Kollmorgen AKD-CC Manuel utilisateur

AKD®

EtherCAT Communication

Edition: P, October 2017

Valid for firmware version 1.17

Part Number 903-200005-00

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

... Table with lifecycle information of this document see "Record of Document Revisions" (➜p.

169)

L, 11/2015 Objects 60C1/60D0/20A4/20A5 updated, objects 1C12/1C13/605A/60E0/60E1/60FC added,

object dictionary updated

M, 09/2016 Supported cyclical actual values (3470) updated, object 6077 updated, chapter "Important Para-

meters" updated. Added objects 35B8h, 35BDh, and 6087h.

N, 03/2017 Setting up Ethernet over EtherCAT (EoE) (➜p. 18) added.

P, 10/2017 Added 0x1725 and 0x1B26 to Fixed PDO Mappings (➜p. 42). Corrections to Objects 1C12h

and 1C13h.

Trademarks

lAKD is a registered trademark of Kollmorgen Corporation

lSynqNet is a registered trademark of Motion Engineering Inc.

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.

lsercos®is a registered trademark of sercos®international e.V.

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 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

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.

2 Kollmorgen | kdn.kollmorgen.com | October 2017

1 Table of Contents

1 Table of Contents 3

2 General 7

2.1 About this Manual 8

2.2 Target Group 8

2.3 Symbols Used 9

2.4 Abbreviations Used 10

3 Installation and Setup 11

3.1 Important Instructions 12

3.2 EtherCAT Onboard 13

3.2.1 LED functions 13

3.2.2 Connection technology 13

3.2.3 Network Connection Example 13

3.3 EtherCAT activation with AKD-CC models 14

3.4 Guide to Setup 15

3.5 Important Configuration Parameters 16

3.6 Setting up Ethernet over EtherCAT (EoE) 18

3.6.1 EtherCATDevice Settings 18

3.6.2 Drive Settings 18

3.6.3 Connecting to the Drive 19

3.6.4 Performance Concerns 19

3.6.5 Restrictions 20

3.7 Setup via TwinCAT NC/PTP System Manager 21

3.7.1 Scan devices 22

3.7.2 Select the device 22

3.7.3 Scan for boxes 23

3.7.4 Add Slaves to NC tasks 23

3.7.5 Enable the network configuration 23

3.7.6 Enable the axis and move the axis 24

3.8 Setup WorkBench over TwinCAT 25

3.8.1 TwinCAT and WorkBench configuration 26

3.8.2 Connecting to a drive using WorkBench 27

3.8.3 Configuring and enabling a drive 30

3.8.4 Download a parameterfile over TwinCAT 31

3.9 Setup via KAS IDE 32

4 EtherCAT Profile 33

4.1 Slave Register 34

4.2 AL Event (Interrupt Event) and Interrupt Enable 35

4.2.1 Interrupt Enable Register (Address 0x0204:0x0205) 35

4.2.2 AL Event Request (Address 0x0220:0x0221) 36

4.3 Phase Run-Up 37

4.3.1 AL Control (Address 0x0120:0x0121) 37

4.3.2 AL Status (Address 0x0130:0x0131) 37

4.3.3 AL Status Code (Address 0x0134:0x0135) 38

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4.3.4 EtherCAT communication phases 38

4.4 CANopen over EtherCAT (CoE) State Machine 39

4.4.1 Status Description 39

4.4.2 Commands in the Control Word 40

4.4.3 State Machine Bits (status word) 41

4.5 Fixed PDO Mappings 42

4.6 Flexible PDO Mappings 44

4.6.1 Example: Flexible PDO Mapping 45

4.7 Supported Cyclical Setpoint and Actual Values 49

4.8 Supported Operation Modes 51

4.9 Adjusting EtherCAT Cycle Time 51

4.10 Maximum Cycle Times depending on operation mode 51

4.11 Synchronization 52

4.11.1 Synchronization behavior with distributed clocks (DC) enabled 52

4.11.2 Synchronization behavior with distributed clocks (DC) disabled 52

4.12 Latch Control Word and Latch Status Word 53

4.13 Mailbox Handling 54

4.13.1 Mailbox Output 55

4.13.2 Mailbox Input 56

4.13.3 Example: Mailbox Access 57

4.14 EEProm Content 58

5 Appendix 59

5.1 CANopen Emergency Messages and Error Codes 59

5.2 Object Dictionary 65

5.2.1 Float Scaling 65

5.2.2 Effectiveness of PDO set-points 65

5.2.3 Communication SDOs 65

5.2.4 Manufacturer specific SDOs 68

5.2.5 Profile specific SDOs 86

5.3 Object descriptions 90

5.3.1 Object 1000h: Device Type (DS301) 91

5.3.2 Object 1001h: Error register (DS301) 92

5.3.3 Object 1002h: Manufacturer Status Register (DS301) 93

5.3.4 Object 1003h: Predefined Error Field (DS301) 94

5.3.5 Object 1005h: COB-ID of the SYNC Message (DS301) 95

5.3.6 Object 1006h: Communication Cycle Period (DS301) 95

5.3.7 Object 1008h: Manufacturer Device Name (DS301) 96

5.3.8 Object 1009h: Manufacturer Hardware Version 96

5.3.9 Object 100Ah: Manufacturer Software Version (DS301) 96

5.3.10 Object 100Ch: Guard Time (DS301)Response monitoring 97

5.3.11 Object 100Dh: Lifetime Factor (DS301) 97

5.3.12 Object 1010h: Store Parameters (DS301) 98

5.3.13 Object 1011h: Restore Default Parameters DS301 99

5.3.14 Object 1012h: COB-ID of the Time Stamp (DS301) 100

5.3.15 Object 1014h: COB-ID for Emergency Message (DS301) 100

5.3.16 Object 1016h: Consumer Heartbeat Time 101

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5.3.17 Object 1017h: Producer Heartbeat Time 102

5.3.18 Object 1018h: Identity Object (DS301) 102

5.3.19 Object 1026h: OS Prompt 104

5.3.20 Objects 1400-1403h: 1st - 4th RxPDO communication parameter (DS301) 105

5.3.21 Objects 1600-1603h: 1st - 4th RxPDO mapping parameter (DS301) 106

5.3.22 Objects 1800-1803h: 1st - 4th TxPDO communication parameter (DS301) 107

5.3.23 Objects 1A00-1A03h: 1st - 4th TxPDO mapping parameter (DS301) 109

5.3.24 Object 1C12h: RxPDO assign (DS301) 110

5.3.25 Object 1C13h: TxPDO assign (DS301) 111

5.3.26 Object 2000h: SystemWarnings 112

5.3.27 Object 2001h: SystemFaults 112

5.3.28 Object 2002h: Manufacturer status bytes 113

5.3.29 Object 2011h: DRV.RUNTIME in seconds 114

5.3.30 Object 2012h: Fault history: Fault numbers 115

5.3.31 Object 2013h: Fault history: Time stamps 116

5.3.32 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO 117

5.3.33 Object 2018h: Firmware Version 118

5.3.34 Object 2026h: ASCII Channel 119

5.3.35 Object 204Ch: PV Scaling Factor 120

5.3.36 Object 2071h: Target Current 121

5.3.37 Object 2077h: Current ActualValue 121

5.3.38 Object 20A0h: Latch position 1, positive edge 121

5.3.39 Object 20A1h: Latch position 1, negative edge 122

5.3.40 Object 20A2h: Latch position 2, positive edge 122

5.3.41 Object 20A3h: Latch position 2, negative edge 123

5.3.42 Object 20A4h: Latch Control Register 123

5.3.43 Object 20A5h: Latch Status Register 124

5.3.44 Object 20A6h: Latch position 1, positive or negative edge 124

5.3.45 Object 20A7h: Latch position 2, positive or negative edge 125

5.3.46 Object 20B8h: Reset of changed input information 125

5.3.47 Object 345Ah: Brake Control 126

5.3.48 Object 3474h: Parameters for digital inputs 128

5.3.49 Object 3475h: Parameters for digital outputs 129

5.3.50 Object 3496h: Fieldbus synchronization parameters 130

5.3.51 Object 6040h: Control word (DS402) 132

5.3.52 Object 6041h: Status word (DS402) 133

5.3.53 Object 605Ah: Quick stop option code (DS402) 135

5.3.54 Object 6060h: Modes of Operation (DS402) 136

5.3.55 Object 6061h: Modes of Operation Display (DS402) 137

5.3.56 Object 6063h: position actual value* (DS402) 137

5.3.57 Object 6064h: position actual value (DS402) 137

5.3.58 Object 6065h: Following error window 138

5.3.59 Object 606Ch: Velocity actual value (DS402) 138

5.3.60 Object 6071h: Target torque (DS402) 139

5.3.61 Object 6073h: Max current (DS402) 139

5.3.62 Object 6077h: Torque actual value (DS402) 139

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5.3.63 Object 607Ah: Target position (DS402) 140

5.3.64 Object 607Ch: Homing offset (DS402) 140

5.3.65 Object 607Dh: Software position limit (DS402) 141

5.3.66 Object 6081h: Profile velocity (DS402) 142

5.3.67 Object 6083h: Profile acceleration (DS402) 142

5.3.68 Object 6084h: Profile deceleration (DS402) 142

5.3.69 Object 6087h Torque slope (DS402) 143

5.3.70 Object 608Fh: Position encoder resolution (DS402) 143

5.3.71 Object 6091h: Gear Ratio (DS402) 144

5.3.72 Object 6092h: Feed constant (DS402) 145

5.3.73 Object 6098h: Homing method (DS402) 146

5.3.74 Object 6099h: Homing speeds (DS402) 147

5.3.75 Object 609Ah: Homing acceleration (DS402) 149

5.3.76 Object 60B1h: Velocity Offset 149

5.3.77 Object 60B2h: Torque Offset 149

5.3.78 Object 60B8h: Touch probe function 150

5.3.79 Object 60B9h: Touch probe status 151

5.3.80 Object 60BAh: Touch probe 1 positive edge 152

5.3.81 Object 60BBh: Touch probe 1 negative edge 152

5.3.82 Object 60BCh: Touch probe 2 positive edge 152

5.3.83 Object 60BDh: Touch probe 2 negative edge 153

5.3.84 Object 60C0h: Interpolation sub mode select 153

5.3.85 Object 60C1h: Interpolation data record 154

5.3.86 Object 60C2h: Interpolation time period 155

5.3.87 Object 60C4h: Interpolation data configuration 156

5.3.88 Object 60D0h: Touch probe source 158

5.3.89 Object 60E0h: Positive Torque Limit Value 159

5.3.90 Object 60E1h: Negative Torque Limit Value 159

5.3.91 Object 60E4h: Additional position actual value 160

5.3.92 Object 60E8h: Additional gear ratio – motor shaft revolutions 161

5.3.93 Object 60E9h: Additional feed constant – feed 162

5.3.94 Object 60EDh: Additional gear ratio – driving shaft revolutions 163

5.3.95 Object 60EEh: Additional feed constant - driving shaft revolutions 164

5.3.96 Object 60F4h: Following error actual value (DS402) 165

5.3.97 Object 60FCh: Position demand internal value (DS402) 166

5.3.98 Object 60FDh: Digital inputs (DS402) 166

5.3.99 Object 60FEh: Digital outputs (DS402) 167

5.3.100 Object 60FFh: Target velocity (DS402) 168

5.3.101 Object 6502h: Supported drive modes (DS402) 168

6 Record of Document Revisions 169

7 Index 171

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2 General

2.1 About this Manual 8

2.2 Target Group 8

2.3 Symbols Used 9

2.4 Abbreviations Used 10

AKD EtherCAT | 2 General

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AKD EtherCAT | 2 General

2.1 About this Manual

This manual, AKD EtherCAT Communication, describes the installation, setup, range of func-

tions, and software protocol for the EtherCAT AKD product series. All AKD EtherCAT drives

have built-in EtherCAT 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 Installation ManualThis manual provides instructions for installation and drive setup.

lAKD User Guide. This manual describes how to use your drive in common applications. It

also provides tips for maximizing your system performance with the AKD. The User

Guide includes the Parameter and Command Reference Guide which provides doc-

umentation for the parameters and commands used to program the AKD.

lAKD CAN-BUS Communication. This manual describes the CAN communication and

delivers a lot of information for CAN over EtherCAT communication.

lAccessories Manual. This manual provides documentation for accessories like cables

and regen resistors used with AKD. Regional versions of this manual exist.

Additionally, an EtherCAT XML file, entitled AKD EtherCAT Device Description, describes

the drive SDO and PDO. This file is available on the Kollmorgen website (part of the firmware

zip archive).

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

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2.3 Symbols Used

Symbol Indication

DANGER Indicates a hazardous situation which, if not avoided, will res-

ult in death or serious injury.

WARNING Indicates a hazardous situation which, if not avoided, could res-

ult in death or serious injury.

CAUTION Indicates a hazardous situation which, if not avoided, could res-

ult in minor or moderate injury.

Indicates situations which, if not avoided, could result in prop-

erty damage.

This symbol indicates important notes.

Warning of a danger (general). The type of danger is specified

by the text next to the symbol.

Warning of danger from electricity and its effects.

Warning of danger from suspended loads.

Warning of danger from high temperature.

Warning of danger from automatic start.

AKD EtherCAT | 2 General

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AKD EtherCAT | 2 General

2.4 Abbreviations Used

Abbreviation Meaning

AL Application Layer: the protocol that directly used by the process entities.

Cat Category – classification for cables that is also used in Ethernet.

DC Distributed Clocks Mechanism to synchronize EtherCAT slaves and master

DL Data Link(=Layer 2). EtherCAT uses standardized Ethernet (IEEE 802.3)

ESC EtherCAT Slave Controller

FPGA Field Programmable Gate Array

FTP File Transfer Protocol

HW Hardware

ICMP Internet Control Message Protocol: Mechanisms for signaling IP errors.

IEC International Electrotechnical Commission: The international standards

IEEE Institute of Electrical and Electronics Engineers, Inc.

LLDP Link Layer Discovery Protocol

MAC Media Access Control

MII Media Independent Interface: Standardized interface Ethernet controller <-> routing

equipment.

MDI Media Dependant Interface: Use of connector Pins and Signaling.

MDI-X Media Dependant Interface (crossed): Use of connector Pins and Signaling with

crossed lines.

OSI Open System Interconnect

OUI Organizationally Unique Identifier – the first 3 Bytes of an Ethernet-Address, that

will be assign to companies or organizations and can be used for protocoll iden-

tifiers as well (e.g. LLDP)

PDI Physical Device Interface: set of elements that allows access to ESC from the pro-

cess side.

PDO Process Data Object

PDU Protocol Data Unit: Contains protocol information transferred from a protocol

instance of transparent data to a subordinate level

PHY Physical interface that converts data from the Ethernet controller to electric or

optical signals.

PLL Phase Locked Loop

PTP Precision Time Protocol in accordance with IEEE 1588

RSTP Rapid Spanning Tree Protocol

RT Real-time, can be run in Ethernet controllers without special support.

RX Receive

RXPDO Receive PDO

SNMP Simple Network Management Protocol

SPI Serial Peripheral Interface

Src Addr Source Address: Source address of a message.

STP Shielded Twisted Pair

TCP Transmission Control Protocol

TX Transmit

TXPDO Transmit PDO

UDP User Datagram Protocol: Non-secure multicast/broadcast frame.

UTP Unshielded Twisted Pair

ZA ECAT Access mode EtherCAT

ZA Drive Acces mode drive

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