Kollmorgen AKD-x00306 User manual

AKD®
SynqNet Communication
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.

AKD SynqNet |
Record of Document Revisions:
Revision Remarks
A, 10/2011 Launch version
B, 03/2012 Added chapters on AKD SynqNet I/O Mapping and Enable Compare Output on RS485 I/O.
C, 08/2012 Added Important Things to Know chapter.
D, 09/2016 Updated SynqNet Supported Parameters (➜p. 24).
E, 10/2017 Added information on Node I/O (➜p. 19) mapping.
F, 10/2020 Added PMW, Brake Support for SynqNet, SynqNet Compare FB1.INITSIGNED and new Syn-
qNet Supported Parameters.
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 of this work may be repro-
duced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or dis-
tributed by electronic means without the written permission of Kollmorgen.
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1 Table of Contents
1 Table of Contents 3
2 General 4
2.1 About this Manual 5
2.2 Target Group 5
2.3 Symbols Used 6
3 Safety 7
3.1 Safety Instructions 8
3.2 Use as directed 8
3.3 Prohibited use 8
4 Important Things to Know 9
4.1 Torque mode only 9
4.2 Wake-and-Shake support over SynqNet 9
4.3 STO state ignored by "Not Ready for Remote Control" status bit 9
4.4 WorkBench must re-connect after SynqNet reset 9
4.5 WorkBench GUIrequires Ethernet service port connection 9
4.6 Service motion disabled while SynqNet operational (cyclic) 9
4.7 Fieldbus fault cleared only by reset 10
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 Purpose I/O 18
6.2 Dedicated I/O 19
6.3 Node I/O 19
6.3.1 Analog Output 20
6.3.2 Analog Input 20
7 Enable PWM Output on RS485 I/O 21
7.1 PWM Parameter Scaling 22
7.2 Brake Support for AKD SynqNet 22
7.3 AKD-SynqNet Compare FB1.INITSIGNED 23
8 SynqNet Drive Parameters 24
8.1 SynqNet Supported Parameters 24
AKD SynqNet | 1 Table of Contents
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AKD SynqNet | 2 General
2 General
2.1 About this Manual 5
2.2 Target Group 5
2.3 Symbols Used 6
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2.1 About this Manual
This manual, AKD SynqNet Communication, describes the installation, setup, range of functions, and soft-
ware protocol for the SynqNet AKD product series. All AKD SynqNet drives have built-in SynqNet func-
tionality; therefore, 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:
lAKD Installation Manual This manual provides instructions for installation and drive setup.
lAKD WorkBench Online Help. This help system describes how to use your drive in common applic-
ations. It also provides tips for maximizing your system performance with the AKD. The Online Help
includes the Parameter and Command Reference Guide which provides documentation for the para-
meters and commands used to program the AKD.
lAccessories 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:
lInstallation: only by electrically qualified personnel.
lSetup: only by qualified personnel with extensive knowledge of electrical engineering
and drive technology
lProgramming: software developers, project-planners
The qualified personnel must know and observe the following standards:
lISO 12100, IEC 60364 and IEC 60664
lNational accident prevention regulations
During operation there are deadly hazards, with the possibility of death, severe injury or material damage.
The operator must ensure that the safety instructions in this manual are followed. The operator must ensure
that all personnel responsible for working with the servo drive have read and understand the manual.
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AKD SynqNet | 2 General
2.3 Symbols Used
Symbol Indication
Indicates a hazardous situation which, if not avoided, will
result in death or serious injury.
Indicates a hazardous situation which, if not avoided, could
result in death or serious injury.
Indicates a hazardous situation which, 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.
Warning of danger from automatic start.
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3 Safety
3.1 Safety Instructions 8
3.2 Use as directed 8
3.3 Prohibited use 8
AKD SynqNet | 3 Safety
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AKD SynqNet | 3 Safety
3.1 Safety Instructions
During operation there are deadly hazards, with the possibility of death, severe injury or material damage. Do
not open or touch the equipment during operation. Keep all covers and cabinet doors closed during operation.
Touching the equipment is allowed during installation and commissioning for properly qualified persons only.
lDuring operation, drives may have uncovered live components, depending on their level of enclosure
protection.
lControl and power connections may be live, even though the motor is not rotating.
lDrives may have hot surfaces during operation. Heat sink can reach temperatures above 80°C.
Electronic equipment can fail. The user is responsible for ensuring that in the event of a failure of the servo
amplifier, the drive is set to a state that is safe for both machinery and personnel, for instance with the aid of
a mechanical brake.
Drives with servo amplifiers and SynqNet are remote-controlled machines. They can start to move at any
time without previous warning. Take appropriate measures to ensure that the operating and service per-
sonnel is aware of this danger.
Implement appropriate protective measures to ensure that any unintended start-up of the machines cannot
result in dangerous 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. 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 components that are built into electrical plants or machines and can only be operated as integral
components of these plants or machines. The manufacturer of the machine used with a drive must generate a
risk assessment for the machine and take appropriate measures to ensure that unforeseen movements can-
not cause personnel injury or property damage.
lObserve the chapters "Use as directed” and "Prohibited use" in the AKD Installation Manual.
lThe SynqNet interface serves only for the connection of the AKD to a master with SynqNet con-
nectivity.
3.3 Prohibited use
Use other than that described in chapter “Use as directed” is not intended and can lead to personnel injuries
and equipment damage. The drive may not be used with a machine that does not comply with appropriate
national directives or standards. The use of the drive in the following environments is also prohibited:
lpotentially explosive areas
lenvironments with corrosive and/or electrically conductive acids, alkaline solutions, oils, vapors,
dusts
lships or offshore applications
The connectors X5 and X6 of the AKD SynqNet drive may not be used for any ethernet protocol except Syn-
qNet.
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4 Important Things to Know
This section addresses important things to know about AKD SynqNet.
4.1 Torque mode only
AKD SynqNet supports torque mode only. It does not support Velocity mode.
4.2 Wake-and-Shake support over SynqNet
Wake-and-shake is supported over SynqNet as of MPI 04.02.Beta04 and later. Wake-and-shake is triggered
by the MPI “PhaseFind” function.
See the utility sqDrivePhaseFind.exe: http://support.motioneng.com/Utilities/phaseFind/default.htm
For the software API, see: http://support.motioneng.com/Software-MPI_04_00/Topics/mtr_phase_find-
ing.htm
Before using PhaseFind, configure the wake-and-shake mode and parameters. These can be set using Syn-
qNet parameters or through WorkBench. We recommend saving the parameters to NVM in the AKD SynqNet
drive. The MPI PhaseFind function will then issue the final WS.ARM command and enable the drive, which
triggers the actual wake-and-shake action. When the AKD drive reports PhaseFind is complete, the MPI
clears the AmpEnable flag and return status (pass or fail).
Before PhaseFind, clear any pending faults in the AKD SynqNet drive or on the controller (including position
limit, HW Pos Limit, etc. associated with this motor).
The AKD offers 3 wake-and-shake modes, each with different parameters. The best results are with mode 1
(commutation). 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 Ready for Remote Control is not cleared.
The STO input status is not directly visible over SynqNet (except by the parameter STO.STATE).
4.4 WorkBench must re-connect after SynqNet reset
Each SynqNet reset causes a full AKD reset, disconnecting any existing WorkBench session. You must re-
connect from WorkBench after the reset.
SynqNet reset is triggered by the meiReset.exe utility, controller reset from MotionConsole, SynqNet ini-
tialization from MotionConsole, and similar events from any other utilities or customer applications.
4.5 WorkBench GUIrequires Ethernet service port connection
WorkBench must be used over the Ethernet service port, X11. WorkBench is not supported through the Syn-
qNet network.
4.6 Service motion disabled while SynqNet operational (cyclic)
After SynqNet discovers an AKD drive and enters cyclic operation, service motion is disabled from
WorkBench. When SynqNet exits cyclic operation, the AKD drive remains disabled, causing service motion
to remain disabled until the next drive reset.
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AKD SynqNet | 4 Important Things to Know
4.7 Fieldbus fault cleared only by reset
When SynqNet reaches cyclic operation, and then 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.
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5 Installation 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
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AKD SynqNet | 5 Installation and Setup
5.1 Safety Instructions
Never disconnect any electrical connections to the drive while the drive is live. There is a danger of electrical
arcing with damage to contacts and serious personal injury. Wait at least seven minutes after disconnecting
the drive from the main supply power before touching potentially live sections of the equipment (e.g. con-
tacts) or undoing any connections.
Capacitors can still have dangerous voltages present up to 7 minutes after switching off the supply power.
To be sure, measure the voltage in the DC Bus link and wait until it has fallen below 60 V.
Control and power connections can still be live, even if the motor is not rotating.
Electronic equipment can fail. The user is responsible for ensuring that, in the event of a failure of the servo
amplifier, the drive is set to a state that is safe for both machinery and personnel, for instance with the aid of
a mechanical brake.
Drives with servo amplifiers and sercos®IIIare remote-controlled machines. They can start to move at any
time without previous warning. Take appropriate measures to ensure that the operating and service per-
sonnel is aware of this danger.
Implement appropriate protective measures to ensure that any unintended start-up of the machines cannot
result in dangerous 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 while it is live. This action can result in destruction of the elec-
tronics.
The drive's status must be monitored by the PLC to acknowledge critical situations. Wire the FAULT con-
tact in series into the emergency stop circuit of the installation. The emergency stop circuit must operate the
supply contactor.
Use WorkBench to alter drive settings. Any other alterations will invalidate the warranty.
Because of the internal representation of the position-control parameters, the position controller can only be
operated if the final limit speed of the drive does not exceed:
rotary
at sinusoidal² commutation: 7500 rpm
at trapezoidal commutation: 12000 rpm.
linear
at sinusoidal² commutation: 4 m/s
at trapezoidal commutation: 6.25 m/s
All the data on resolution, step size, positioning accuracy etc. refer to calculatory values. Non-linearities in
the mechanism (backlash, flexing, etc.) are not taken into account. If the final limit speed of the motor must
be altered, then all the parameters that were previously entered for position control and motion blocks must
be adapted.
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5.2 SynqNet Onboard
Connection to the SynqNet Network can be made using the X5 (in port) and X6 (out port).
5.3 Synqnet Cables
You can connect to the SynqNet network using RJ-45 connectors.
5.3.1 Recommended SynqNet Cabling
The following is recommended for SynqNet Cabling:
lUse shielded category 5 cabling.
lThe RF immunity of 100BT networks when using unshielded cable is moderate. Kollmorgen recom-
mends that only shielded cabling is used.
lBraid + foil shielding is the most effective, but foil + drain wire shielding is acceptable.
lIf unusually high levels of interference are generated by the machine or nearby equipment, consider
using shielded cables with built-in ferrites.
lEnsure that each SynqNet node is effectively grounded, which implies connecting a short fat strap to
the machine chassis or busbar.
lThere is no minimum length requirement for 100BT cables. However, cables must not be longer than
100m. Longer links are possible over copper using repeaters or over fibre using media converters.
Contact the cable factory for further information.
lThe 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.
lBe sure to take the usual precautions to secure the cabling so as to avoid chafing and fatigue.
lHigh flexure cables are required for cable retractors. Only two signal pairs are needed.
lDo not use cable couplers. Commercially available units generally have poor shielding and are con-
sequently an EMC hazard.
lSynqNet is not compatible with standard Ethernet hubs or repeaters.
lSynqNet does not support POE (Power-over-Ethernet).
5.3.2 Synqnet Cable Length
The SynqNet cable lengths are derived from the measured propagation delays during network initialization.
This information is used to determine the spacing between packets for each node. SynqNet networks can
have up to 32 nodes and cables can be up to 100 meters in length. By measuring the actual propagation
delays and optimizing the packet spacing, the network performance and actual bandwidth is improved.
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AKD SynqNet | 5 Installation and Setup
Typical CAT5 cable propagation delays are roughly 0.005 microsec per meter. Actual values are affected by
cable construction and will vary, but the variation will be small for any reasonable cable. The propogation
delay can be estimated by a cable propagation velocity of 70% the speed of light, using the formula:
delay = meters * (1,000,000 / (0.7 * 299,722,458))
Length (meters) Time (microsec)
1 0.005
10 0.048
25 0.119
50 0.238
100 0.477
5.4 LED functions
The communication status is indicated by the built-in LEDs. SynqNet LEDs will BLINK to indicate a fault (or
undiscovered network). A drive with no blinking LEDs is in normal cyclic operation (without faults). Each Syn-
qNet port has two LEDs. And each LED has a particular function, which is described in further detail below.
Connector LED Port Meaning Function
X5 LED1 IN Network activity ON = running (cyclic phase)
OFF = not running
BLINK = discovery phase
LED2 IN Link activity ON = link active
OFF = link inactive
X6 LED3 OUT Network activity ON = running (cyclic phase)
OFF = 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 repeats the upstream 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 con-
troller.
Due to the un-terminated nature of a 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 Topo-
logy than other network types. To reduce the discovery time, add a Loop-back Connector to the end of the
topology (String Topology with Termination).
A String Topology has nodes connected to the controller’s OUT port or the controller’s IN port, but not both. A
Dual String Topology has nodes that are discovered on both the controller’s OUT port and IN port.
The String Topology does NOT support fault recovery.
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5.5.2 Dual String Topology
The Dual String Topology is a variation of the String network configuration. A Dual String network is a single
SynqNet network with nodes connected to both the controller’s OUT port and IN port. Packets are sent down-
stream from the controller to the nodes via the OUT port and IN port. Each node repeats the downstream data
to the next node. Packets are also sent upstream from the nodes to the controller. Each node repeats the
upstream 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. To reduce the discovery time, add a Loop-back Connector to the
end of the topology (Dual String Topology with Termination).
The Dual String topology does NOT support fault recovery.
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AKD SynqNet | 5 Installation and Setup
5.5.3 String and Dual String Topology with Termination
The String and Dual String Topologies support both termination and non-termination. A 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.
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5.5.4 Ring topology
The ring is implemented with straight through cables. In SynqNet, the master node is referred to as the "Con-
troller," and the slave nodes are referred to as "Nodes." Each link runs from an IN port to an OUT port. IN and
OUT connector pin-outs are complementary (Receive+ on OUT pin 1 connects to IN pin 1 Transmit+ and so
on). The IN and OUT port names are arbitrary 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 node" has the greatest number of downstream hops from the controller; in this case it is Node 1.
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AKD SynqNet | 6 AKD SynqNet I/O Mapping
6 AKD SynqNet I/O Mapping
The following tables show the mapping from AKDphysical pin names to SynqNet logical names.
These tables show mapping for FPGAs, version 0200_00_02 and later.
6.1 General Purpose I/O
AKDFirmware AKDConnector AKDPin
Name
SynqNet MPI Name Notes
DIN1.STATE X7-10 Digital Input
1
GPIOinput "DIN 1 (HS)" High speed opto input.
Also maps to HOME.
DIN2.STATE X7-9 Digital Input
2
GPIOinput "DIN 2 (HS)" High speed opto input.
DIN3.STATE X7-4 Digital Input
3
GPIOinput "DIN 3"
DIN4.STATE X7-3 Digital Input
4
GPIOinput "DIN 4"
DIN5.STATE X8-6 Digital Input
5
GPIOinput "DIN 5" Also maps to "LIMIT_
HW_POS".
DIN6.STATE X8-5 Digital Input
6
GPIOinput "DIN 6" Also maps to "LIMIT_
HW_NEG".
DIN7.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 Digital Out-
put 1
GPIO output "DOUT1"
DOUT2.STATE X7-6/5 Digital Out-
put 2
GPIO output "DOUT1"
NA X10-6/7 Zero GPIO input "Analog Z
Pulse"
Also maps to "INDEX_
PRIMARY." Some
encoder types do not
use index pin.
Notes:
lThe RS485 outputs must be enabled using AKD-SQ parameters.
lSet DRV.EMUMODE = 10 (fieldbus) for SynqNet gpio output mode.
lSet DIO9.DIR=1, DIO10.DIR=1, DIO11.DIR=1 to enable individual outputs.
lGPIO input "Analog Z Pulse" not supported on AKD Rev 7 control boards (AKD-SQ prototypes only).
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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."
NA X10-6/7 Zero Dedicated input
"INDEX_
PRIMARY"
Also maps to "Ana-
log Z Pulse." Some
encoder types do
not use index pin.
NA 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:
lHall input bit order is swapped in beta release FPGAs. Planned (corrected) order shown above.
lFor AKD FPGA versions 0200 and prior, AKDU/V/W maps to Hall C/B/A.
lFor AKD FPGAversions TBD and later, AKD U/V/W maps to Hall A/B/C.
lGPIO 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
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AKD SynqNet | 6 AKD SynqNet I/O Mapping
6.3.1 Analog Output
When the AKD SynqNet drive enters normal cyclic operation, AOUT.MODEis automatically set to 12 (Syn-
qNet AnalogOut), and the SynqNet controller sends the NodeIoAnalogOut value directly to the AKD's Analog
Output 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
scale are bypassed.
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