Kollmorgen AKD PDMM series User manual

AKD PDMM™
User Guide
Edition December 2012, Revision B
Valid for Hardware Revision DB
Patents Pending
Part Number 903-200016-00
Keep all manuals as a product component during the life span of the product.
Pass all manuals to future users/owners of the product.

AKD PDMM User Guide | Trademarks and Copyrights
Trademarks and Copyrights
0.1 Copyrights
Copyright © 2009-12 Kollmorgen™
Information in this document is subject to change without notice. The software package described in this
document is furnished under a license agreement or non-disclosure agreement. The software may be
used or copied only in accordance with the terms of those agreements.
This document is the intellectual property of Kollmorgen™ and contains proprietary and confidential infor-
mation. The reproduction, modification, translation or disclosure to third parties of this document (in whole
or in part) is strictly prohibited without the prior written permission of Kollmorgen™.
0.2 Trademarks
KAS and AKD PDMM are registered trademarks of Kollmorgen™.
SERVOSTAR is a registered trademark of Kollmorgen™.
Kollmorgen™ is part of the Danaher Motion company.
Windows® is a registered trademark of Microsoft Corporation
EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH.
EtherCAT® is registered trademark of Ethercat Technology Group.
PLCopen is an independent association providing efficiency in industrial automation.
INtime® is a registered trademark of TenAsys® Corporation.
Codemeter is a registered trademark of WIBU-Systems AG.
SyCon® is a registered trademark of Hilscher GmbH.
Kollmorgen Automation Suite is based on the work of:
lQwt project (distributed under the terms of the GNU Lesser General Public License - see also GPL terms)
lZlib software library
lCurl software library
lMongoose software (distributed under the MIT License - see terms)
lJsonCpp software (distributed under the MIT License – see terms)
lU-Boot, a universal boot loader is used by the AKD-PDMM (distributed under the terms of the GNU Gen-
eral Public License). The U-Boot source files, copyright notice, and readme are available on the dis-
tribution disk that is included with the AKD-PDMM.
All other product and brand names listed in this document may be trademarks or registered trademarks of
their respective owners.
0.3 Disclaimer
The information in this document (Version 2.6 published on 1/4/2013) is believed to be accurate and reli-
able at the time of its release. Notwithstanding the foregoing, Kollmorgen assumes no responsibility for
any damage or loss resulting from the use of this help, and expressly disclaims any liability or damages
for loss of data, loss of use, and property damage of any kind, direct, incidental or consequential, in regard
to or arising out of the performance or form of the materials presented herein or in any software programs
that accompany this document.
All timing diagrams, whether produced by Kollmorgen or included by courtesy of the PLCopen organ-
ization, are provided with accuracy on a best-effort basis with no warranty, explicit or implied, by Koll-
morgen. The user releases Kollmorgen from any liability arising out of the use of these timing diagrams.
Kollmorgen™ | December 2012 2

AKD PDMM User Guide | Table of Contents
Table of Contents
Trademarks and Copyrights 2
0.1 Copyrights 2
0.2 Trademarks 2
0.3 Disclaimer 2
Table of Contents 3
1 Welcome to AKD PDMM User Guide 18
2 AKD PDMM Models 19
3 Software Setup 20
3.1 Install and Start the KAS IDE 20
3.2 KAS IDE Project View 22
3.3 Configuring the Drives and Remote I/O 22
3.4 Where To Go From Here 24
4 Initial Drive Setup 26
4.1 Initial Drive Setup 27
4.2 AKD PDMM Setup Wizard 27
5 Using Embedded Workbench Views 29
5.1 Drive Overview 30
6 Configuring Drive Power 33
6.1 Power 34
6.1.1 Drive Setup for Power and Bus 34
6.1.1.1 Operating Voltage 34
6.1.1.2 Direct DC Mains Operation 34
6.2 Regeneration 36
6.2.1 Overview 36
6.2.2 Regen Resistor Options 36
6.2.3 Calculating Motor Peak Energy and Regen Resistor Size 36
6.2.4 Selecting a Compatible Regen Resistor 38
6.2.5 Configuring Regen Parameter Values 39
7 Configuring Motor Settings 41
7.1 Motor 42
7.1.1 Overview 42
7.1.2 Motor Setup 42
7.1.3 Using the Motor View 42
7.1.4 Selecting a Motor 43
7.1.4.1 Configuring Custom Motors 43
7.1.4.2 Validating Motor Parameters 44
7.2 Feedback 1 45
7.2.1 Overview 45
7.2.2 Using Feedback Options 45
7.2.2.1 Auto 45
7.2.2.2 Incremental Encoder 46
7.2.2.3 Sine Encoder 46
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AKD PDMM User Guide | Table of Contents
7.2.2.4 Endat 2.1, Endat 2.2 46
7.2.2.5 BiSS 46
7.2.2.6 Hiperface 46
7.2.2.7 Resolver 46
7.2.2.8 SFD 46
7.3 Non-Plug and Play Feedback Devices 46
7.3.1 Parameters 46
7.3.2 Calculations 47
Current Loop 47
Velocity Loop 47
Slider Tuning 47
Input - Motor Data 47
Constants 47
Output - Control Loop Gains 47
7.4 Foldback 47
7.4.1 Drive Foldback 48
7.4.2 Setting up motor foldback 48
7.4.3 Setting Fault and Warning Levels 48
7.4.4 Motor Peak Current Time 49
7.4.5 Motor Foldback Ramp 49
7.4.6 Motor Recovery 50
7.4.7 Overall Foldback 50
7.5 Brake 50
7.6 Using Position Capture 53
7.6.1 Overview 53
7.6.2 Configuring Position Capture 53
Setting the Capture Source (CAP0.TRIGGER) 53
Setting the Capture Mode (CAP0.MODE) 54
Arming and Retrieving the Capture Value (CAP0.EN and CAP0.T) 54
Setting the Capture Edge (CAP0.EDGE) 54
Setting the Pre-Condition Event: (CAP0.EVENT) 54
Setting up a Pre-Condition for complex capture 55
7.6.3 Kollmorgen Test Reports 55
8 Using AKD PDMM in a Vertical Axis 56
9 Configuring with Linear Motors 58
9.1 Connecting a DDLMotor to an AKD PDMMDrive 58
10 Configuring General Drive Settings 61
10.1 Limits 62
10.1.1 Limits 62
10.2 Enable/Disable 63
10.2.1 Enable Modes 63
Hardware Enable Mode 63
Software Enable Default 63
10.2.2 Disable Modes 63
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AKD PDMM User Guide | Table of Contents
10.2.3 Drive Status 64
10.2.4 Controlled Stop 64
10.2.5 More/Less Button 64
10.3 Controlled Stop 65
10.4 Dynamic Braking 67
10.4.1 Drive Regeneration 68
AKD PDMM-x00306 to AKD PDMM-x00606 68
AKD PDMM-x01206 to AKD PDMM-xzzz07 68
10.5 Emergency Stop 68
10.5.1 Stop / Emergency Stop / Emergency Off 68
10.5.1.1 Stop 69
10.5.1.2 Emergency Stop 70
10.5.1.3 Emergency Off 70
10.6 Under Voltage Fault Behavior 71
11 Creating Motion 72
11.1 Service Motion 73
11.2 Motion Profile Table 74
11.2.1 Grid 75
11.2.2 Graphical Representation 75
11.2.3 Control Buttons 76
11.2.3.1 Import Table Data 77
11.2.3.2 Importing data from Preset Table option 77
11.2.3.3 Importing data from an external CSV file 78
11.2.4 Motion Profile Table: Advanced 78
11.2.4.1 Example of a motion profile table 78
11.2.4.2 Motion Profile Table Restrictions 79
11.2.4.3 Different methods of motion table motion tasking 80
General motion profile table explanations 80
11.2.4.4 Standard customer table motion task 80
11.2.4.5 1:1 customer table motion task 81
11.2.4.6 Setting up a motion profile motion task 82
11.2.4.7 Drive reaction on impossible motion tasks 82
1:1 customer table motion task 82
11.2.4.8 Standard customer table motion task 82
Starting from velocity 0 without change-on-the-fly to a following motion task 82
During a change on the fly condition 83
Movement to the same direction 83
Movement in different directions 84
12 Tuning Your System 86
12.1 Introduction 87
12.2 Slider Tuning 87
12.2.1 Gentle, Medium, and Stiff 87
12.2.2 The Slider 87
12.2.3 Inertia Ratio 87
12.3 Tuning Guide 87
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12.3.1 Overview 87
12.3.2 Determining Tuning Criteria 88
12.3.3 Before You Tune 88
12.3.4 Closed Loop Tuning Methods 88
12.3.4.1 Tuning the Velocity Loop 89
12.3.4.2 Tuning the Position Loop 91
12.3.5 Torque Feedforward Tuning Methods 91
12.3.5.1 Shape Based Feedforward Tuning 91
12.3.6 Using Anti-Resonance Filters 92
12.3.6.1 Types of Anti-Resonance Filters 92
12.3.6.2 Biquad Calculations 99
12.3.6.3 Common Uses Of Anti-Resonance Filters 102
13 Scope 103
13.1 Overview 103
13.2 Using the Scope 103
13.2.1 Scope Channels Tab 103
13.2.1.1 Source Column 103
13.2.1.2 Color Column 104
13.2.1.3 Hide Column 104
13.2.1.4 Y-Axis Column 104
13.2.1.5 Filter and Filter Frequency Column 104
13.2.2 Scope Time-base and Trigger Tab 104
13.2.2.1 Scope Time-base and Trigger, More View 105
13.2.2.2 Trigger Type 106
13.2.2.3 Trigger Position 106
13.2.2.4 Trigger Value 107
13.2.2.5 Effects of Recorder Gap 108
13.2.2.6 Trigger Slope 109
13.3 Scope Settings 109
13.3.1 Load a setting (preset) to Scope screen 110
13.3.2 Create a new preset 110
13.3.3 Save or delete preset 110
13.3.4 Import preset 110
13.3.5 Export preset 111
13.3.6 Scope axis scaling and zooming 112
13.3.7 Manual range per axis 113
13.3.8 Unit display on Y axis 113
14 Using Parameters and the Terminal Screen 114
14.1 Terminal 115
14.1.1 Overview 115
14.1.2 Using the Terminal 115
14.1.3 Macros 116
Creating a Macro from Terminal commands 116
Macro Editor 117
14.2 Parameter List 117
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14.3 Summary of Parameters and Commands 119
15 Faults and Warnings 134
15.1 Fault and Warning Messages 135
15.2 Additional Error and Alarm Messages AKD PDMM-M 147
15.2.1 Errors 147
15.2.2 Alarms 149
15.3 Clearing Faults 151
15.4 Parameter and Command Error Messages 151
15.5 Unknown Fault 155
15.5.1 Remedies 155
16 Troubleshooting the AKD PDMM 156
17 Connection Diagrams 157
17.1 Connection Diagram AKD PDMM-x00306, AKD PDMM-x00606 159
17.2 Wiring Diagram 3 to 6A (230V) 159
17.3 Connection Diagram AKD PDMM-x01206 161
17.4 Wiring Diagram 12A (230V) 162
17.5 Connection Diagram AKD PDMM-x02406 and AKD PDMM-xzzz07 163
17.6 Wiring Diagram 24A (230V) and 3 to 24 A (480V) 163
17.7 24 V Auxiliary Supply (X1) 165
17.8 Motor Connection 166
17.9 External Regen Resistor (X3) 167
17.10 DC Bus Link (X3) 169
17.11 Mains Supply Connection (X3, X4) 170
17.11.1 Three Phase connection (all AKD PDMM types) 170
17.11.2 Single phase connection (AKD PDMM-x00106x00306 to AKD PDMM-x01206 only) 172
17.12 I/O Connection 173
17.12.1 I/O Connectors X7 and X8 (all AKD PDMM variants) 173
17.12.2 I/O Connectors X21, X22, X23 and X24 (AKD-T with I/O option card only) 175
17.12.3 I/O Connectors X35 and X36 (AKD PDMM-M only) 177
17.13 Analog Output (X8, X23) 178
17.14 Analog Input (X8, X24) 179
17.15 Command encoder signal connection 181
17.15.1 Incremental encoder input 5 V (X9) 181
17.15.2 Incremental encoder input 24 V (X7) 181
17.15.3 Encoder with EnDat 2.2 input 5 V (X9) 182
17.16 Pulse / Direction signal connection 183
17.16.1 Pulse / Direction input 5 V (X9) 183
17.16.2 Pulse / Direction Input 5V (X7) 183
17.17 Up / Down signal connection 184
17.17.1 Up / Down input 5 V (X9) 184
17.17.2 Up / Down input 24 V (X7) 184
17.18 Feedback Connector (X10) 185
18 Block Diagrams 187
18.1 Block Diagram for Current Loop 188
18.2 Block Diagram for Position/Velocity Loop 188
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AKD PDMM User Guide | Table of Contents
19 AKD PDMM Firmware 189
19.1 Check AKD PDMMDrive Firmware 189
19.2 Download AKD PDMMDrive Firmware 189
19.3 AKD PDMM Firmware Update 189
20 About the Parameter and Command Reference Guide 191
20.1 Parameter and Command Naming Conventions 192
20.2 Summary of Parameters and Commands 193
21 AIO Parameters 207
21.1 AIO.ISCALE 208
21.2 AIO.PSCALE 208
21.3 AIO.VSCALE 209
22 AOUT Parameters 211
22.1 AOUT.CUTOFF 212
22.2 AOUT.ISCALE 212
22.3 AOUT.MODE 213
22.4 AOUT.OFFSET 214
22.5 AOUT.PSCALE 214
22.6 AOUT.VALUE 215
22.7 AOUT.VALUEU 216
22.8 AOUT.VSCALE 216
23 AOUT2 Parameters 218
23.1 AOUT2.CUTOFF 219
23.2 AOUT2.MODE 219
23.3 AOUT2.OFFSET 220
23.4 AOUT2.VALUE 220
23.5 AOUT.VALUEU 220
24 BODE Parameters 222
24.1 BODE.EXCITEGAP 223
24.2 BODE.FREQ 223
24.3 BODE.IAMP 224
24.4 BODE.IFLIMIT 225
24.5 BODE.IFTHRESH 226
24.6 BODE.INJECTPOINT 226
24.7 BODE.MODE 227
24.8 BODE.MODETIMER 230
24.9 BODE.PRBDEPTH 231
24.10 BODE.VAMP 232
24.11 BODE.VFLIMIT 233
24.12 BODE.VFTHRESH 234
25 CS Parameters 236
25.1 CS.DEC 237
25.2 CS.STATE 238
25.3 CS.TO 238
25.4 CS.VTHRESH 240
26 DIN Parameters 241
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26.1 DIN.HCMD1 TO DIN.HCMD4 242
26.2 DIN.LCMD1 to DIN.LCMD4 242
26.3 DIN.ROTARY 243
26.4 DIN.STATES 244
26.5 DIN1.FILTER TO DIN7.FILTER 244
26.6 DIN1.INV to DIN7.INV 245
26.7 DIN1.MODE TO DIN24.MODE 247
26.8 DIN1.PARAM TO DIN7.PARAM 248
26.9 DIN1.STATE TO DIN7.STATE 249
26.10 DIN9.STATE to DIN11.STATE 250
26.11 DIN21.FILTER to DIN32.FILTER 251
26.12 DIN21.STATE to DIN32.STATE 251
27 DOUT Parameters 253
27.1 DOUT.CTRL 254
27.2 DOUT.RELAYMODE 254
27.3 DOUT.STATES 255
27.4 DOUT1.MODE to DOUT19.MODE 255
27.5 DOUT1.PARAM AND DOUT2.PARAM 256
27.6 DOUT1.STATE AND DOUT2.STATE 257
27.7 DOUT1.STATEU AND DOUT2.STATEU 257
27.8 DOUT9.STATE to DOUT11.STATE 258
27.9 DOUT9.STATEU to DOUT11.STATEU 259
27.10 DOUT21.STATE to DOUT32.STATE 260
27.11 DOUT21.STATEU to DOUT32.STATEU 260
28 DRV Parameters 261
28.1 DRV.ACC 262
28.2 DRV.ACTIVE 264
28.3 DRV.BLINKDISPLAY 264
28.4 DRV.BOOTTIME 265
28.5 DRV.CLRFAULTHIST 265
28.6 DRV.CLRFAULTS 266
28.7 DRV.CMDDELAY 266
28.8 DRV.CMDSOURCE 267
28.9 DRV.CRASHDUMP 268
28.10 DRV.DBILIMIT 268
28.11 DRV.DEC 269
28.12 DRV.DIFVAR 270
28.13 DRV.DIR 271
28.14 DRV.DIS 272
28.15 DRV.DISMODE 273
28.16 DRV.DISSOURCES 274
28.17 DRV.DISSOURCESMASK 275
28.18 DRV.DISTO 275
28.19 DRV.EMUECHECKSPEED 276
28.20 DRV.EMUEDIR 276
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28.21 DRV.EMUEMODE 277
28.22 DRV.EMUEMTURN 278
28.23 DRV.EMUEPULSEWIDTH 279
28.24 DRV.EMUERES 280
28.25 DRV.EMUEZOFFSET 280
28.26 DRV.EN 281
28.27 DRV.ENDEFAULT 281
28.28 DRV.FAULTHIST 282
28.29 DRV.FAULT1 to DRV.FAULT10 282
28.30 DRV.FAULTS 283
28.31 DRV.HANDWHEELSRC 284
28.32 DRV.HELP 284
28.33 DRV.HELPALL 284
28.34 DRV.HWENABLE 285
28.35 DRV.HWENDELAY 285
28.36 DRV.HWENMODE 286
28.37 DRV.ICONT 287
28.38 DRV.INFO 287
28.39 DRV.IPEAK 288
28.40 DRV.IZERO 289
28.41 DRV.LIST 289
28.42 DRV.LOGICVOLTS 289
28.43 DRV.MEMADDR 290
28.44 DRV.MEMDATA 291
28.45 DRV.NAME 291
28.46 DRV.NVCHECK 292
28.47 DRV.NVLIST 292
28.48 DRV.NVLOAD 293
28.49 DRV.NVSAVE 293
28.50 DRV.ONTIME 293
28.51 DRV.OPMODE 294
28.52 DRV.READFORMAT 295
28.53 DRV.RSTVAR 295
28.54 DRV.RUNTIME 296
28.55 DRV.SETUPREQBITS 296
28.56 DRV.SETUPREQLIST 297
28.57 DRV.STOP 297
28.58 DRV.TEMPERATURES 298
28.59 DRV.TIME 298
28.60 DRV.TYPE 299
28.61 DRV.VER 300
28.62 DRV.VERIMAGE 300
28.63 DRV.WARNING1 to DRV.WARNING10 301
28.64 DRV.WARNINGS 301
28.65 DRV.ZERO 302
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29 EIP Parameters 303
29.1 EIP.CONNECTED 304
29.2 EIP.POSUNIT 304
29.3 EIP.PROFUNIT 305
30 FAULT Parameters 306
30.1 FAULTx.ACTION 307
31 FB1 Parameters 308
31.1 FB1.BISSBITS 309
31.2 FB1.ENCRES 309
31.3 FB1.HALLSTATE 310
31.4 FB1.HALLSTATEU 311
31.5 FB1.HALLSTATEV 311
31.6 FB1.HALLSTATEW 311
31.7 FB1.IDENTIFIED 312
31.8 FB1.INITSIGNED 313
31.9 FB1.MECHPOS 313
31.10 FB1.MEMVER 314
31.11 FB1.OFFSET 314
31.12 FB1.ORIGIN 315
31.13 FB1.P 316
31.14 FB1.PFIND 316
31.15 FB1.PFINDCMDU 317
31.16 FB1.POFFSET 317
31.17 FB1.POLES 318
31.18 FB1.PSCALE 318
31.19 FB1.PUNIT 319
31.20 FB1.RESKTR 319
31.21 FB1.RESREFPHASE 320
31.22 FB1.SELECT 320
31.23 FB1.TRACKINGCAL 322
31.24 FB1.USERBYTE0 to FB1.USERBYTE7 323
31.25 FB1.USERDWORD0 to FB1.USERWORD1 324
31.26 FB1.USERWORD1 to FB1.USERWORD3 325
32 FB3 Parameters 327
32.1 FB3.MODE 328
32.2 FB3.P 328
32.3 FB3.PDIR 329
32.4 FB3.POFFSET 329
32.5 FB3.PUNIT 329
33 FBUS Parameters 331
33.1 FBUS.PARAM1 TO FBUS.PARAM10 332
33.2 FBUS.PLLSTATE 333
33.3 FBUS.PLLTHRESH 334
33.4 FBUS.PROTECTION 335
33.5 FBUS.REMOTE 337
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33.6 FBUS.SAMPLEPERIOD 337
33.7 FBUS.STATE 338
33.8 FBUS.SYNCACT 338
33.9 FBUS.SYNCDIST 338
33.10 FBUS.SYNCWND 339
33.11 FBUS.TYPE 339
34 GUI Parameters 341
34.1 GUI.DISPLAY 342
34.2 GUI.PARAM01 342
34.3 GUI.PARAM02 342
34.4 GUI.PARAM03 343
34.5 GUI.PARAM04 343
34.6 GUI.PARAM05 343
34.7 GUI.PARAM06 344
34.8 GUI.PARAM07 344
34.9 GUI.PARAM08 344
34.10 GUI.PARAM09 345
34.11 GUI.PARAM10 345
35 HWLS Parameters 346
35.1 HWLS.NEGSTATE 347
35.2 HWLS.POSSTATE 347
36 IL Parameters 348
36.1 IL.BUSFF 349
36.2 IL.CMD 349
36.3 IL.CMDU 349
36.4 IL.DIFOLD 350
36.5 IL.FB 351
36.6 IL.FBSOURCE 351
36.7 IL.FF 352
36.8 IL.FOLDFTHRESH 352
36.9 IL.FOLDFTHRESHU 353
36.10 IL.FOLDWTHRESH 353
36.11 IL.FRICTION 354
36.12 IL.IFOLD 355
36.13 IL.IUFB 355
36.14 IL.IVFB 356
36.15 IL.KACCFF 356
36.16 IL.KBUSFF 357
36.17 IL.KP 357
36.18 IL.KPDRATIO 358
36.19 IL.KPLOOKUPINDEX 358
36.20 IL.KPLOOKUPVALUE 359
36.21 IL.KPLOOKUPVALUES 359
36.22 IL.KVFF 360
36.23 IL.LIMITN 360
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36.24 IL.LIMITP 361
36.25 IL.MFOLDD 362
36.26 IL.MFOLDR 362
36.27 IL.MFOLDT 362
36.28 IL.MI2T 363
36.29 IL.MI2TWTHRESH 363
36.30 IL.MIFOLD 364
36.31 IL.MIMODE 364
36.32 IL.OFFSET 365
36.33 IL.VCMD 365
36.34 IL.VUFB 366
36.35 IL.VVFB 366
37 IP Parameters 368
37.1 IP.ADDRESS 369
37.2 IP.GATEWAY 370
37.3 IP.MODE 371
37.4 IP.RESET 372
37.5 IP.SUBNET 372
38 LOAD-Parameter 374
38.1 LOAD.INERTIA 375
39 MOTOR Parameters 376
39.1 MOTOR.AUTOSET 377
39.2 MOTOR.BRAKE 377
39.3 MOTOR.BRAKEIMM 378
39.4 MOTOR.BRAKERLS 378
39.5 MOTOR.BRAKESTATE 379
39.6 MOTOR.CTF0 380
39.7 MOTOR.ICONT 380
39.8 MOTOR.IDDATAVALID 381
39.9 MOTOR.IMID 381
39.10 MOTOR.IMTR 382
39.11 MOTOR.INERTIA 383
39.12 MOTOR.IPEAK 383
39.13 MOTOR.KE 384
39.14 MOTOR.KT 385
39.15 MOTOR.LQLL 385
39.16 MOTOR.NAME 386
39.17 MOTOR.PHASE 386
39.18 MOTOR.PITCH 387
39.19 MOTOR.POLES 387
39.20 MOTOR.R 388
39.21 MOTOR.RTYPE 388
39.22 MOTOR.TBRAKEAPP 389
39.23 MOTOR.TBRAKERLS 389
39.24 MOTOR.TBRAKETO 390
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39.25 MOTOR.TEMP 390
39.26 MOTOR.TEMPFAULT 391
39.27 MOTOR.TEMPWARN 391
39.28 MOTOR.TYPE 392
39.29 MOTOR.VMAX 393
39.30 MOTOR.VOLTMAX 393
39.31 MOTOR.VOLTMIN 394
39.32 MOTOR.VOLTRATED 395
39.33 MOTOR.VRATED 395
40 PL Parameters 397
40.1 PL.CMD 398
40.2 PL.ERR 398
40.3 PL.ERRFTHRESH 399
40.4 PL.ERRMODE 400
40.5 PL.ERRWTHRESH 401
40.6 PL.FB 403
40.7 PL.FBSOURCE 403
40.8 PL.INTINMAX 404
40.9 PL.INTOUTMAX 406
40.10 PL.KI 407
40.11 PL.KP 407
41 REC Parameters 409
41.1 REC.ACTIVE 410
41.2 REC.CH1 to REC.CH6 410
41.3 REC.DONE 411
41.4 REC.GAP 411
41.5 REC.NUMPOINTS 411
41.6 REC.OFF 412
41.7 REC.RECPRMLIST 412
41.8 REC.RETRIEVE 413
41.9 REC.RETRIEVEDATA 414
41.10 REC.RETRIEVEFRMT 415
41.11 REC.RETRIEVEHDR 415
41.12 REC.RETRIEVESIZE 416
41.13 REC.STOPTYPE 416
41.14 REC.TRIG 417
41.15 REC.TRIGPARAM 417
41.16 REC.TRIGPOS 418
41.17 REC.TRIGPRMLIST 419
41.18 REC.TRIGSLOPE 420
41.19 REC.TRIGTYPE 420
41.20 REC.TRIGVAL 421
42 REGEN Parameters 422
42.1 REGEN.POWER 423
42.2 REGEN.POWERFILTERED 423
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42.3 REGEN.REXT 424
42.4 REGEN.TEXT 424
42.5 REGEN.TYPE 425
42.6 REGEN.WATTEXT 426
43 SD Commands 427
43.1 SD.LOAD 428
43.2 SD.SAVE 428
43.3 SD.STATUS 429
44 SM Parameters 430
44.1 SM.I1 431
44.2 SM.I2 431
44.3 SM.MODE 431
44.4 SM.MOVE 434
44.5 SM.T1 434
44.6 SM.T2 434
44.7 SM.V1 435
44.8 SM.V2 436
45 STO Parameters 438
45.1 STO.STATE 439
46 SWLS Parameters 440
46.1 SWLS.EN 441
46.2 SWLS.LIMIT0 441
46.3 SWLS.LIMIT1 442
46.4 SWLS.STATE 442
47 VBUS Parameters 444
47.1 VBUS.HALFVOLT 445
47.2 VBUS.OVFTHRESH 445
47.3 VBUS.OVWTHRESH 446
47.4 VBUS.RMSLIMIT 446
47.5 VBUS.UVFTHRESH 447
47.6 VBUS.UVMODE 447
47.7 VBUS.UVWTHRESH 448
47.8 VBUS.VALUE 448
48 VL Parameters 449
48.1 VL.ARPF1 TO VL.ARPF4 450
48.2 VL.ARPQ1 TO VL.ARPQ4 451
48.3 VL.ARTYPE1 TO VL.ARTYPE4 452
48.4 VL.ARZF1 TO VL.ARZF4 452
48.5 VL.ARZQ1 TO VL.ARZQ4 453
48.6 VL.BUSFF 454
48.7 VL.CMD 455
48.8 VL.CMDU 455
48.9 VL.ERR 456
48.10 VL.FB 457
48.11 VL.FBFILTER 457
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48.12 VL.FBSOURCE 458
48.13 VL.FBUNFILTERED 458
48.14 VL.FF 459
48.15 VL.GENMODE 459
48.16 VL.KBUSFF 460
48.17 VL.KI 461
48.18 VL.KO 461
48.19 VL.KP 462
48.20 VL.KVFF 464
48.21 VL.LIMITN 464
48.22 VL.LIMITP 466
48.23 VL.LMJR 466
48.24 VL.MODEL 467
48.25 VL.OBSBW 468
48.26 VL.OBSMODE 468
48.27 VL.THRESH 468
49 Safety 471
49.1 Safety Instructions 472
49.2 Use as directed 472
49.3 Prohibited use 472
50 EtherCAT Profile 474
50.1 Slave Register 475
50.2 AL Event (Interrupt Event) and Interrupt Enable 476
50.2.1 Interrupt Enable Register (Address 0x0204:0x0205) 476
50.2.2 AL Event Request (Address 0x0220:0x0221) 477
50.3 Phase Run-Up 478
50.3.1 AL Control (Address 0x0120:0x0121) 478
50.3.2 AL Status (Address 0x0130:0x0131) 478
50.3.3 AL Status Code (Address 0x0134:0x0135) 479
50.3.4 EtherCAT communication phases 479
50.4 CANopen over EtherCAT (CoE) Status Machine 480
50.4.1 Status Description 480
50.4.2 Commands in the Control Word 481
50.4.3 Status Machine Bits (status word) 482
50.5 Fixed PDO Mappings 483
50.6 Flexible PDO Mappings 484
50.6.1 Example: Free PDO Mapping 485
50.7 Supported Cyclical Setpoint and Actual Values 489
50.8 Supported Operation Modes 489
50.9 Adjusting EtherCAT Cycle Time 490
50.10 Maximum Cycle Times depending on operation mode 490
50.11 Synchronization 491
50.11.1 Synchronization behavior with distributed clocks (DC) enabled 491
50.11.2 Synchronization behavior with distributed clocks (DC) disabled 491
50.12 Latch Control Word and Latch Status Word 492
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AKD PDMM User Guide | Table of Contents
50.13 Mailbox Handling 493
50.13.1 Mailbox Output 494
50.13.2 Mailbox Input 495
50.13.3 Example: Mailbox Access 496
50.14 Fieldbus Parameters 497
50.15 EEProm Content 497
Glossary 498
51 Index 508
Global Support Contacts 512
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AKD PDMM User Guide | 1 Welcome to AKD PDMM User Guide
1 Welcome to AKD PDMM User Guide
Welcome to the AKD PDMM User Guide, a guide for installing, setting up, and using an AKD PDMM.
Complete product documentation in pdf or online help format is included on your installation disk. Product
manuals are also posted on the Kollmorgen website and are updated on the website as needed between
releases. Check the website for the most current manuals.
The documentation available on the Kollmorgen website includes the following:
Related documents for the AKD PDMM series include:
lAKD PDMM Quick Start (also provided in hard copy). This guide provides instructions for initial drive
setup and connection to a network.
lAKD PDMM Installation Manual (also provided in hard copy for EU customers). This manual provides
instructions for installation and drive setup.
lAKD PDMM Users Manual. This manual describes how to use your drive in common applications. It
also provides tips for maximizing your system performance with the AKD PDMM.
lAccessories Manual. This manual provides documentation for accessories like cables and regen
resistors used with AKD PDMM. Regional versions of this manual exist.
18 Kollmorgen™ | December 2012

AKD PDMM User Guide | 2 AKD PDMM Models
2 AKD PDMM Models
AKD PDMM drive models are available in a variety of combinations of features. The part number identifies
the features included in your model.
AKD PDMM is only available for EtherCAT field busses.
The figure below shows part number identification for drive features. Features available in the AKD
PDMM are marked bold green.
The customization code includes language version of printed material for European countries:
lD000 for German
lE000 for English
lF000 for French
lI000 for Italian
Kollmorgen™ | December 2012 19

AKD PDMM User Guide | 3 Software Setup
3 Software Setup
3.1 Install and Start the KAS IDE
Once the Kollmorgen Automation Suite Integrated Development Environment (KAS IDE) installation is
complete, click the IDE icon to launch the program.
The KVB software used for developing an HMI display does not install with the
KAS IDE and must be installed separately.
Begin a new project in the KAS IDE by selecting File > New. This will launch the Add a New Controller
window.
Figure 5-1: Add a New Controller
Select your AKD PDMM model from the list and click Next. You will then be prompted to select an appli-
cation template:
Kollmorgen™ | December 2012 20