mode of the Position Controller object)
lSmooth Stop and Hard Stop bits are cleared in Status Word 1.
lPosition Limits are cleared (check bits in Status Word 2)
6.3.2 Velocity Moves
Once the drive is ready to jog, issue Jog commands (command type 0x07) to set a speed set point in the
drive. Target Velocity, Acceleration, Deceleration, and Direction should all be loaded before setting the
Load/Start bit to initiate the move.
While in motion, you may issue another Jog command to immediately change velocity and direction at the
desired acceleration and deceleration rates.
While a jog 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.
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 the Controlled Stop rate and disable. To clear this Controlled
Stop condition, you must clear the Hard Stop and Enable bits, then set the Enable bit.
Velocity move values can be verified in Workbench. From the terminal, the affected values are VL.CMD.
6.4 Position Mode
In this mode, the drive runs an internal trajectory generator for moving between commanded positions.
These positions can be sent directly from the controller (point to point moves), or pre-programmed in
Motion Task sequences.
6.4.1 Setup Position Mode
Before Position Move commands may be issued, the following conditions must be met:
lFaults are cleared (query the General Fault bit in Status Word 1 and issue an explicit message to
clear faults if necessary)
lDrive is enabled (set Enable bit in the Control Word)
lDrive is in position mode (set Attribute 3 Operational Mode of the Position Controller object)
lSmooth Stop and Hard Stop bits are cleared in Status Word 1.
lPosition Limits are cleared (check bits in Status Word 2)
lDrive is homed (check Homed bit in Status Word 1)
6.4.2 Homing
Once all conditions listed under Setup Position Mode have been met (with the exception of homing), the
drive may be homed.
Kollmorgen | December 2013 17

Ethernet/IP Communications | 6.4.3 Position Moves (point to point)
The homing mode may be selected using attribute 0x64 Home Mode of the Position Controller object, or
by setting the homing mode directly in Workbench. See the User Manual for a description of homing
modes.
To execute homing, write a value of 1 to attribute 0x65 Start Home Move.
When homing is complete, the Homed flag in Status Word 1of the response assembly will be set.
6.4.3 Position Moves (point to point)
Once all conditions listed under Setup Position Mode have been met, and the drive has been homed,
issue Position Move commands (command type 0x06) to move to a desired position. Target Position,
Velocity, Acceleration, Deceleration, and Incremental (bit in Command Word) should all be loaded before
setting the Load/Start bit to initiate the move.
While in motion, you may issue another Position Move command to interrupt the move with a new target
position. In position mode, Jog Moves (command type 0x07) work in a similar way, and can be blended
with Position 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
target 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 the Controlled Stop rate and disable. To clear this Controlled
Stop condition, you must clear the Hard Stop and Enable bits, then set the Enable bit.
Position moves are loaded into Motion Task 0, which can be viewed in Workbench for test and verification
of user programs.
6.4.4 Running a Stored Motion Task Sequence
As an alternative to issuing a single point-to-point position commands, EtherNet/IP can be used to start a
predefined motion task or sequence of motion tasks.
A motion tasking sequence may be setup in Workbench and then executed later through EtherNet/IP.
Motion tasks may also be setup directly through EtherNet/IP as demonstrated in the sample programs.
To execute a motion task sequence, set Block Number equal to the index of the motion task to begin
executing and transition the Start Block bit high. The drive must be enabled and the stop and Load/Start
bits must be low.
When a stored motion task is running, the response assembly will report this with the Block in Execution
status bit, and the executing task will be given in the Block # response byte.
To stop an executing sequence, set the Smooth Stop or Hard Stop bit.
6.5 Torque
In this mode, the drive runs at constant torque using the latest command value received from the con-
troller.
6.5.1 Setup Torque Mode
Before Torque Move commands may be issued, the following conditions must be met:
lFaults are cleared (query the General Fault bit in Status Word 1 and issue an explicit message to
clear faults if necessary)
lDrive is enabled (set Enable bit in the Control Word)
lDrive is in torque mode (set Attribute 3 Operational Mode of the Position Controller object)
lSmooth Stop and Hard Stop bits are cleared in Status Word 1.
lPosition Limits are cleared (check bits in Status Word 2)
18 Kollmorgen | December 2013

Ethernet/IP Communications | 6.5.2 Torque Moves
6.5.2 Torque Moves
Once the drive is setup for torque mode, issue Torque commands (command type 0x05) to set a torque
set point in the drive. Torque commands and values are scaled in milliarms.
While in motion, issue another Torque command to immediately change the target torque.
While a torque command is active, 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.
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 the Controlled Stop rate and disable. To clear this Controlled
Stop 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 registers
DRV.FAULT1..DRV.FAULT3 are at indexes 478-480. FAULT1 will always list the highest-priority fault.
Faults may be cleared by sending a message to the DRV.CLRFAULTS index 113 of the Parameter
Class. Write a 1-byte value (any value) to the parameter to execute the command.
Transmit the following explicit message:
Service: 0x10 (Write)
Class: 0x0F (Parameter)
Instance: 113 (DRV.CLRFAULTS)
Attribute: 0x01 (Value)
Data Length: 4 bytes
Data Value: 1
6.7 Saving to Non-volatile Memory
Drive parameters are typically stored in RAM and only stored to non-volatile memory when a Save is com-
manded through an Explicit Message to the Parameter Object.
Transmit the following explicit message:
Service: 0x10 (Write)
Class: 0x0F (Parameter)
Instance: 470 (DRV.NVSAVE)
Attribute: 0x01 (Value)
Data Length: 4 bytes
Data Value: 1
Kollmorgen | December 2013 19

Ethernet/IP Communications | 7 Drive Objects
7 Drive Objects
7.1 Position Controller Class 0x25
The following attributes are supported in the Position Controller class. The instance number always
equals 1 in the class/instance/attribute mappings for the Position Controller.
Attribute 0x01: Number of Attributes
Description The total number of attributes supported by the unit in the Position Con-
troller class.
Access Rule Get
Data Type Unsigned Short Integer
Range N/A
Default N/A
Non-Volatile N/A
See Also DRV.FAULTS
Attribute 0x02: Attribute List
Description
Returns an array with a list of the attributes supported by this unit in the Posi-
tion Controller Class. The length of this list is specified in Number of Attrib-
utes.
Access
Rule Get
Data Type Array of Unsigned Short Integer
Range Array size is defined by Attribute 1
Default N/A
Non-Volatile N/A
See Also N/A
Attribute 0x03: Operation Mode
Description
This attribute is used to get or set the operating mode. 0=Position
(DRV.OPMODE2). 1= velocity (DRV.OPMODE 1). 2=Torque
(DRV.OPMODE 0). This attribute must be set before any move is
attempted.
Access
Rule Get / Set
Data Type Unsigned Short Integer
Range
0 = Position Mode
1 = Velocity Mode
2 = Torque Mode
3 = Other (read only)
Default 0
Non-Volatile No
See Also N/A
20 Kollmorgen | December 2013