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Related Manuals for Kollmorgen AKD PROFINET RT Communication
Summary of Contents for Kollmorgen AKD PROFINET RT Communication
- Page 1 ® PROFINET RT Communication Edition: Revision G, December 2014 Valid for firmware version 1.13 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.
- Page 2 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 distributed by electronic means without the written permission of Kollmorgen.
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Page 3: Table Of Contents
6.2 AKD as Drive Object (DO) 6.3 General State Machine 6.4 Control word bits (STW1) 6.5 Status word bits (ZSW1) 6.6 Supported PNU's 6.7 Signals 6.8 Telegram configuration 6.9 Velocity Mode (Application class 1) 6.10 Position Mode (Application class 3) Kollmorgen | December 2014... - Page 4 6.14 Fault 6.15 ASCII configuration 7 Sample Projects 7.1 Sample S7 Project 7.1.1 Introduction 7.1.2 Project description 7.1.3 Getting started 7.1.4 Enable the drive and run in velocity mode 8 Record of Document Revisions 9 Index Kollmorgen | December 2014...
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Page 5: General
AKD PROFINET | 2 General 2 General 2.1 About this Manual 2.2 Symbols Used 2.3 Abbreviations Used Kollmorgen | December 2014... -
Page 6: About This Manual
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. -
Page 7: Symbols Used
Data Unit Device description file GSDML GSD Markup Language Human machine interface Identifier Input / Output Isochronous Real-Time Light emitting diode Programm Ablauf Protokoll (program sequence protocol) Programmable logic control Parameter number Real-Time Control word Status word Kollmorgen | December 2014... - Page 8 AKD PROFINET | 2 General Kollmorgen | December 2014...
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Page 9: Safety
AKD PROFINET | 3 Safety 3 Safety 3.1 Safety Instructions 3.2 You should pay attention to this 3.3 Use as directed 3.4 Prohibited use Kollmorgen | December 2014... -
Page 10: Safety Instructions
The drives contain electrostatically sensitive components which may be damaged by incor- rect handling. Electrostatically discharge your body before touching the drive. Avoid contact with highly insulating materials (artificial fabrics, plastic film etc.). Place the drive on a con- ductive surface. Kollmorgen | December 2014... -
Page 11: Use As Directed
The use of the drive in the fol- lowing environments is also prohibited: potentially explosive areas environments with corrosive and/or electrically conductive acids, alkaline solutions, oils, vapors, dusts ships or offshore applications Kollmorgen | December 2014... -
Page 12: Installation And Setup
AKD PROFINET | 4 Installation and Setup 4 Installation and Setup 4.1 Important Instructions 4.2 PROFINET Onboard 4.3 Guide to Setup 4.4 Configure IP Address parameters 4.5 Setup Step 7 4.6 Parameter Configuration with PROFIdrive over PROFINET IO Kollmorgen | December 2014... -
Page 13: Important Instructions
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. Kollmorgen | December 2014... -
Page 14: Profinet Onboard
LED1 IN port Link ON = active, OFF= not active LED2 ON = running, OFF = not running 4.2.2 Connection technology You can connect to the PROFINET network using RJ-45 connectors. Use standard Cat. 5 Ethernet cables for either connection configuration. 4.2.3 Network Connection Examples Kollmorgen | December 2014... -
Page 15: Guide To Setup
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. Kollmorgen | December 2014... -
Page 16: Configure Ip Address Parameters
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. Kollmorgen | December 2014... - Page 17 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. Kollmorgen | December 2014...
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Page 18: Dependency Service Channel (Workbench) And Profinet
(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. Kollmorgen | December 2014... -
Page 19: Setup Step
4.5 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.: Kollmorgen | December 2014... - Page 20 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) Kollmorgen | December 2014...
- Page 21 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. Kollmorgen | December 2014...
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Page 22: Parameter Configuration With Profidrive Over Profinet Io
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: Single parameter value request Multiple parameter value request Single parameter change request Multiple parameter change request Kollmorgen | December 2014... -
Page 23: Parameter Configuration
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 4.6.1 Parameter configuration Kollmorgen | December 2014... -
Page 24: Example For Writing The Operation Mode
The AKD answers with a positive response without values: Byte (dec) Value (hex) Description 0x05 Request Ref. mirrored: e.g. 5 0x02 Response ID: Change parameters 0x00 Axis: 0 (the AKD parameter manager) 0x01 No of Parameter: 1 0x00 Format 0x00 No. of Values 0 Kollmorgen | December 2014... -
Page 25: Profinet Io
AKD PROFINET | 5 PROFINET IO 5 PROFINET IO 5.1 Introduction 5.2 Restrictions and requirements Kollmorgen | December 2014... -
Page 26: Introduction
AKD can be connected as an I/O device on the PROFINET network in two manners: 1. As the last node in the network (since AKD has only one connector) in a line topology 2. As another node on the network in star topology (using a switch) Kollmorgen | December 2014... -
Page 27: Profidrive Over Profinet Io
6.5 Status word bits (ZSW1) 6.6 Supported PNU's 6.7 Signals 6.8 Telegram configuration 6.9 Velocity Mode (Application class 1) 6.10 Position Mode (Application class 3) 6.11 I/O Telegrams 6.12 Units 6.13 Alarms 6.14 Fault 6.15 ASCII configuration Kollmorgen | December 2014... -
Page 28: Introduction
It is important to understand that PROFIdrive is only a user profile, which can be used with PROFINET IO. Note that the AKD supports all mandatory functionality of the PROFIdrive profile, but nat- urally not all optional functionality. This chapter describes the supported optional elements. Kollmorgen | December 2014... -
Page 29: Akd As Drive Object (Do)
The alarm queue is used for signaling the master an exception situations, which are gen- erated through the state machine or the axis control task itself (not supported in AKD). The clock synchronous operation requires PROFINET IRT (conformance class C), which is currently not supported by the AKD. Kollmorgen | December 2014... -
Page 30: General State Machine
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.3 General State Machine Kollmorgen | December 2014... -
Page 31: Control Word Bits (Stw1)
Bit 7 is used to acknowledge fault. The AKD will clear the fault and go automatically to S1 state after a fault is cleared. The optional jog bits 8 and 9 can be used for the jogging functionility in velocity mode. PNU 1004 and 1005 define the jogging setpoints 1 and 2. Kollmorgen | December 2014... - Page 32 0: Clockwise 1: Counterclockwise ection 14-15 Device-specific Not implemented. The optional jog bits 8 and 9 can be used for the jogging functionility in position mode. PNU 1004 and 1005 define the jogging setpoints 1 and 2. Kollmorgen | December 2014...
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Page 33: Status Word Bits (Zsw1)
DRV.MOTIONSTAT Bit 1 & 2 (Homing fin- ished). Traversing Task acknow- On positive edge, traversing task acknow- ledgment ledged or set point accepted. Drive stopped Axis is not moving Motion task active DRV.MOTIONSTAT Bit 0 (Motion task active/inactive) Device specific Not implemented Kollmorgen | December 2014... -
Page 34: Supported Pnu's
I/O status word NSOLL_A Velocity set point value NIST_A Velocity actual value SATZANW Motion task selection AKTSATZ Actual motion task running ITIST_GLATT Active Current (torque) Supported Formats: Format 0x41 0x42 0x43 Data type Byte Word Dword Kollmorgen | December 2014... -
Page 35: Signals
0. The signals are also available in the PNU list. Each signal can be read/write with the same PNU number. For instance, signal “Speed actual value” is also available with PNU 6. Kollmorgen | December 2014... -
Page 36: Velocity Mode (Application Class 1)
0000_0100_0111_0111. Velocity command can be zero (it is ignored at this phase) 4. Send control word bits as follows to move the state machine to S4 and enable the drive: 0000_0100_0111_1111. Velocity command is used now, set it to 0x00A3 (1 rps) Kollmorgen | December 2014... -
Page 37: Position Mode (Application Class 3)
Change the general state machine to S4 (Drive is enabled) Set SATZANW to the motion task number, which needs to be started Used STW1 Bit 4,5 and 6 to start the motiontask. BIT 6 needs to be an edge Kollmorgen | December 2014... -
Page 38: Submode „Manual Data Input (Mdi)
ZSW1 Bit 12 is set to one, when the drive has started the new motion task. ZSW1 Bit 13 will be set to 1 when the drive is moving after the target position is reached, ZSW 1 Bit 10 is set. Kollmorgen | December 2014... - Page 39 After setting the “Activate traversing task” bit 6 in STW1, the signals MDI_ TARPOS, MDI_VELOCITY, MDI_ACC, MDI_DEC and MDI_MOD with their current values are loaded into the drive. The “Traversing Task Acknowledgment” bit 12 in ZSW1 indicates the point in time, when the motion task is starting execution. Kollmorgen | December 2014...
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Page 40: Homing
HOME.MOVE. When the homing procedure is finished, the AKD set the bits 2 and bit 4 in DRV.MOTIONSTAT. „Only“ if these two bits are set, the PROFIdrive specific homing flag ZSW1 Bit 11 (home position) is set. Kollmorgen | December 2014... -
Page 41: I/O Telegrams
Typically used for application class 3 (position mode). A motion task can be directly con- figured via IO data. IO Data Number Set point Actual values STW1 ZSW1 SATZANW AKTSATZ STW2 ZSW2 MDI_TARPOS XIST_A XIST_A MDI_VELOCITY MDI_ACC MDI_DEC MDI_MOD Kollmorgen | December 2014... -
Page 42: Manufacturer Specific Telegram 350
STW2 ZSW2 MDI_TARPOS XIST_A XIST_A MDI_VELOCITY MDI_ACC MDI_DEC MDI_MOD HOME_DIST 6.11.8 Manufacturer specific telegram 353 IO Data Number Set point Actual values STW1 ZSW1 SATZANW AKTSATZ STW2 ZSW2 MDI_TARPOS XIST_A XIST_A MDI_VELOCITY MDI_ACC MDI_DEC MDI_MOD HOME_DIST Kollmorgen | December 2014... -
Page 43: Units
Example: for 3 A AKD, if the S7 reads a current value of -182 Arms in the cyclic channel from the AKD, it will need to execute the conversion (9 / 2^14) * (-182) = -0.1 Arms Kollmorgen | December 2014... -
Page 44: Alarms
Fault buffer (947), the user can be sure that no other fault situation has been occurred in the meanwhile if these values are equal. The fault buffer PNU 947 store up to 8 fault situation. Each fault situation can have up to 8 fault numbers. Kollmorgen | December 2014... -
Page 45: Ascii Configuration
Value of 0: No fault is triggered if the PROFINET master changes states from RUN to STOP. PN.STW1: Returns the control word (signal STW1) written by the PROFINET master. PN.ZSW1: Returns the status word (signal ZSW1) sent by the AKD to the PROFINET mas- ter. Kollmorgen | December 2014... -
Page 46: Sample Projects
AKD PROFINET | 7 Sample Projects 7 Sample Projects 7.1 Sample S7 Project Kollmorgen | December 2014... -
Page 47: Sample S7 Project
AKD PROFINET | 7 Sample Projects 7.1 Sample S7 Project 7.1.1 Introduction On our website www.kollmorgen.com, you can find an STEP 7 sample project which provides a PROFINET network with an IO-controller and the AKD as IO-device. The sample project can help you to learn:... -
Page 48: Getting Started
1” (PROFIdrive) is chosen. The signals control word, speed set point as well as status word and speed actual value are mapped to the IO-Data. The AKD has to be set to DRV.OPMODE 1 for this operation. Kollmorgen | December 2014... -
Page 49: Enable The Drive And Run In Velocity Mode
Now the set point velocity can be set. In the example (see variable table) the value is QW 258 is 0xA3 (60 rpm ("Units" (➜ p. 43))). To start the motion, set Bit 4, 5 and 6 (enable ramp generator, unfreeze ramp generator and enable new set point). Kollmorgen | December 2014... -
Page 50: Record Of Document Revisions
352 to I/O Telegrams (➜ p. 41). Manufacturer specific telegram 353 (➜ p. 42) added. Signal number 102 and 103 added to Tele- G, 12/2014 gram configuration (➜ p. 35). Acc-/Deceleration Units (➜ p. 43) scaling information added. Kollmorgen | December 2014... -
Page 51: Index
PROFINET Hardware Prohibited Use Safety Instructions General Setup Step 7 Signals Status word Submode „Manual data input (MDI)“ Submode „Program mode“ Supported PNU's Symbols used Telegram 0 telegram 1 telegram 350 telegram 351 telegram 7 telegram 9 Kollmorgen | December 2014... -
Page 52: Kollmorgen | December
AKD PROFINET | 9 Index This page intentionally left blank. Kollmorgen | December 2014... - Page 53 About KOLLMORGEN Kollmorgen is a leading provider of motion systems and components for machine builders. Through world- class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage. ...
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