Kollmorgen AKD User manual

AKD™
CAN-BUS Communication
Edition: H, November 2012
Valid from firmware version 1.8
Part Number 903-200004-00
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
- ,11/2009 Beta launch version
-, 12/2009 Objects 2018&60FE added, Object dictionary, formatting updated
A, 04/2010 Termination connector "optional", several new objects, Object dictionary split
B, 07/2010 Part number added, several new objects, object dictionary expanded
C, 01/2011 HW Rev. C, new objects, object dictionary expanded
D, 04/2011 Object dictionary updated, baudrate setup
E, 10/2011 Cover layout & error table & object dictionary updated, objects 3474 & 3475 & 3496 & 6091
added
F, 03/2012
Touch Probe objects 60B8 to 60BD & 60D0 added, object 2071 & 2077 added, PVT inter-
polation added, 60C0 & 60C1 & 60C4 & 6041 bit 9 updated, object dictionary updated, error
codes updated, object 1011h added
G, 08/2012 Object dictionary updated, error codes updated
H, 11/2012 Object dictionary updated, error codes updated, new object 345A
Trademarks
lAKD is a registered trademark of Kollmorgen™ Corporation
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
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!
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™.
2 Kollmorgen™ | November 2012

1 Table of Contents
1 Table of Contents 3
2 General 9
2.1 About this Manual 10
2.2 Target Group 10
2.3 Symbols used 11
2.4 Abbreviations used 12
3 Safety 13
3.1 Safety Instructions 14
3.2 Use As Directed 14
3.3 Prohibited Use 14
4 Installation and Setup 15
4.1 Safety Instructions 16
4.2 CAN-Bus Interface (X12/X13) 17
4.2.1 CAN-Bus activation with AKD-CC models 18
4.2.2 Baudrate for CAN-Bus 19
4.2.3 Node Address for CAN-Bus 20
4.2.4 CAN-Bus Termination 20
4.2.5 CAN-Bus Cable 20
4.2.6 CAN-Bus Wiring 21
4.3 Guide to Setup 22
5 CANopen Basics 23
5.1 Basic Features implemented by CANopen 24
5.1.1 Setup and general functions: 24
5.1.2 Positioning functions: 24
5.1.3 Data transfer functions: 24
5.2 Transmission Rate and Procedure 24
5.3 Response to BUSOFF Communication Faults 25
5.4 Important Configuration Parameters 25
6 CANopen Communication Profile 26
6.1 General Description of CAN 27
6.2 Construction of the Communication Object Identifier 28
6.3 Definition of the Used Data Types 29
6.3.1 Basic data types 29
6.3.1.1 Unsigned Integer 29
6.3.1.2 Signed Integer 30
6.3.2 Mixed data types 30
6.3.3 Extended data types 31
6.3.3.1 Octet String 31
6.3.3.2 Visible String 31
6.4 Communication Objects 31
6.4.1 Network Management Objects (NMT) 32
6.4.2 Synchronization Object (SYNC) 32
6.4.3 Time-Stamp Object (TIME) 32
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6.4.4 Emergency Object (EMCY) 33
6.4.4.1 Application of the Emergency Object 33
6.4.4.2 Composition of the Emergency Object 33
6.4.5 Service Data Objects (SDO) 34
6.4.5.1 Composition of the Service Data Object 34
6.4.5.2 Initiate SDO Download Protocol 36
6.4.5.3 Download SDO Segment Protocol 36
6.4.5.4 Initiate SDO Upload Protocol 36
6.4.5.5 Upload SDO Segment Protocol 36
6.4.5.6 Abort SDO Protocol 36
6.4.6 Process Data Object (PDO) 37
6.4.6.1 Transmission modes 38
6.4.6.2 Trigger modes 38
6.4.7 Nodeguard 39
6.4.8 Heartbeat 40
7 CANopen Drive Profile 41
7.1 CANopen Emergency Messages and Error Codes 42
7.2 General Definitions 46
7.2.1 General objects 46
7.2.1.1 Object 1000h: Device Type (DS301) 46
7.2.1.2 Object 1001h: Error register (DS301) 47
7.2.1.3 Object 1002h: Manufacturer Status Register (DS301) 48
7.2.1.4 Object 1003h: Predefined Error Field (DS301) 49
7.2.1.5 Object 1005h: COB-ID of the SYNC Message (DS301) 50
7.2.1.6 Object 1006h: Communication Cycle Period (DS301) 50
7.2.1.7 Object 1008h: Manufacturer Device Name (DS301) 51
7.2.1.8 Object 1009h: Manufacturer Hardware Version 51
7.2.1.9 Object 100Ah: Manufacturer Software Version (DS301) 51
7.2.1.10 Object 100Ch: Guard Time (DS301)Response monitoring 52
7.2.1.11 Object 100Dh: Lifetime Factor (DS301) 52
7.2.1.12 Object 1010h: Store Parameters (DS301) 53
7.2.1.13 Object 1011h: Restore Default Parameters DS301 54
7.2.1.14 Object 1014h: COB-ID for Emergency Message (DS301) 55
7.2.1.15 Object 1016h: Consumer Heartbeat Time 55
7.2.1.16 Object 1017h: Producer Heartbeat Time 56
7.2.1.17 Object 1018h: Identity Object (DS301) 56
7.2.1.18 Object 1026h: OS Prompt 58
7.2.2 Manufacturer specific objects 59
7.2.2.1 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO 59
7.2.2.2 Object 2018h: Firmware Version 60
7.2.2.3 Object 2026h: ASCII Channel 61
7.2.2.4 Object 20A0h: Latch position 1, positive edge 62
7.2.2.5 Object 20A1h: Latch position 1, negative edge 62
7.2.2.6 Object 20A2h: Latch position 2, positive edge 62
7.2.2.7 Object 20A3h: Latch position 2, negative edge 63
7.2.2.8 Object 20A4h: Latch Control Register 63
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7.2.2.9 Object 20A5h: Latch Status Register 64
7.2.2.10 Object 20A6h: Latch position 1, positive or negative edge 64
7.2.2.11 Object 20B8h: Reset of changed input information 65
7.2.2.12 Object 345Ah: Brake Control 66
7.2.2.13 Object 3474h: Parameters for digital inputs 68
7.2.2.14 Object 3475h: Parameters for digital outputs 69
7.2.2.15 Object 3496h: Fieldbus synchronization parameters 70
7.2.3 Profile specific objects 72
7.2.3.1 Object 60B8h: Touch probe function 72
7.2.3.2 Object 60B9h: Touch probe status 73
7.2.3.3 Object 60BAh: Touch probe 1 positive edge 74
7.2.3.4 Object 60BBh: Touch probe 1 negative edge 74
7.2.3.5 Object 60BCh: Touch probe 2 positive edge 74
7.2.3.6 Object 60BDh: Touch probe 2 negative edge 75
7.2.3.7 Object 60D0h: Touch probe source 75
7.2.3.8 Object 60FDh: Digital inputs (DS402) 76
7.2.3.9 Object 60FEh: Digital outputs (DS402) 77
7.2.3.10 Object 6502h: Supported drive modes (DS402) 78
7.3 PDO Configuration 79
7.3.1 Receive PDOs (RXPDO) 80
7.3.1.1 Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301) 80
7.3.1.2 Objects 1600-1603h: 1st - 4th RXPDO mapping parameter (DS301) 81
7.3.1.3 Default RXPDO definition 82
7.3.2 Transmit PDOs (TXPDO) 83
7.3.2.1 Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301) 83
7.3.2.2 Objects 1A00-1A03h: 1st - 4th TXPDO mapping parameter (DS301) 85
7.3.2.3 Default TXPDO definition 86
7.4 Device Control (dc) 87
7.4.1 Status Machine (DS402) 87
7.4.1.1 States of the Status Machine 88
7.4.1.2 Transitions of the status machine 89
7.4.2 Object Description 90
7.4.2.1 Object 6040h: Control word (DS402) 90
7.4.2.2 Object 6041h: Status word (DS402) 91
7.4.2.3 Object 6060h: Modes of Operation (DS402) 93
7.4.2.4 Object 6061h: Modes of Operation Display (DS402) 94
7.5 Factor Groups (fg) (DS402) 94
7.5.1 General Information 94
7.5.1.1 Factors 94
7.5.1.2 Relationship between Physical and Internal Units 94
7.5.2 Objects for velocity scaling 95
7.5.2.1 Object 204Ch: PV Scaling Factor 95
7.5.3 Objects for position calculation 96
7.5.3.1 Object 608Fh: Position encoder resolution (DS402) 96
7.5.3.2 Object 6091h: Gear Ratio (DS402) 97
7.5.3.3 Object 6092h: Feed constant (DS402) 98
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7.6 Profile Velocity Mode (pv) (DS402) 99
7.6.1 General Information 99
7.6.1.1 Objects that are defined in this section 99
7.6.1.2 Objects that are defined in other sections 99
7.6.2 Object description 99
7.6.2.1 Object 606Ch: Velocity actual value (DS402) 99
7.6.2.2 Object 60FFh: Target velocity (DS402) 100
7.7 Profile Torque Mode (tq) (DS402) 101
7.7.1 General Information 101
7.7.1.1 Objects that are defined in this section 101
7.7.1.2 Objects that are defined in other sections 101
7.7.2 Object description 101
7.7.2.1 Object 2071h: Target Current 101
7.7.2.2 Object 2077h: Current ActualValue 101
7.7.2.3 Object 6071h: Target torque (DS402) 102
7.7.2.4 Object 6073h: Max current (DS402) 102
7.7.2.5 Object 6077h: Torque actual value (DS402) 102
7.8 Position Control Function (pc) (DS402) 103
7.8.1 General Information 103
7.8.1.1 Objects that are defined in this section 103
7.8.1.2 Objects that are defined in other sections 103
7.8.2 Object Description 103
7.8.2.1 Object 6063h: position actual value* (DS402) 103
7.8.2.2 Object 6064h: position actual value (DS402) 104
7.8.2.3 Object 6065h: Following error window 104
7.8.2.4 Object 60F4h: Following error actual value (DS402) 104
7.9 Interpolated Position Mode (ip) (DS402) 105
7.9.1 General information 105
7.9.1.1 Objects defined in this section 105
7.9.1.2 Objects defined in other sections 105
7.9.2 Object description 105
7.9.2.1 Object 60C0h: Interpolation sub mode select 105
7.9.2.2 Object 60C1h: Interpolation data record 106
7.9.2.3 Object 60C2h: Interpolation time period 107
7.9.2.4 Object 60C4h: Interpolation data configuration 108
7.10 Homing Mode (hm) (DS402) 110
7.10.1 General information 110
7.10.1.1 Objects that are defined in this section 110
7.10.1.2 Objects that are defined in other sections 110
7.10.2 Object Description 110
7.10.2.1 Object 607Ch: Homing offset (DS402) 110
7.10.2.2 Object 6098h: Homing method (DS402) 110
7.10.2.3 Object 6099h: Homing speeds (DS402) 112
7.10.2.4 Object 609Ah: Homing acceleration (DS402) 112
7.10.2.5 Homing Mode Sequence 113
7.11 Profile Position Mode (DS402) 114
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7.11.1 General Information 114
7.11.1.1 Objects that are defined in this section 114
7.11.1.2 Objects that are defined in other sections 114
7.11.2 Object Description 115
7.11.2.1 Object 607Ah: Target position (DS402) 115
7.11.2.2 Object 607Dh: Software position limit (DS402) 115
7.11.2.3 Object 6081h: Profile velocity (DS402) 116
7.11.2.4 Object 6083h: Profile acceleration (DS402) 116
7.11.2.5 Object 6084h: Profile deceleration (DS402) 116
7.11.2.6 Functional Description 117
8 Appendix 119
8.1 Object Dictionary 119
8.1.1 Float Scaling 119
8.1.2 Communication SDOs 119
8.1.3 Manufacturer specific SDOs 122
8.1.4 Profile specific SDOs 136
8.2 Examples 138
8.2.1 Examples, setup 138
8.2.1.1 Basic testing of the connection to the AKD controls 138
8.2.1.2 Example: Operating the Status Machine 139
8.2.1.3 Example: Jog Mode via SDO 140
8.2.1.4 Example: Torque Mode via SDO 140
8.2.1.5 Example: Jog Mode via PDO 141
8.2.1.6 Example: Torque Mode via PDO 143
8.2.1.7 Example: Homing via SDO 144
8.2.1.8 Example: Using the Profile Position Mode 146
8.2.1.9 Example: ASCII Communication 149
8.2.1.10 Test for SYNC telegrams 150
8.2.2 Examples, special applications 151
8.2.2.1 Example: External Trajectory with Interpolated Position Mode 151
8.2.2.2 Example: PVT Interpolation 156
9 Index 159
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AKD CANopen | Table of Contents
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2 General
2.1 About this Manual 10
2.2 Target Group 10
2.3 Symbols used 11
2.4 Abbreviations used 12
AKD CANopen | 2 General
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AKD CANopen | 2 General
2.1 About this Manual
This manual, AKD CAN-Bus Communication, This manual describes the installation, setup, range of functions,
and software protocol for the CANopen AKD product series. All AKD CANopen drives have built-in CANopen
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 Quick Start (also provided in hard copy). This guide provides instructions for initial drive setup and con-
nection to a network.
lAKD Installation Manual (also provided in hard copy for EU customers). This manual provides instructions 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.
lAKD Parameter and Command Reference Guide. This guide provides documentation 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:
lCAN Application (CAL) for Industrial Applications (publisher CiA e.V.)
lDraft Standards 301 (from Version 4.0), 402 (publisher CiA e.V.)
lCAN Specification Version 2.0 (publisher CiA e.V.)
lISO 11898 ... Controller Area Network (CAN) for high-speed communication
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 per-
sonnel responsible for working with the servo drive have read and understand
the manual.
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