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.
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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
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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
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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.
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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)
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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.
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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
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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”)
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