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
AKD PROFINET | Table of Contents
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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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