Kollmorgen AKD User manual

AKD®
Using AKD EtherNet/IP
with RSLogix Manual
Edition: J, November 2018
Valid for firmware version 1.18
Part Number 903-200009-00
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 with RSLogix |
Record of Document Revisions:
Revision Remarks
A,
10/2011
Launch version
C,
06/2012
Changes made to AKD_Jog and AKD_Stop_Smooth instructions.
D,
08/2012
Minor changes made to phrasing and formatting.
E,
09/2013
Information on using Unicast connection added ➜p. 13.
F,
12/2013
Controller Support (➜p. 7) information updated . Data size of IL.FBcorrected in Appendix B:
Parameter Listing (➜p. 74).
G,
05/2014
Steps 6 and 7 updated in Quick Start with the AKD Sample Project (➜p. 10).
H,
03/2017
Quick Start with the AKD Sample Project (➜p. 10) updated.
J,
11/2018
Added link to external resources on kollmorgen.com in Quick Start with the AKD Sample Project
(➜p. 10).
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 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 Introduction 7
2.1 Controller Support 7
2.2 Add-On Instructions 7
3 AKD Installation and Setup 9
4 Quick Start with the AKD Sample Project 10
5 Adding AKD Support to a New or Existing Project 11
5.1 Adding the Ethernet IO Module for AKDCommunication 11
5.2 Importing the AKDAdd-On Instructions to a Project 14
5.3 Using the AKD Add-On Instructions in a Project 20
5.4 Reading and Writing Drive Parameters 24
5.4.1 Read Drive Parameter 24
5.4.2 Write Drive Parameter 26
5.4.3 Execute Drive Command Parameter 26
6 AKD Instructions 28
6.1 Motion Axis Drive Communication (AKD_Drive) 28
6.1.1 Description 28
6.1.2 Operands 28
6.1.3 AKD_DRIVEStructure 28
6.1.4 Execution 28
6.1.5 Changes to Axis Status Bits 29
6.2 Motion Axis On (AKD_Enable) 30
6.2.1 Description 30
6.2.2 Operands 30
6.2.3 AKD_ENABLE Structure 30
6.2.4 Execution 30
6.2.5 Changes to Axis Status Bits 31
6.3 Motion Axis Off (AKD_Disable) 32
6.3.1 Description 32
6.3.2 Operands 32
6.3.3 AKD_DISABLE Structure 32
6.3.4 Execution 32
6.3.5 Changes to Axis Status Bits 33
6.4 Motion Axis Home (AKD_Home) 33
6.4.1 Description 33
6.4.2 Operands 33
6.4.3 AKD_HOME Structure 33
6.4.4 Execution 34
6.4.5 Changes to Axis Status Bits 34
6.5 Motion Axis Jog (AKD_Jog) 34
6.5.1 Description 34
6.5.2 Operands 35
6.5.3 AKD_JOG Structure 35
6.5.4 Programming Guidelines 35
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6.5.5 Execution 35
6.5.6 Changes to Axis Status Bits 36
6.6 Motion Axis Move (AKD_Move) 37
6.6.1 Description 37
6.6.2 Operands 37
6.6.3 AKD_MOVE Structure 37
6.6.4 Programming Guidelines 38
6.6.5 Choosing a Move Type 38
6.6.6 Execution 38
6.6.7 Changes to Axis Status Bits 38
6.7 Motion Axis Set Home Mode (AKD_Set_Home_Mode) 39
6.7.1 Description 39
6.7.2 Operands 39
6.7.3 AKD_SET_HOME_MODE Structure 40
6.7.4 Homing Modes 40
6.7.5 Execution 40
6.7.6 Changes to Axis Status Bit 40
6.8 Motion Axis Set Acceleration (AKD_Set_Accel) 41
6.8.1 Description 41
6.8.2 Operands 41
6.8.3 AKD_SET_ACCEL Structure 41
6.8.4 Execution 41
6.8.5 Changes to AxisStatus Bits 42
6.9 Motion Axis Set Deceleration (AKD_Set_Decel) 43
6.9.1 Description 43
6.9.2 Operands 43
6.9.3 AKD_SET_DECELStructure 43
6.9.4 Execution 43
6.9.5 Changes to Axis Bits 44
6.10 Motion Axis Set Mode (AKD_Set_Mode) 45
6.10.1 Description 45
6.10.2 Operands 45
6.10.3 AKD_SET_MODE Structure 45
6.10.4 Operation Modes 45
6.10.5 Execution 46
6.10.6 Changes to Axis Status Bits 46
6.11 Motion Axis Set Position (AKD_Set_Position) 47
6.11.1 Description 47
6.11.2 Operands 47
6.11.3 AKD_SET_POSITION Structure 47
6.11.4 Execution 48
6.11.5 Changes to Axis Status Bits 48
6.12 Motion Axis Set Velocity (AKD_Set_Velocity) 49
6.12.1 Description 49
6.12.2 Operands 49
6.12.3 AKD_SET_VELOCITY Structure 49
6.12.4 Execution 49
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6.12.5 Changes to Axis Status Bits 50
6.13 Motion Axis Shutdown (AKD_Shutdown) 51
6.13.0.1 Description 51
6.13.1 Operands 51
6.13.2 AKD_SHUTDOWN Structure 51
6.13.3 Execution 51
6.13.4 Changes to Axis Status Bits 52
6.14 Motion Axis Shutdown Reset (AKD_Shutdown_Reset) 53
6.14.1 Description 53
6.14.2 Operands 53
6.14.3 AKD_SHUTDOWN_RESET Structure 53
6.14.4 Execution 53
6.14.5 Changes to Axis Status Bits 54
6.15 Motion Axis Smooth Stop (AKD_Stop_Smooth) 55
6.15.1 Description 55
6.15.2 Operands 55
6.15.3 AKD_STOP_SMOOTH Structure 55
6.15.4 Execution 55
6.15.5 Changes to Axis Status Bits 56
6.16 Motion Axis Get Position Controller Attribute (AKD_Get_Attribute) 57
6.16.1 Description 57
6.16.2 Operands 57
6.16.3 AKD_GET_ATTRIBUTE Structure 57
6.16.4 Execution 57
6.16.5 Changes to Axis Status Bits 58
6.17 Motion Axis Get Parameter (AKD_Get_Parameter) 59
6.17.1 Description 59
6.17.2 Operands 59
6.17.3 AKD_GET_PARAMETERStructure 59
6.17.4 Execution 59
6.17.5 Changes to Axis Status Bits 60
6.18 Motion Axis Set Position Controller Attribute (AKD_Set_Attribute) 61
6.18.1 Description 61
6.18.2 Operands 61
6.18.3 AKD_SET_ATTRIBUTE Structure 61
6.18.4 Execution 61
6.18.5 Changes to Axis Status Bits 61
6.19 Motion Axis Set Parameter (AKD_Set_Parameter) 63
6.19.1 Description 63
6.19.2 Operands 63
6.19.3 AKD_SET_PARAMETERStructure 63
6.19.4 Execution 63
6.19.5 Changes to Axis Status Bits 63
6.20 Motion Axis Set Units (AKD_Set_Units) 65
6.20.1 Description 65
6.20.2 Operands 65
6.20.3 AKD_SET_UNITSStructure 65
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6.20.4 Execution 65
6.20.5 Changes to Axis Status Bits 65
6.21 Motion Axis Torque (AKD_Torque_Move) 67
6.21.1 Description 67
6.21.2 Operands 67
6.21.3 AKD_TORQUE_MOVEStructure 67
6.21.4 Programming Guidelines 67
6.21.5 Execution 67
6.21.6 Changes to Axis Status Bits 68
6.22 Fault Reset (AKD_Fault_Reset) 69
6.22.1 Description 69
6.22.2 Operands 69
6.22.3 AKD_FAULT_RESETStructure 69
6.22.4 Programming Guidelines 69
6.22.5 Execution 69
6.22.6 Changes to Axis Status Bits 70
7 Troubleshooting 71
7.1 Introduction 71
7.2 .ER (Error) bit 71
7.2.1 Unconfigured Axis was Specified 71
7.2.2 Communication Timeout 71
7.2.3 Operand value out of range 71
7.3 AKD Fault 72
7.3.1 Fieldbus Fault – F702 72
8 Appendix A: Supported EtherNet/IP Objects and Attributes 73
8.1 Position Controller Object 0x25 73
9 Appendix B: Parameter Listing 74
10 Appendix C: RSLogix 500 96
10.1 PLC & Drive TCP/IP Settings 97
10.2 Read Explicit Message Setup 97
10.3 Write Explicit Message Setup 99
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2 Introduction
This manual provides an easy start guide for using AKD with RSLogix5000, an overview on how to import and
configure the AKD Add-On instructions using RSLogix5000 version 16 or later, as well as a reference to the
Add-On instructions.
RSLogix sample projects and add-on instructions, which demonstrate an EtherNet/IP network with a Com-
pact Logix controller and the AKD are available on kollmorgen.com..
The sample projects are based on an L32E CompactLogix controller, which can easily be changed to another
controller which supports RSLogix5000.
This document assumes that the reader has a basic knowledge of EtherNet/IP protocols, AKD drives, and
Rockwell RSLogix5000.
2.1 Controller Support
The Add-On Instructions described in this manual are only supported on CompactLogix and ControlLogix con-
trollers. A sample project is available on kollmorgen.com.
MicroLogix 1400 controllers are supported but the Add-On Instructions provided with RSLogix5000 cannot be
used. Only explicit messaging is supported.
MicroLogix 1100 and SLC500 are not supported.
2.2 Add-On Instructions
The AKD Add-On Instructions are RSLogix instructions that define AKD drives and axis configurations.
These instructions are made to be imported into an RSLogix5000 project. Once defined in a project, they func-
tion just as a native RSLogix instruction. The add-on instructions encapsulate the most commonly used logic
for AKD axes. They provide easily reusable tools to operate drives and axes, promoting consistency across
different projects.
Note that the native MSG instruction is used in RSLogix for sending Explicit Messages.
A set of Add-On instructions are provided for easy creation of AKD programs with RSLogix. The instructions
are written to mirror the native instructions, leveraging existing knowledge of the software. They provide easy
control of IO Assembly messages.
Add-On Instructions include:
lAKD_Disable
lAKD_Drive
lAKD_Enable
lAKD_Fault_Reset
lAKD_Get_Attribute
lAKD_Get_Parameter
lAKD_Home
lAKD_Jog
lAKD_Move
lAKD_Set_Accel
lAKD_Set_Attribute
lAKD_Set_Decel
lAKD_Set_Home_Mode
lAKD_Set_Mode
lAKD_Set_Parameter
lAKD_Set_Position
lAKD_Set_Units
lAKD_Set_Velocity
lAKD_Shutdown
lAKD_Shutdown_Reset
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lAKD_Stop_Smooth
lAKD_Torque_Move
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3 AKD Installation and Setup
See the following manuals for installation and setup of an AKD drive:
lAKD Quick Start (also available in hard copy). This guide provides instructions for initial drive setup
and connection to a network.
lAKD Installation Manual (also available in hard copy). This manual provides instructions for install-
ation and drive setup.
lAKD Parameter and Command Reference Guide. This guide provides documentation for the para-
meters and commands used to program the AKD.
lAKDEtherNet/IP Communication Guide. This guide describes the communication profile and use of
EtherNet/IP with the AKD.
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Ethernet IP with RSLogix | 4 Quick Start with the AKD Sample Project
4 Quick Start with the AKD Sample Project
The Add On Instruction Library for AKD Ethernet IP can be downloaded from kollmorgen.com.
This zip file contains:
1. The most recent library of Add On Instructions and Data Types (see Chapter 5 for details ).
2. Summary of the library, including revision number of each AOI.
3. Change log indicating historical changes and fixes/enhancements.
4. The Getting Started With AKD Ethernet IP application note.
5. The Simple Example Program *.ACD project.
For application notes, FAQ and other supplementary AKD EtherNet/IP support, see the AKDEtherNet/IP
Support Landing Page on the Kollmorgen website.
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5 Adding AKD Support to a New or Existing Project
5.1 Adding the Ethernet IO Module for AKDCommunication
These basic instructions can be used for any Rockwell PLC that uses RSLogix5000 and supports Ether-
Net/IP.
1. Start RSLogix5000 and open the project with which you want to use the AKD drive.
2. Right click on the Ethernet port in the I/O Configuration and select “New Module…” (Figure 5-1: Adding
New Module)
Figure 5-1: Adding New Module
3. Select “ETHERNET-MODULE” under “Communications” and click OK (Figure 5-2: Selecting Module
Type)
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Figure 5-2: Selecting Module Type
4. Enter the settings for the new module as described below, make sure the “Open Module Properties”
checkbox is checked, and click OK (Table 4 1: Module Setting Values & Figure 5-3: Entering Module
Settings)
Field Value
Name AKD_Drive
Description Text description for drive
Comm Format Data--SINT
IPAddress Ethernet IP address for drive
Input Assembly Instance 102
Input Size 64
Output Assembly Instance 101
Output Size 64
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Field Value
Configuration Assembly Instance 100
Configuration Size 0
Table 5-1: Module Setting Values
Figure 5-3: Entering Module Settings
5. The “New Module” window now appears as a “Module Properties: LocalENB” window with the Con-
nection tab selected. Set the “Requested Packet Interval (RPI)” value to 20.0 ms (this can be reduced
to 10.0ms when not using Workbench in combination with EtherNet/IP). If using firmware version 1.8
or higher, check the box “Use Unicast Connection over EtherNet/IP" if the option is available. For
older versions of firmware leave this box unchecked. Click OK. (Figure 5-4: Setting Module RPI).
Figure 5-4: Setting Module RPI
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6. The drive should now be configured and will show up under the Ethernet Port (Figure 5-5: Module Suc-
cessfully Added to Project)
Figure 5-5: Module Successfully Added to Project
7. Make sure that the Ethernet port for your controller is setup with a compatible IP address on the same
subnet as the AKDdrive IP address. This can be configured by right-clicking on 1769-L23E-QB1 Eth-
ernet Port Local and selecting properties. See your controller user manual for more information.
5.2 Importing the AKDAdd-On Instructions to a Project
The User Defined Data Types must be imported before the Add-On Instructions.
1. Right click the “User-Defined” folder under “Data Types” and select “Import Data Type…” (Figure 5-6:
Importing Data Types)
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Figure 5-6: Importing Data Types
2. Browse to the location of the AKD User Defined Data Type library and select the desired User Defined
Data Type then click “Import…” (Figure 5-7: Selecting a UDT)
1. Import the data types in the order shown in Table 5-2: UDT Import Order.
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Figure 5-7: Selecting a UDT
Order File Descrption
1 AKD_Control_UDT.L5X Control message for sending to axis
2 AKD_Status_UDT.L5X Status message for updating from axis
3 AKD_Axis_UDT.L5X Axis definition
4 Motion_Task_UDT.L5X Motion Task data table structure
Table 5-2: UDT Import Order
3. Click OK on the import configuration dialog, if one appears. Repeat for all files in “Table 5-2: UDT
Import Order” to import all of the needed data types
4. The data types should now show up under the “Data Types > User-Defined” folder (Figure 5-8: Data
Types Successfully Imported)
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Figure 5-8: Data Types Successfully Imported
5. Next, to import the add-on instructions, right click on the “Add-On Instructions” folder and select
“Import Add-On Instruction…” (Figure 5-9: Importing Add-On Instructions)
Figure 5-9: Importing Add-On Instructions
6. Browse to the location of the AKD Add On Instruction library and select the desired AOI then click
“Import…” (Figure 5-10: Selecting an AOI)
1. For complete functionality, import all of the files listed in “Table 5-3: All Add On Instructions”
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Figure 5-10: Selecting an AIO
File Description
AKD_Disable_AOI.L5X Motion Axis Off
AKD_Drive_AOI.L5X Drive Communication
AKD_Enable_AOI.L5X Motion Axis On
AKD_Fault_Reset_A
OI.L5X
Motion Axis Fault Reset
AKD_Get_Attribute_AOI.L5X Get Axis Attribute
AKD_Get_Parameter_AOI.L5X Get Axis Parameter
AKD_Home_AOI.L5X Motion Axis Home
AKD_Jog_AOI.L5X Motion Axis Jog
AKD_Move_AOI.L5X Motion Axis Move
AKD_Set_Accel_AOI.L5X Motion Axis Set Acceleration
AKD_Set_Attribute_AOI.L5X Set Axis Attribute
AKD_Set_Decel_AOI.L5X Motion Axis Set Deceleration
AKD_Set_Home_Mode_AOI.L5X Motion Axis Set Home Mode
AKD_Set_Mode_AOI.L5X Motion Axis Set Mode
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File Description
AKD_Set_Parameter_AOI.L5X Set Axis Parameter
AKD_Set_Position_AOI.L5X Motion Axis Set Position
AKD_Set_Units_AOI.L5X Motion Axis Set Units
AKD_Set_Velocity_AOI.L5X Motion Axis Set Velocity
AKD_Shutdown_AOI.L5X Motion Axis Shutdown
AKD_Shutdown_Reset_AOI.L5X Motion Axis Shutdown Reset
AKD_Stop_Smooth_AOI.L5X Motion Axis Smooth Stop
AKD_Torque_Move_AOI.L5X Motion Axis Torque
Table 5-3: All Add On Instructions
7. Click OK on the import configuration dialog, if any appear. Repeat for all files in “Table 5-3: All Add On
Instructions” to import all of the needed instructions for full functionality
8. The instructions should now show up under the “Add-On Instructions” folder (Figure 5-11: AOI’s Suc-
cessfully Imported)
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Figure 5-11: AOI's Successfully Imported
5.3 Using the AKD Add-On Instructions in a Project
In any project where you want to use the AKD Add-On instructions, you will need to include one instance of
the Drive Communication logic for each axis (AKD_Drive instruction).
1. Add the AKD_Drive instruction to your ladder diagram.
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