Kollmorgen AKD Manuals

Manuals and User Guides for Kollmorgen AKD. We have 9 Kollmorgen AKD manuals available for free PDF download: User Manual, Installation Manual, Manual, Accessories Manual, Fault Card

Kollmorgen AKD User Manual (506 pages)

Brand: Kollmorgen | Category: Controller | Size: 1.86 MB

Table of Contents
4
1 About this User Guide

16
2 Program View

17
- Toolbar Options
  17
  - New
    17
  - Save / Save as
    17
  - Open
    18
  - Edit Parameters Section
    18
  - Compile / Download / Run
    18
  - Continue / Pause / Stop
    18
  - Debug
    18
  - View
    19
  - Format Document
    19
  - Insert Code Snippet
    19
  - Upload
    19
  - Lock
    19
3 AKD BASIC Language

20
- AKD BASIC Program Structure
  20
  - Local Variables
    20
  - Global Variables
    20
- Program Sections
  21
  - Program Template
    21
  - Setup Parameter Definitions
    21
  - Global Variables, Constants, and Aliases
    22
  - Variable Definitions
    22
  - Constant Definitions
    22
  - Alias Definitions
    23
- Main Program, Subroutines, Functions & Interrupt Handlers
  23
  - Main Definitions
    23
  - Subroutine Definition
    24
  - Function Definition
    25
  - Interrupt Handler Definition
    25
- Language Definition
  26
  - Lexical Conventions
    26
  - Identifiers
    26
  - Data Types
    26
  - Literal Constants
    27
  - Decimal Integer Constants
    27
  - Hexadecimal Constants
    27
  - Floating-Point Constants
    27
- Statements
  28
  - Alias
    28
  - Call
    28
  - Cls
    28
  - Const
    28
  - DIM
    29
  - Exit
    29
  - For
    29
  - Function
    30
  - Goto
    30
  - Include
    31
  - Input
    31
  - Interrupt
    31
  - Move.abort
    31
  - Move.goabs
    31
  - Move.gohome
    31
  - Move.gorel
    32
  - Move.goupdate
    32
  - Move.govel
    32
  - On Error Goto
    32
  - Pause( )
    33
  - Print
    33
  - Example
    33
  - VM.restart
    33
  - Select Case
    33
  - Static
    34
  - Stop
    34
  - Sub
    34
  - Swap
    35
  - When
    35
- Built-In Functions
  35
  - Parameters and Commands
    36
- Expressions
  37
  - Arithmetic Expressions
    37
  - Numeric Operators
    37
  - Logical Operators
    37
  - String Operators
    38
  - Example
    38
- Function Invocation
  38
  - Include
    38
- Arrays and Function Parameter Lists
  39
  - Optimizations
    39
- Modbus TCP/IP
  41
- Cam Profiling
  43
  - Procedure
    43
  - Related Variables
    43
  - Cam Wizard
    44
  - Example
    45
  - Program
    45
  - Virtual Encoder (Virtual Master)
    46
  - Move Parameters
    47
  - Move Statements
    47
  - Other Variables
    47
4 Quick Reference: Parameters, Functions, Operators

48
- AKD Parameters and Commands
  48
- AKD BASIC Parameters and Commands
  55
5 AKD BASIC Functions

63
- Abs()
  64
- Asc()
  65
- Atan()
  66
- Chr$()
  67
- Cint()
  68
- Cos()
  69
- Exp()
  70
- Fix()
  71
- Hex$()
  72
- Inkey$()
  73
- Instr()
  74
- Int()
  75
- Lcase$()
  76
- Left$()
  77
- Len()
  78
- Log()
  79
- Log10()
  80
- Ltrim$()
  81
- MID
  82
- Oct$()
  83
- Right$()
  84
- Rtrim$()
  85
- Sgn()
  86
- Sin()
  87
- Space$()
  88
- Sqr()
  89
- Str$()
  90
  - Exit
    104
  - For...next
    105
  - Function
    106
  - Goto
    107
  - If...then...else
    108
  - Input
    109
  - On Error Goto
    110
  - Pause()
    112
  - Print
    113
  - Restart
    114
  - Select Case
    115
  - Static
    116
  - Stop
    117
  - Sub...end Sub
    118
  - Swap
    119
  - While...wend
    120
- Operators
  121
  - Mod
    122
- AIN Parameters
  123
  - Ain.cutoff
    124
  - Ain.deadband
    125
  - Ain.deadbandmode
    127
  - Ain.iscale
    129
  - Ain.mode
    130
  - Ain.offset
    131
  - Ain.pscale
    132
  - Ain.value
    134
  - Ain.vscale
    135
  - Ain.zero
    137
- AOUT Parameters
  139
  - Aout.cutoff
    140
  - Aout.debugaddr
    141
  - Aout.debugdatatype
    142
  - Aout.debugscale
    143
  - Aout.iscale
    144
  - Aout.mode
    145
  - Aout.offset
    146
  - Aout.pscale
    147
  - Aout.value
    149
  - Aout.valueu
    150
  - Aout.vscale
    151
- CAM Parameters
  152
  - Cam.activate
    153
  - Cam.addpoint
    155
  - Cam.correctdir
    157
  - Cam.create
    158
  - Cam.master
    160
  - Cam.masterpos
    161
  - Cam.slaveoffset
    162
  - Camvm.dir
    163
  - Camvm.freq
    164
  - Camvm.gorel
    165
  - Camvm.goupdate
    166
  - Camvm.govel
    167
  - Camvm.moving
    168
  - Camvm.position
    169
  - Camvm.relativedist
    170
  - Camvm.stop
    171
- CAP Parameters
  172
  - Cap0.Edge, Cap1.Edge
    173
  - Cap0.En, Cap1.En
    174
  - Cap0.Event, Cap1.Event
    175
  - Cap0.Filter, Cap1.Filter
    178
  - Cap0.Mode, Cap1.Mode
    179
  - Cap0.Plfb, Cap1.Plfb
    180
  - Cap0.Preedge, Cap1.Preedge
    181
  - Cap0.Prefilter, Cap1.Prefilter
    182
  - Cap0.Preselect, Cap1.Preselect
    183
  - Cap0.State, Cap1.State
    184
  - Cap0.T, Cap1.T
    185
  - Cap0.Trigger, Cap1.Trigger
    186
- CS Parameters
  188
  - Cs.dec
    189
  - Cs.state
    190
  - Cs.to
    191
  - Cs.vthresh
    192
- DIN Parameters
  193
  - Din.rotary
    194
  - Din.states
    195
  - Din1.Filter to Din7.Filter
    196
  - DIN1.INV to DIN7.INV
    197
  - DIN1.MODE to DIN19.MODE
    198
  - Din1.State to Din7.State
    200
  - DIN9.STATE to DIN11.STATE
    201
- DIO Parameters
  202
  - DIO9.INV to DIO11.INV
    203
  - DIO9.DIR to DIO11.DIR
    204
- DOUT Parameters
  205
  - Dout.relaymode
    206
  - Dout.states
    207
  - DOUT8.MODE to DOUT11.MODE
    208
  - Dout1.Param and Dout2.Param
    209
  - Dout1.State and Dout2.State
    210
  - Dout1.Stateu and Dout2.Stateu
    211
  - DOUT9.STATE to DOUT11.STATE
    212
  - DOUT9.STATEU to DOUT11.STATEU
    213
- DRV Parameters
  214
  - Drv.acc
    215
  - Drv.active
    217
  - Drv.blinkdisplay
    218
  - Drv.clrfaulthist
    219
  - Drv.clrfaults
    220
  - Drv.cmdsource
    221
  - Drv.dbilimit
    222
  - Drv.dec
    223
  - Drv.dir
    224
  - Drv.dis
    226
  - Drv.dissources
    227
  - Drv.disto
    228
  - Drv.emuedir
    229
  - Drv.emuemode
    230
  - Drv.emuemturn
    232
  - Drv.emueres
    233
  - Drv.emuezoffset
    234
  - Drv.en
    235
  - DRV.FAULT1 to DRV.FAULT10
    236
  - Drv.handwheel
    237
  - Drv.handwheelsrc
    238
  - Drv.hwenable
    239
  - Drv.icont
    240
  - Drv.ipeak
    241
  - Drv.name
    242
  - Drv.nvload
    243
  - Drv.nvsave
    244
  - Drv.opmode
    245
  - Drv.rstvar
    246
  - Drv.setupreqbits
    247
  - Drv.stop
    248
  - Drv.swenable
    249
  - Drv.time
    250
  - DRV.WARNING1 to DRV.WARNING10
    251
- EGEAR Parameters
  252
  - Egear.acclimit
    253
  - Egear.declimit
    254
  - Egear.error
    255
  - Egear.lock
    256
  - Egear.on
    257
  - Egear.pulsesin
    258
  - Egear.pulseout
    259
  - Egear.ratio
    260
  - Egear.type
    261
- EXTENCODER Parameters
  262
  - Extencoder.freq
    263
  - Extencoder.position
    264
  - Extencoder.posmodulo
    265
- FAULT Parameters
  266
  - Faultx.action
    267
- FB1 Parameters
  268
  - Fb1.Bissbits
    269
  - Fb1.Encres
    270
  - Fb1.Hallstate
    271
  - Fb1.Hallstateu
    272
  - Fb1.Hallstatev
    273
  - Fb1.Hallstatew
    274
  - Fb1.Identified
    275
  - Fb1.Initsigned
    276
  - Fb1.Mechpos
    277
  - Fb1.Memdump
    278
  - Fb1.Memver
    279
  - Fb1.Origin
    280
  - Fb1.P
    282
  - Fb1.Pdir
    283
  - Fb1.Poffset
    284
  - Fb1.Poles
    285
  - Fb1.Pscale
    286
  - Fb1.Punit
    287
  - Fb1.Select
    288
- FB2 Parameters
  290
  - Fb2.Encres
    291
  - Fb2.Mode
    292
  - Fb2.P
    293
  - Fb2P.dir
    294
  - Fb2.Poffset
    294
  - Fb2.Punit
    295
  - Fb2.Source
    296
- FB3 Parameters
  297
  - Fb3.Mode
    298
  - Fb3.Poffset
    299
  - Fb3.Punit
    300
- HWLS Parameters
  301
  - Hwls.negstate
    302
  - Hwls.posstate
    303
- IL Parameters
  304
  - Il.busff
    305
  - Il.CMD
    306
  - Il.cmdu
    307
  - Il.dfoldt
    308
  - Il.difold
    309
  - Il.fb
    310
  - Il.ff
    311
  - Il.foldfthresh
    312
  - Il.foldwthresh
    313
  - Il.ifold
    314
  - Il.iufb
    315
  - Il.ivfb
    316
  - Il.kp
    317
  - Il.kpdratio
    318
  - Il.limitn
    319
  - Il.limitp
    320
  - Il.mfoldd
    321
  - Il.mfoldr
    322
  - Il.mfoldt
    323
  - Il.mifold
    324
  - Il.VCMD
    325
  - Il.vufb
    326
  - Il.vvfb
    327
- INTR Parameters
  328
  - Interrupt {Source
    329
  - Interrupt
    332
- LOAD Parameters
  333
  - Load.inertia
    334
- MODBUS Paramters
  335
  - Modbus.readfloat
    336
  - Modbus.writefloat
    337
- MOTOR Parameters
  338
  - Motor.brake
    339
  - Motor.brakeimm
    340
  - Motor.brakerls
    341
  - Motor.icont
    342
  - Motor.inertia
    343
  - Motor.ipeak
    344
  - Motor.ke
    345
  - Motor.kt
    346
  - Motor.lqll
    347
  - Motor.name
    348
  - Motor.phase
    349
  - Motor.pitch
    350
  - Motor.poles
    351
  - Motor.r
    352
  - Motor.tbrakeapp
    353
  - Motor.tbrakerls
    354
  - Motor.temp
    355
  - Motor.tempfault
    356
  - Motor.tempwarn
    357
  - Motor.type
    358
  - Motor.voltmax
    359
- MOVE Parameters
  360
  - Move.abort
    361
  - Move.acc
    362
  - Move.dec
    364
  - Move.dir
    366
  - Move.dwelltime
    367
  - Move.goabs
    368
  - Move.gohome
    369
  - Move.gorel
    370
  - Move.goupdate
    371
  - Move.govel
    372
  - Move.inposition
    373
  - Move.inposlimit
    374
  - Move.moving
    375
  - Move.poscommand
    376
  - Move.relativedist
    377
  - Move.runspeed
    378
  - Move.scurvetime
    379
  - Move.targetpos
    380
- PL Parameters
  381
  - Pl.CMD
    382
  - Pl.err
    383
  - Pl.errfthresh
    384
  - Pl.errmode
    386
  - Pl.errwthresh
    388
  - Pl.fb
    390
  - Pl.fbsource
    391
  - Pl.intinmax
    392
  - Pl.intoutmax
    394
  - Pl.ki
    396
  - Pl.kp
    397
  - Pl.modp1
    398
  - Pl.modp2
    399
  - Pl.modpdir
    400
  - Pl.modpen
    401
- PLS Parameters
  402
  - Pls.en
    403
  - Pls.mode
    404
  - Pls.p1 to Pls.p8
    405
  - Pls.reset
    406
  - Pls.state
    407
  - Pls.t1 to Pls.t8
    408
  - Pls.units
    409
  - Pls.width1 to Pls.width8
    411
- REC Parameters
  413
  - Rec.active
    413
  - Rec.done
    414
  - Rec.off
    415
  - Rec.trig
    416
- REGEN Parameters
  417
  - Regen.power
    418
  - Regen.rext
    419
  - Regen.text
    420
  - Regen.type
    421
  - Regen.wattext
    422
- STO Parameters
  423
  - Sto.state
    424
- SWLS Parameters
  425
  - Swls.en
    426
  - Swls.limit0
    427
  - Swls.limit1
    428
  - Swls.state
    429
- UNIT Parameters
  430
  - Unit.acclinear
    431
  - Unit.accrotary
    432
  - Unit.label
    433
  - Unit.pin
    434
  - Unit.plinear
    435
  - Unit.pout
    436
  - Unit.protary
    437
  - Unit.vlinear
    438
  - Unit.vrotary
    439
- VBUS Parameters
  440
  - Vbus.ovfthresh
    441
  - Vbus.ovwthresh
    442
  - Vbus.rmslimit
    443
  - Vbus.uvfthresh
    444
  - Vbus.uvmode
    445
  - Vbus.uvwthresh
    446
  - Vbus.value
    447
- VL Parameters
  448
  - Vl.arpf1 to Vl.arpf4
    449
  - Vl.arpq1 to Vl.arpq4
    451
  - Vl.artype1 to Vl.artype4
    453
  - Vl.arzf1 to Vl.arzf4
    454
  - Vl.arzq1 to Vl.arzq4
    456
  - Vl.busff
    458
  - Vl.CMD
    459
  - Vl.cmdu
    460
  - Vl.err
    461
  - Vl.fb
    462
  - Vl.fbfilter
    463
  - Vl.fbsource
    464
  - Vl.fbunfiltered
    465
  - Vl.ff
    466
  - Vl.genmode
    467
  - Vl.kbusff
    468
  - Vl.ki
    469
  - Vl.kp
    470
  - Vl.kvff
    471
  - Vl.limitn
    472
  - Vl.limitp
    473
  - Vl.lmjr
    474
  - Vl.thresh
    475
- VM Parameters
  477
  - VM.autostart
    478
  - VM.err
    479
  - VM.intrtimer
    481
  - VM.restart
    482
- WHEN Parameters
  483
  - When
    484
  - When.drvhandwheel
    486
  - When.drvtime
    487
  - When.fb1Mechpos
    488
  - When.plcmd
    489
  - When.plfb
    490
- WS Parameters
  491
  - Ws.arm
    492
  - Ws.disarm
    493
  - Ws.distmax
    494
  - Ws.distmin
    495
  - Ws.imax
    496
  - Ws.mode
    497
  - Ws.numloops
    498
  - Ws.state
    499
  - Ws.t
    500
  - Ws.tdelay1
    501
  - Ws.tdelay2
    502
  - Ws.tdelay3
    503
  - Ws.vthresh
    504

Kollmorgen AKD Installation Manual (196 pages)

Brand: Kollmorgen | Category: DC Drives | Size: 11.67 MB

Table of Contents

3
- Digital Inputs 3 to
  7
- 2 General
  9
2 General

10
- 1 Table of Contents
  
  10
  - About this Manual
    10
  - Using the PDF Format
    10
  - Notes for the Printed Edition (Paper Version)
    10
  - Symbols Used
    11
  - Abbreviations Used
    12
  - Standards Used
    13
- 3 Safety
  
  14
  - You Should Pay Attention to this
    15
  - Use as Directed
    17
  - Prohibited Use
    17
  - Handling
    18
    
    Packaging
    18
    
    Storage
    18
    
    Transport
    18
    
    Maintenance and Cleaning
    19
    
    Repair and Disposal
    19
    
    Uninstalling
    19
- 4 Approvals
  
  20
  - Conformance with Ul/Cul
    21
    
    UL Markings
    21
  - CE Conformance
    22
    
    European Directives and Standards for the Machine Builder
    23
    
    EC Declaration of Conformity
    24
  - Safe Torque off (STO)
    25
- 5 Package
  
  26
  - Package Supplied
    27
  - Nameplate
    27
  - Part Number Scheme
    28
6 Technical Description and Data

29
- The AKD Family of Digital Drives
  30
- Ambient Conditions, Ventilation, and Mounting Position
  32
- Mechanical Data
  32
- Inputs/Outputs
  33
- Electrical Data AKD-Xzzz06
  34
- Electrical Data AKD-Xzzz07
  35
- Performance Data
  36
- Recommended Tightening Torques
  36
- Fusing
  37
- Grounding System
  37
- Connectors
  38
- Cable and Wire Requirements
  39
  - General
    39
  - Cable Cross Sections and Requirements
    39
- Dynamic Braking
  40
  - Regen Circuit
    40
    
    Functional Description
    40
    
    Technical Data for AKD-Xzzz06
    41
    
    Technical Data for AKD-Xzzz07
    42
- Switch-On and Switch-Off Behavior
  43
  - Switch-On Behavior in Standard Operation
    44
  - Switch-Off Behavior
    45
    
    Switch-Off Behavior Using the DRV.DIS Command
    45
    
    Switch-Off Behavior Using a Digital Input (Controlled Stop)
    46
    
    Switch-Off Behavior Using HW Enable Input (Uncontrolled Stop)
    46
    
    Switch-Off Behavior in the Event of a Fault
    47
- Stop / Emergency Stop / Emergency off
  50
  - Stop
    50
  - Emergency Stop
    51
  - Emergency off
    51
- Safe Torque off (STO)
  52
  - Safety Characteristic Data
    52
  - Use as Directed
    52
  - Prohibited Use
    52
  - Safety Instructions
    53
  - Technical Data and Pinning
    54
  - Enclosure, Wiring
    54
  - Functional Description
    54
    
    Functional Test
    55
    
    Signal Diagram (Sequence)
    55
    
    Control Circuit (Example)
    56
    
    Mains Supply Circuit (Example)
    57
- Shock-Hazard Protection
  58
- 7 Mechanical Installation
  59

Kollmorgen AKD User Manual (162 pages)

CAN-BUS Communication

Brand: Kollmorgen | Category: Servo Drives | Size: 1.6 MB

Kollmorgen AKD Manual (102 pages)

Using AKD EtherNet/IP with RSLogix

Brand: Kollmorgen | Category: Servo Drives | Size: 0.94 MB

1 Table of Contents

3
2 Introduction

7
- Controller Support
  7
- Add-On Instructions
  7
3 AKD Installation and Setup

9
4 Quick Start with the AKD Sample Project

10
5 Adding AKD Support to a New or Existing Project

11
6 AKD Instructions

28
- Motion Axis Drive Communication (Akd_Drive)
  28
  - Description
    28
  - Operands
    28
  - AKD_DRIVE Structure
    28
  - Execution
    28
  - Changes to Axis Status Bits
    29
- Motion Axis on (Akd_Enable)
  30
  - Description
    30
  - Operands
    30
  - AKD_ENABLE Structure
    30
  - Execution
    30
  - Changes to Axis Status Bits
    31
- Motion Axis off (Akd_Disable)
  32
  - Description
    32
  - Operands
    32
  - AKD_DISABLE Structure
    32
  - Execution
    32
  - Changes to Axis Status Bits
    33
- Motion Axis Home (Akd_Home)
  33
  - Description
    33
  - Operands
    33
  - AKD_HOME Structure
    33
  - Execution
    34
  - Changes to Axis Status Bits
    34
- Motion Axis Jog (Akd_Jog)
  34
  - Description
    34
  - Operands
    35
  - AKD_JOG Structure
    35
  - Programming Guidelines
    35
- Execution
  35
- Changes to Axis Status Bits
  36
Motion Axis Move (Akd_Move)

37
- Description
  37
- Operands
  37
- AKD_MOVE Structure
  37
- Programming Guidelines
  38
- Choosing a Move Type
  38
- Execution
  38
- Changes to Axis Status Bits
  38
- Description
  39
- Operands
  39
Motion Axis Set Home Mode (Akd_Set_Home_Mode)

39
- AKD_SET_HOME_MODE Structure
  40
- Homing Modes
  40
- Execution
  40
- Changes to Axis Status Bit
  40
Motion Axis Set Acceleration (Akd_Set_Accel)

41
- Description
  41
- Operands
  41
- AKD_SET_ACCEL Structure
  41
- Execution
  41
- Changes to Axis Status Bits
  42
Motion Axis Set Deceleration (Akd_Set_Decel)

43
- Description
  43
- Operands
  43
- AKD_SET_DECEL Structure
  43
- Execution
  43
- Changes to Axis Bits
  44
Motion Axis Set Mode (Akd_Set_Mode)

45
- Description
  45
- Operands
  45
- AKD_SET_MODE Structure
  45
- Operation Modes
  45
- Execution
  46
- Changes to Axis Status Bits
  46
Motion Axis Set Position (Akd_Set_Position)

47
- Description
  47
- Operands
  47
- AKD_SET_POSITION Structure
  47
- Execution
  48
- Changes to Axis Status Bits
  48

Kollmorgen AKD Accessories Manual (81 pages)

Brand: Kollmorgen | Category: Servo Drives | Size: 5.61 MB

1 Table of Contents

3
2 General

6
- About this Manual
  6
- Symbols
  6
- General Safety Instructions
  6
3 Digital Drive Systems

7
4 Mechanical Tools

15
- Safety Instructions
  15
- Mounting Kit for AKMH Motors
  15
- Suspension Unit for AKM8 Motors
  16
- Heat Sink for AKD-N
  17
- Mounting Clamps for AKD-N
  17
5 Input, Output, and Feedback Accessories

18
- X9 Screw Terminal Adapter, AKD-X9ADPT
  18
- Linear Motor Adapter
  18
  - ACI-AKD-A Pinout Drawing
    19
  - ACI-AKD-B Pinout Drawing
    19
6 Shielding Accessories

20
7 Mating Connectors and Adapters

26
- Connectors for AKD-B/P/T/M
  26
- Connectors for AKD-C
  27
- Connectors for AKD-N
  27
- Connectors for AKD2G
  28
- Smart Feedback Adapter (SFA) for AKD2G
  29
8 Mains Chokes

30
- Safety Instructions
  30
- Type Assignment
  31
- Order Codes
  31
- Mains Choke 3L
  32
9 Mains Filters

33
- Safety Instructions
  33
- Type Assignment
  33
- Order Codes
  34
- Mains Filters FN2090
  35
- Mains Filters 1NF-10
  36
- Mains Filters FN3288
  37
- Mains Filters 1NF-20B, 1NF-25
  38
- Mains Filters 3NF-07
  39
10 Capacitor Modules

40
- Important Notes
  40
- Order Codes
  41
- KCM Module
  42
- External Regen Resistor BAFP(U)
  43
11 Brake/Regeneration Resistors

44
- Safety Instructions
  44
- Type Assignment
  45
- Order Codes
  46
- External Regen Resistor BAFP(U)
  47
- External Regen Resistor BAR(U)
  48
- External Regen Resistor BAS(U)
  49
12 Motor Chokes

50
- Shielded Motor Cables
  50
- Safety Instructions
  51
- Type Assignment
  51
- Motor Choke 3YLN-XX
  52

Kollmorgen AKD Manual (75 pages)

PROFINET RT Communication

Brand: Kollmorgen | Category: Servo Drives | Size: 1.38 MB

1 Table of Contents

3
2 General

5
- About this Manual
  6
- Target Group
  6
- Symbols Used
  7
- Abbreviations Used
  7
3 Installation and Setup

8
4 Profinet Io

21
- Introduction
  22
- Restrictions and Requirements
  22
  - Conformance Classes
    22
  - Cycle Time of RT Data
    22
  - Connector
    22
  - Network Topology
    22
  - Modbus
    22
5 PROFIDRIVE over PROFINET IO

23
- Introduction
  24
- AKD as Drive Object (DO)
  25
- General State Machine
  26
- Control Word Bits (STW1)
  27
- Status Word Bits (ZSW1)
  29
- Supported Pnu's
  30
- Signals
  48
- Telegram Configuration
  48
  - Drive Inputs Signal
    49
- Velocity Mode (Application Class 1)
  49
- Position Mode (Application Class 3)
  50
- Submode „Program Mode
  50
- Submode „Manual Data Input (MDI)
  51
  - Homing
    53
- I/O Telegrams
  54
- Units
  58
- Alarms
  59
6 PN Parameters

60
- Pn.accscaling
  61
- Pn.posscale
  62
- Pn.stw1
  62
- Pn.timeoutfthresh
  63
- Pn.velscaling
  64
- Pn.zsw1
  65

Kollmorgen AKD Manual (49 pages)

Ethernet/IP Communication

Brand: Kollmorgen | Category: Conference System | Size: 0.35 MB

Status Word
2
1 Table of Contents

3
2 About this Manual

5
3 Overview

6
4 AKD Ethernet/Ip Features

7
- Supported Features
  7
- Expected Packet Rate
  7
- Connection Port
  7
- Network Topology
  7
5 Setup

8
6 Communication Profile

9
- Explicit Messaging (On-Demand)
  9
  - Supported Services
    9
  - Supported Objects
    9
  - Data Types
    10
  - Error Codes
    10
- I/O Assembly Messaging (Cyclic)
  10
- Velocity Mode
  17
  - Setup Velocity Mode
    17
  - Velocity Moves
    17
- Position Mode
  17
  - Setup Position Mode
    17
  - Homing
    17
  - Position Moves (Point to Point)
    18
  - Running a Stored Motion Task Sequence
    18
- Torque
  18
  - Setup Torque Mode
    18
  - Torque Moves
    19
- Handling Faults
  19
- Saving to Non-Volatile Memory
  19

Kollmorgen AKD Manual (48 pages)

PROFINET RT Communication

Brand: Kollmorgen | Category: Servo Drives | Size: 0.89 MB

Table of Contents
3
1 General

5
- About this Manual
  6
- Target Group
  6
- Symbols Used
  7
- Abbreviations Used
  7
  - Standard Telegram
    7
2 Safety

8
- Safety Instructions
  9
- Use as Directed
  9
- Prohibited Use
  9
  - Standard Telegram
    9
3 Installation and Setup

10
- Safety Instructions
  11
- PROFINET Onboard
  12
  - LED Functions
    12
  - Connection Technology
    12
  - Network Connection Examples
    12
- Guide to Setup
  13
- Configure IP Address Parameters
  14
  - Dependency Service Channel (Workbench) and PROFINET
    16
  - Reset of IP Address Parameters
    16
- Setup Step
  17
- Parameter Configuration with Profidrive over PROFINET IO
  20
  - Parameter Configuration
    21
  - Example for Writing the Operation Mode
    22
4 Profinet Io

23
- Introduction
  24
- Restrictions and Requirements
  24
  - Conformance Classes
    24
  - Cycle Time of RT Data
    24
  - Connector
    24
  - Network Topology
    24
5 PROFIDRIVE over PROFINET IO

25
- Introduction
  26
- AKD as Drive Object (DO)
  27
- General State Machine
  28
- Control Word Bits (STW1)
  29
- Status Word Bits (ZSW1)
  31
- Supported Pnu's
  32
- Signals
  33
- Telegram Configuration
  33
- Velocity Mode (Application Class 1)
  34
- Position Mode (Application Class 3)
  35
  - Submode „Program Mode
    35
  - Submode „Manual Data Input (MDI)
    36
  - Homing
    38
- I/O Telegrams
  39
  - Telegram
    39
  - Standard Telegram
    39
  - Manufacturer Specific Telegram 350
    40
- Units
  40
  - Velocity Units
    40
  - Position Units
    40
  - Acc-/Deceleration Units
    40
  - Current Units
    40
- Alarms
  41
- Fault
  41

Kollmorgen AKD Fault Card (31 pages)

Brand: Kollmorgen | Category: Servo Drives | Size: 0.34 MB

Kollmorgen Categories

Servo Drives Amplifier Touch terminals DC Drives Engine

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Kollmorgen AKD Manuals

Table of Contents

1 About this User Guide

2 Program View

3 AKD BASIC Language

4 Quick Reference: Parameters, Functions, Operators

5 AKD BASIC Functions

Table of Contents

Table of Contents

2 General

1 Table of Contents

3 Safety

4 Approvals

5 Package

6 Technical Description and Data

Table of Contents

1 Table of Contents

2 General

3 Safety

4 Installation and Setup

5 Canopen Basics

6 Canopen Communication Profile

7 Canopen Drive Profile

Table of Contents

1 Table of Contents

2 Introduction

3 AKD Installation and Setup

4 Quick Start with the AKD Sample Project

5 Adding AKD Support to a New or Existing Project

6 AKD Instructions

Motion Axis Move (Akd_Move)

Motion Axis Set Home Mode (Akd_Set_Home_Mode)

Motion Axis Set Acceleration (Akd_Set_Accel)

Motion Axis Set Deceleration (Akd_Set_Decel)

Motion Axis Set Mode (Akd_Set_Mode)

Motion Axis Set Position (Akd_Set_Position)

Table of Contents

1 Table of Contents

2 General

3 Digital Drive Systems

4 Mechanical Tools

5 Input, Output, and Feedback Accessories

6 Shielding Accessories

7 Mating Connectors and Adapters

8 Mains Chokes

9 Mains Filters

10 Capacitor Modules

11 Brake/Regeneration Resistors

12 Motor Chokes

Table of Contents

1 Table of Contents

2 General

3 Installation and Setup

4 Profinet Io

5 PROFIDRIVE over PROFINET IO

6 PN Parameters

Table of Contents

1 Table of Contents

2 About this Manual

3 Overview

4 AKD Ethernet/Ip Features

5 Setup

6 Communication Profile

Table of Contents

1 General

2 Safety

3 Installation and Setup

4 Profinet Io

5 PROFIDRIVE over PROFINET IO

Table of Contents

1 Table of Contents

2 Fault and Warning Messages

3 Additional Fault Messages AKD-T

4 Record of Document Revisions

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