Kollmorgen AKD Bedienungsanleitung

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

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.

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

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™ | March 2012

Table of Contents
General 5
1 About this Manual 6
2 Target Group 6
3 Symbols used 7
4 Abbreviations Used 7
Safety 8
1 Safety Instructions 9
2 Use as directed 9
3 Prohibited use 9
Installation and Setup 10
1 Safety Instructions 11
2 PROFINET Onboard 12
2.1 LED functions 12
2.2 Connection technology 12
2.3 Network Connection Examples 12
3 Guide to Setup 13
4 Configure IP Address parameters 14
4.1 Dependency Service channel (WorkBench) and PROFINET 16
4.2 Reset of IP Address parameters 16
5 Setup Step 7 17
6 Parameter Configuration with PROFIdrive over PROFINET IO 20
6.1 Parameter configuration 21
6.2 Example for writing the operation mode 22
PROFINET IO 23
1 Introduction 24
2 Restrictions and requirements 24
2.1 Conformance Classes 24
2.2 Cycle time of RT data 24
2.3 Connector 24
2.4 Network topology 24
PROFIDRIVE over PROFINET IO 25
1 Introduction 26
2 AKD as Drive Object (DO) 27
3 General State Machine 28
4 Control word bits (STW1) 29
5 Status word bits (ZSW1) 31
6 Supported PNU's 32
7 Signals 33
8 Telegram configuration 33
9 Velocity Mode (Application class 1) 34
10 Position Mode (Application class 3) 35
10.1 Submode „Program mode“ 35
10.2 Submode „Manual data input (MDI)“ 36
AKD PROFINET | Table of Contents
Kollmorgen™ | March 2012 3

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

AKD PROFINET | Table of Contents

4 Kollmorgen™ | March 2012

1 General

1.1 About this Manual 6

1.2 Target Group 6

1.3 Symbols used 7

1.4 Abbreviations Used 7

AKD PROFINET | Table of Contents

Kollmorgen™ | March 2012 5

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.

AKD PROFINET | Table of Contents

6 Kollmorgen™ | March 2012

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

AKD PROFINET | Table of Contents

Kollmorgen™ | March 2012 7

2 Safety

2.1 Safety Instructions 9

2.2 Use as directed 9

2.3 Prohibited use 9

AKD PROFINET | Table of Contents

8 Kollmorgen™ | March 2012

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

AKD PROFINET | Table of Contents

Kollmorgen™ | March 2012 9

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

AKD PROFINET | Table of Contents

10 Kollmorgen™ | March 2012

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