Kollmorgen AKD User manual

AKD®
PROFINET RT Communication
Edition: N, November 2018
Valid for firmware version 1.18
Part Number 903-200012-00
Original Documentation
For safe and proper use, follow
these instructions.
Keep them for future reference.

Record of Document Revisions
Revision Remarks
... Table with lifecycle information of this document see "Record of Document Revisions" (➜p.
72)
K, 09/2016 Updated instructions to Submode „Program mode“ (➜p. 50).
L, 03/2017 Added PN.STW1 (➜p. 62) and PN.ZSW1 (➜p. 65).
M, 10/2017
Parameters PN.VELSCALING (➜p. 64), PN.ACCSCALING (➜p. 61) added. Manufacturer
Specific Telegram 354 (➜p. 57) added. PNU 1009, Velocity Scaling added to Supported PNU's
(➜p. 30). DRV_ACC and DRV_DEC added to signals in Telegram Configuration (➜p. 48).
N, 11/2018 AddedStandard Telegram 3 (➜p. 54).
Trademarks
lAKD is a registered trademark of Kollmorgen Corporation
lSynqNet is a registered trademark of Motion Engineering Inc.
lEnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
lEtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH
lEthernet/IP is a registered trademark of ODVA, Inc.
lEthernet/IP Communication Stack: copyright (c) 2009, Rockwell Automation
lsercos®is a registered trademark of sercos®international e.V.
lHIPERFACE is a registered trademark of Max Stegmann GmbH
lPROFINET is a registered trademark of PROFIBUS and PROFINET International (PI)
lSIMATIC is a registered trademark of SIEMENS AG
lWindows is a registered trademark of Microsoft Corporation
Current patents
lUS Patent 5,162,798 (used in control card R/D)
lUS Patent 5,646,496 (used in control card R/D and 1 Vp-p feedback interface)
lUS Patent 6,118,241 (used in control card simple dynamic braking)
lUS Patent 8,154,228 (Dynamic Braking For Electric Motors)
lUS Patent 8,214,063 (Auto-tune of a Control System Based on Frequency Response)
Technical changes which improve the performance of the device may be made without prior notice!
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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1 Table of Contents
1 Table of Contents 3
2 General 5
2.1 About this Manual 6
2.2 Target Group 6
2.3 Symbols Used 7
2.4 Abbreviations Used 7
3 Installation and Setup 8
3.1 Important Instructions 9
3.2 PROFINET Onboard 10
3.2.1 LED Functions 10
3.2.2 Connection Technology 10
3.2.3 Network Connection Examples 10
3.3 Guide to Setup 11
3.4 Configure IP Address Parameters 12
3.4.1 Dependency Service Channel (WorkBench) and PROFINET 14
3.4.2 Reset of IP Address Parameters 14
3.5 Setup Step 7 15
3.6 Parameter Configuration with PROFIdrive over PROFINET IO 18
3.6.1 Parameter Configuration 19
3.6.2 Example for Writing the Operation Mode 20
4 PROFINET IO 21
4.1 Introduction 22
4.2 Restrictions and Requirements 22
4.2.1 Conformance Classes 22
4.2.2 Cycle Time of RT data 22
4.2.3 Connector 22
4.2.4 Network Topology 22
4.2.5 Modbus 22
5 PROFIDRIVE over PROFINET IO 23
5.1 Introduction 24
5.2 AKD as Drive Object (DO) 25
5.3 General State Machine 26
5.4 Control Word Bits (STW1) 27
5.5 Status Word Bits (ZSW1) 29
5.6 Supported PNU's 30
5.7 Signals 48
5.8 Telegram Configuration 48
5.8.1 Drive Inputs Signal 49
5.9 Velocity Mode (Application class 1) 49
5.10 Position Mode (Application class 3) 50
5.10.1 Submode „Program mode“ 50
5.10.2 Submode „Manual data input (MDI)“ 51
5.10.3 Homing 53
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5.11 I/O Telegrams 54
5.11.1 Telegram 0 54
5.11.2 Standard Telegram 1 54
5.11.3 Standard Telegram 3 54
5.11.4 Standard Telegram 7 54
5.11.5 Standard Telegram 9 55
5.11.6 Manufacturer Specific Telegram 350 56
5.11.7 Manufacturer Specific Telegram 351 56
5.11.8 Manufacturer Specific Telegram 352 56
5.11.9 Manufacturer Specific Telegram 353 57
5.11.10 Manufacturer Specific Telegram 354 57
5.11.11 Standard Telegram 400 57
5.12 Units 58
5.12.1 Velocity Units 58
5.12.2 Position Units 58
5.12.3 Acc-/Deceleration Units 58
5.12.4 Current Units 58
5.13 Alarms 59
5.14 Fault 59
5.15 ASCII Configuration 59
6 PN Parameters 60
6.1 PN.ACCSCALING 61
6.2 PN.POSSCALE 62
6.3 PN.STW1 62
6.4 PN.TIMEOUTFTHRESH 63
6.5 PN.VELSCALING 64
6.6 PN.ZSW1 65
7 Sample Projects 67
7.1 Sample S7 Project 68
7.1.1 Introduction 68
7.1.2 Project Description 68
7.1.3 Getting Started 69
7.1.4 Enable the Drive and Run in Velocity Mode 70
8 Troubleshooting 71
8.1 AKD Triggers 702 Communication Fault 71
9 Record of Document Revisions 72
10 Index 73
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2 General
2.1 About this Manual 6
2.2 Target Group 6
2.3 Symbols Used 7
2.4 Abbreviations Used 7
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AKD PROFINET | 2 General
2.1 About this Manual
This manual, AKD PROFINET RT Communication, describes the installation, setup, range
of functions, and software protocol for the PROFINET AKD product series. All AKD
PROFINET drives have built-in PROFINET functionality; therefore an additional option card
is not required.
A digital version of this manual (pdf format) is available on the DVD 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 User Guide. This manual describes how to use your drive in common applications. It
also provides tips for maximizing your system performance with the AKD. The User
Guide includes the Parameter and Command Reference Guide which provides doc-
umentation for the parameters and commands used to program the AKD.
lAccessories Manual. This manual provides documentation for accessories like cables
and regen resistors used with AKD. Regional versions of this manual exist.
Additional documentation:
lProfile-PROFIdrive (PI group, Profile-PROFIdrive_3172_v41_May06.pdf)
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
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2.3 Symbols Used
Symbol Indication
DANGER Indicates a hazardous situation which, if not avoided, will res-
ult in death or serious injury.
WARNING Indicates a hazardous situation which, if not avoided, could res-
ult in death or serious injury.
CAUTION Indicates a hazardous situation which, if not avoided, could res-
ult in minor or moderate injury.
Indicates situations which, if not avoided, could result in prop-
erty damage.
This symbol indicates important notes.
Warning of a danger (general). The type of danger is specified
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.
2.4 Abbreviations Used
Abbreviation Meaning
Cat Category
DO Drive object
DU Data Unit
GSD Device description file
GSDML GSD Markup Language
HMI Human machine interface
ID Identifier
I/O Input / Output
IRT Isochronous Real-Time
LED Light emitting diode
PAP Programm Ablauf Protokoll (program sequence protocol)
PLC Programmable logic control
PNU Parameter number
RT Real-Time
STW Control word
ZSW Status word
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AKD PROFINET | 3 Installation and Setup
3 Installation and Setup
3.1 Important Instructions 9
3.2 PROFINET Onboard 10
3.3 Guide to Setup 11
3.4 Configure IP Address Parameters 12
3.5 Setup Step 7 15
3.6 Parameter Configuration with PROFIdrive over PROFINET IO 18
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3.1 Important Instructions
DANGER
High Voltage up to 900V!
There is a danger of electrical arcing with damage to contacts and serious personal injury.
lNever undo any electrical connections to the drive while it is live.
lWait at least seven minutes after disconnecting the drive from the main supply
power before touching potentially live sections of the equipment (e.g. contacts) or
undoing any connections.
WARNING
Automatic Restart!
Risk of death or serious injury for humans working in the machine. Drives with
PROFINET are remote-controlled machines. They can start to move at any time without
previous warning.
lTake appropriate measures to ensure that the operating and service personnel is
aware of this danger.
lImplement appropriate protective measures to ensure that any unintended start-up
of the machines cannot result in dangerous situations for personnel or machinery.
lSoftware limit-switches are not a substitute for the hardware limit-switches in the
machine.
Electronic equipment is basically not failure-proof. The user is responsible for ensuring
that, in the event of a failure of the drive, the drive is set to a state that is safe for both
machinery and personnel.
Install the drive as described in the Installation Manual. The wiring for the analog setpoint
input and the positioning 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 electronics.
The drive's status must be monitored by the PLC to acknowledge critical situations. Wire the
FAULT contact in series into the emergency stop circuit of the installation. The emergency
stop circuit must operate the supply contactor.
Because of the internal representation of the position-control parameters, the position con-
troller can only be operated if the final limit speed of the drive does not exceed:
rotary linear
at sinusoidal² commutation: 7500 rpm at sinusoidal² commutation: 4 m/s
at trapezoidal commutation: 12000 rpm. 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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AKD PROFINET | 3 Installation and Setup
3.2 PROFINET Onboard
Connection to the PROFINET Network via X11.
Connect the service interface (X11) of the drive to an Ethernet interface on the PROFINET
Master directly or via a network switch, while the supply to the equipment is switched
off.
Confirm that the link LED on the AKD (the green LED on the RJ45 connector) and on your
Master or Switch are both illuminated. If both lights are illuminated, then you have a good elec-
trical connection.
PROFINET RT and WorkBench can operate simultaneously if a switch is used.
3.2.1 LED Functions
The communication status is indicated by the built-in LEDs.
Connector LED# Name Function
X11 LED1 IN port Link ON = active, OFF= not active
LED2 RUN ON = running, OFF = not running
3.2.2 Connection Technology
You can connect to the PROFINET network using RJ-45 connectors. Use standard Cat. 5
Ethernet cables for either connection configuration.
3.2.3 Network Connection Examples
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3.3 Guide to Setup
Only professional personnel with extensive knowledge of control and drive technology are
allowed to setup the drive.
WARNING
Automatic Restart!
Risk of death or serious injury for humans working in the machine. Drives with PROFINET
are remote-controlled machines. They can start to move at any time without previous warn-
ing.
lTake appropriate measures to ensure that the operating and service personnel is
aware of this danger.
lImplement appropriate protective measures to ensure that any unintended start-up of
the machines cannot result in dangerous situations for personnel or machinery.
lSoftware limit-switches are not a substitute for the hardware limit-switches in the
machine.
Electronic equipment is basically not failure-proof. The user is responsible for ensuring that,
in the event of a failure of the drive, the drive is set to a state that is safe for both machinery
and personnel.
1. Check assembly/installation. Check that all the safety instructions in the product manual
for the drive and this manual have been observed and implemented. Check station
address and baud rate setting.
2. Connect PC,start WorkBench. Use the setup software WorkBench to set the parameters
for the drive.
3. Setup basic functions. Start up the basic functions of the drive and optimize the current,
speed and position controllers. This section of the setup is described in the in the online
help of the setup software.
4. Save parameters. When the parameters have been optimized, save them in the drive.
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AKD PROFINET | 3 Installation and Setup
3.4 Configure IP Address Parameters
Start the SIMATIC Manager. To assign a new IP address, go to PLC->Edit Ethernet Node:
In the next dialog window, click on browse in the Ethernet node group and look for all
PROFINET devices in your network:
Select the AKD and click ok. If you have several AKD’s in your network, you can also use
the MAC address to filter one PROFINET device.
To be sure, that the intended device is selected, you can click the “Flash” Button in the dia-
log. The display of selected device will flash as long as this function is active.
The MAC address can be found on the label of the AKD.
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Select the radio button Use IP parameters: then enter a new IP address and subnet mask to
AKD. Click the Assign IP Configuration button for the change to take effect
Use the same popup to change the device name at this time by entering a name in the
Device Name fields and clicking on the Assign Name button. Each device connected to the
same IO connection must have a unique name. The PROFINET device name for AKD is
derived from the AKD DRV.NAME parameter. The PLC, which acts as PROFINET IO-Con-
troller. will use the Device Name as address and can change the IP address for each Device
Name.
You will usually see a status message that indicates that the change was successful and the
AKD display will show the new address. If you receive a failure message, make sure that no
IO connection is currently running, then retry the address or name change.
A current connection of WorkBench to AKD will be disconnected when the IP address is
changed. When this happens, reconnect to the new IP address.
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AKD PROFINET | 3 Installation and Setup
3.4.1 Dependency Service Channel (WorkBench) and PROFINET
WorkBench and PROFINET use the same IP communication channel to communicate with
the drive so changing the IP address has implications for both interfaces.
There are several options for assigning the IP address for WorkBench and PROFINET as
described in the AKD User Guide:
lDHCP, AutoIP
lStatic IP addressing
oVia rotary switches (Address area 192.168.0.xx)
oVia ASCII commands IP.ADDRESS, IP.SUBNET. IP.GATEWAY
lPROFINET Devices (only): DCP
Once you have changed the IP address via DCP (e.g. through the steps above), the IP.* para-
meters stored in the drive are overwritten. Should you need to use DHCP or static IP address-
ing later, you must use WorkBench to set, the IP.MODE to something other than 1. See AKD
User Guide for details on the mode you would like to use.
3.4.2 Reset of IP Address Parameters
If the AKD can not be found in the network, as a last resort, reset all IP address parameters
to their default values.
This is done by setting the rotary switches to 0 and holding the B1 button longer than 5
seconds. After this, the current IP address setting will be lost and the IP address is restored
to default settings (after power cycle):
If rotary switches are zero, the DHCP and AutoIP is enabled.
If rotary switches are not zero, the static IP address is 192.168.0.xx (xx rotary switches) and
subnet mask 255.255.255.0.
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3.5 Setup Step 7
1. Start the SIMATIC Manager.
2. Open the hardware manager (double click on Hardware).
3. Go to Options and click "Install GSD Files". Here also the GSDML files for PROFINET
devices can be installed.:
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AKD PROFINET | 3 Installation and Setup
4. Browse for the latest AKD GSDML file and click on install:
5. The AKD GSDML file is installed now and can be found in the SIMATIC hardware cata-
log.
Open PROFINET I/O->Additional Fieldbus Devices->Drives->AKD
6. Click on the AKD device (not a telegram) and connect it to the PLC (drag and drop)
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7. Now configure the telegram, for example telegram 7 for use in position mode.
Drag and drop telegram 7 into slot 1.
8. Double click on the PROFINET network (line which connects PLC and AKD) and con-
figure the update time. Click OK for closing this window.
9. Save and compile the hardware configuration.
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AKD PROFINET | 3 Installation and Setup
3.6 Parameter Configuration with PROFIdrive over PROFINET IO
The AKD is defined as an I/O Device in PROFINET IO. A PLC or other IO-Controller estab-
lishes a connection via a so called application relations (AR). Within this AR, different pro-
files like PROFIdrive, PROFIsafe etc. can be used for the communication. The PROFIdrive
profile, which AKD supports, is defined as Application Process Identifier (API) 0x3A00.
Within the AR, further addressing needs to done. PROFINET IO divides each device in so
called slots and subslots. Sub 0 refers to the device itself and returns all generic data like
vendor name, software and hardware version. The subslots within the device can be used
with different real and virtual modules. Each module a functional component, which for
example can be a digital I/O or Telegram with Position values.
AKD provides several virtual modules, which can be used in Slot 1 and are used for the real
time data exchange.
For read or write parameters to or from the AKD, the global base mode parameter access can
be used (see PROFIdrive chapter 8.6). The parameter manager is accessed through Slot 1
and a non real time channel needs to be used for this purpose. The AKD supports the record
data 47, which is used to address the Parameter numbers (PNUs).
Base mode parameter access shows the construction of the telegram:
The following PROFIdrive services are supported:
lSingle parameter value request
lMultiple parameter value request
lSingle parameter change request
lMultiple parameter change request
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Record data fields
The table shows the structure and the supported fields in the AKD for a parameter request.
Field Data type Values Comment
Request reference Unsigned8 0x00 reserved
0x01 – 0xFF
Response ID Unsigned8 0x01 Request parameter (+)
0x02 Change parameter (+)
0x81 Request parameter (-)
0x82 Change parameter (-)
Axis / DO-ID Unsigned8 0x00 one Axis
No. of Parameters Unsigned8 0x01.. 0x27
Attribute Unsigned8 0x00 reserved
0x10 Value
0x20 Description
No. of Elements Unsigned8 0x01.. 0xEA Quantity
Parameter number Unsigned16 0x0001 .. 0xFFFF PNU
Subindex Unsigned16 0x0000 .. 0xFFFE
3.6.1 Parameter Configuration
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AKD PROFINET | 3 Installation and Setup
3.6.2 Example for Writing the Operation Mode
For writing the operation mode an acyclic change parameter value request needs to be send
from the IO-Controller/Supervisor to the AKD.
If the user wants to write e.g. the operation mode to position mode (DRV.OPMODE 2) over
PROFINET, the PNU 930 needs to be written with value 0x0002. The PROFIdrive base para-
meter access (see "Position Units" (➜p. 58)) describes the procedure.
Change parameter request (Operation mode):
Byte (dec) Value (hex) Description
0 0x05 Request reference: e.g. 5
1 0x02 Request ID: Change parameters
2 0x00 Axis: 0 (the AKD parameter manager)
3 0x01 No of Parameter: 1
4 0x10 Attribute: Value
5 0x01 No. of Elements
6 0x03 PNU: 930 Operation mode
7 0xA2
8 0x00 Subindex: 0
9 0x00
10 0x42 Format: Word
11 0x01 No of Values: 1
12 0x00 Operation mode
13 0x02
The AKD answers with a positive response without values:
Byte (dec) Value (hex) Description
0 0x05 Request Ref. mirrored: e.g. 5
1 0x02 Response ID: Change parameters
2 0x00 Axis: 0 (the AKD parameter manager)
3 0x01 No of Parameter: 1
4 0x00 Format
5 0x00 No. of Values 0
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