Kollmorgen AKD User manual

AKD™
PROFINET RT Communication
Edition: B, March 2012
Valid for Hardware Revision D
Part Number 903-200012-00
Original Documentation
Keep all manuals as a product component during the life span of the product.
Pass all manuals to future users and owners of the product.

Record of Document Revisions:
Revision Remarks
A, 10/2011 Launch version
B, 03/2012 Jog mode added, mdi submode description extended
Hardware Revision (HR)
AKD
HR
AKD PDMM
HR Firmware WorkBench KAS IDE Remarks
A - 01.03.xx.yyy 1.3.0.zzzzz - AKD Start revision
C - 01.05.xx.yyy 1.5.0.zzzzz - STO certified, PROFINET RT released
D DA 01.06.xx.yyy 1.6.0.zzzzz 2.5.0.zzzzz Control board revision 9, AKD PDMM Start
revision
PROFINET is a registered trademark of PROFIBUS and PROFINET International (PI)
EtherCAT is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH”
Ethernet/IP is a registered trademark of ODVA, Inc.
Ethernet/IP Communication Stack: copyright (c) 2009, Rockwell Automation
EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
HIPERFACE is a registered trademark of Max Stegmann GmbH
SIMATIC is a registered trademark of SIEMENS AG
Windows is a registered trademark of Microsoft Corporation
AKD is a registered trademark of Kollmorgen™ Corporation
Current patents:
US Patent 5,646,496 (used in control card R/D and 1 Vp-p feedback interface)
US Patent 5,162,798 (used in control card R/D)
US Patent 6,118,241 (used in control card simple dynamic braking)
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
reproduced 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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Table of Contents
1 General 5
1.1 About this Manual 6
1.2 Target Group 6
1.3 Symbols used 7
1.4 Abbreviations Used 7
2 Safety 8
2.1 Safety Instructions 9
2.2 Use as directed 9
2.3 Prohibited use 9
3 Installation and Setup 10
3.1 Safety Instructions 11
3.2 PROFINET Onboard 12
3.2.1 LED functions 12
3.2.2 Connection technology 12
3.2.3 Network Connection Examples 12
3.3 Guide to Setup 13
3.4 Configure IP Address parameters 14
3.4.1 Dependency Service channel (WorkBench) and PROFINET 16
3.4.2 Reset of IP Address parameters 16
3.5 Setup Step 7 17
3.6 Parameter Configuration with PROFIdrive over PROFINET IO 20
3.6.1 Parameter configuration 21
3.6.2 Example for writing the operation mode 22
4 PROFINET IO 23
4.1 Introduction 24
4.2 Restrictions and requirements 24
4.2.1 Conformance Classes 24
4.2.2 Cycle time of RT data 24
4.2.3 Connector 24
4.2.4 Network topology 24
5 PROFIDRIVE over PROFINET IO 25
5.1 Introduction 26
5.2 AKD as Drive Object (DO) 27
5.3 General State Machine 28
5.4 Control word bits (STW1) 29
5.5 Status word bits (ZSW1) 31
5.6 Supported PNU's 32
5.7 Signals 33
5.8 Telegram configuration 33
5.9 Velocity Mode (Application class 1) 34
5.10 Position Mode (Application class 3) 35
5.10.1 Submode „Program mode“ 35
5.10.2 Submode „Manual data input (MDI)“ 36
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5.10.3 Homing 38
5.11 I/O Telegrams 39
5.11.1 Telegram 0 39
5.11.2 Standard telegram 1 39
5.11.3 Standard telegram 7 39
5.11.4 Standard telegram 9 39
5.11.5 Manufacturer specific telegram 350 40
5.12 Units 40
5.12.1 Velocity units 40
5.12.2 Position Units 40
5.12.3 Acc-/Deceleration Units 40
5.12.4 Current units 40
5.13 Alarms 41
5.14 Fault 41
6 Sample Projects 42
6.1 Sample S7 Project 43
6.1.1 Introduction 43
6.1.2 Project description 43
6.1.3 Getting started 44
6.1.4 Enable the drive and run in velocity mode 45
7 Index 47
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1 General
1.1 About this Manual 6
1.2 Target Group 6
1.3 Symbols used 7
1.4 Abbreviations Used 7
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1.1 About this Manual
This manual, AKD PROFINET RT Communication, describes the installation, setup, range of functions, and soft-
ware protocol for the PROFINET AKD product series. All AKD PROFINET drives have built-in PROFINET func-
tionality; therefore an additional option card is not required.
A digital version of this manual (pdf format) is available on the CD-ROM included with your drive. Manual updates
can be downloaded from the Kollmorgen™ website.
Related documents for the AKD series include:
lAKD Installation Manual (also provided in hard copy for EU customers). This manual provides full instruc-
tions for installation and drive setup.
lAKD 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. This manual contains the AKD Parameter
and Command Reference Guide, which provides documentation for the parameters and commands used
to program the AKD.
lAccessories Manual. This manual provides documentation for accessories like cables and regen resist-
ors used with AKD. Regional versions of this manual exist.
Additional documentation:
lProfile-PROFIdrive (PI group, Profile-PROFIdrive_3172_v41_May06.pdf)
1.2 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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1.3 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 mod-
erate injury.
Indicates situations which, if not avoided, could result in property damage.
This is not a safety symbol.
This symbol indicates important notes.
1.4 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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2 Safety
2.1 Safety Instructions 9
2.2 Use as directed 9
2.3 Prohibited use 9
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2.1 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 fail-
ure of the servo amplifier, the drive is set to a state that is safe for both machinery and per-
sonnel, for instance with the aid of a mechanical brake.
Drives with servo amplifiers and PROFINET 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 personnel 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
The PROFINET Ethernet cable must be connected to the service interface on X11.
2.2 Use as directed
Drives are components that are built into electrical plants or machines and can only be operated as integral com-
ponents 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 cannot cause
personnel injury or property damage.
lObserve the chapters "Use as directed” and "Prohibited use" in the AKD Installation Manual.
lThe PROFINET interface serves only for the connection of the AKD directly or via a switch to a network
with PROFINET connectivity.
2.3 Prohibited use
Other use 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
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3 Installation and Setup
3.1 Safety Instructions 11
3.2 PROFINET Onboard 12
3.3 Guide to Setup 13
3.4 Configure IP Address parameters 14
3.5 Setup Step 7 17
3.6 Parameter Configuration with PROFIdrive over PROFINET IO 20
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3.1 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 touch-
ing potentially live sections of the equipment (e.g. contacts) 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 40 V. Control and power connections can still be live, even if the motor is not rotat-
ing.
Electronic equipment can fail. The user is responsible for ensuring that, in the event of a fail-
ure of the servo amplifier, the drive is set to a state that is safe for both machinery and per-
sonnel, for instance with the aid of a mechanical brake.
Drives with servo amplifiers and PROFINET 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 personnel 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 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 emer-
gency 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 con-
troller 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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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 electrical 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.
Make sure that any unintended movement of the drive cannot endanger
machinery or 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 posi-
tion 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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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 dialog. 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-Controller. 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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3.4.1 Dependency Service channel (WorkBench) and PROFINET
WorkBench and PROFINET use the same IP communication channel to communicate with the drive so chang-
ing 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
lVia rotary switches (Address area 192.168.0.xx)
lVia 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.* parameters stored in the
drive are overwritten. Should you need to use DHCP or static IP addressing 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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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 catalog.
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 configure the update
time. Click OK for closing this window.
9. Save and compile the hardware configuration.
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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 establishes a connection
via a so called application relations (AR). Within this AR, different profiles 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 sub-
slots. Sub 0 refers to the device itself and returns all generic data like vendor name, software and hardware ver-
sion. 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 PRO-
FIdrive 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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