Kollmorgen AKD series Manual 

Valid for firmware version 1.13 Part Number 903-200008-00 Keep all manuals as a product component during the life span of the product. Pass all manuals to future users/owners of the product. ...

Record of Document Revisions: Revision Remarks A, 10/2011 Launch version C, 08/2012 Minor updates to formatting. D, 12/2012 Add information on using Jog Move and Position Move while in position mode (Communication Profile (➜ p. 9). Data size of IL.FB corrected in Appendix B: Parameter Listing (➜ p. 38). E, 12/2014 Added dyna ...

1 Table of Contents 3 2 About this Manual 5 3 Overview 6 4 AKD EtherNet/IP Features 7 4.1 Supported Features 7 4.2 Expected Packet Rate 7 4.3 Connection Port 7 4.4 Network Topology 7 5 Setup 8 5.1 Setting an IP Address in the Drive 8 5.2 Controller Setup 8 5.3 Setting Expected Packet Rate in the Controller 8 6 Communication Profile 9 6.1 ...

6.5 Torque 18 6.5.1 Setup Torque Mode 18 6.5.2 Torque Moves 19 6.6 Handling Faults 19 6.7 Saving to Non-volatile Memory 19 7 Drive Objects 20 7.1 Position Controller Class 0x25 20 7.2 Position Controller Supervisor Class 0x24 24 7.3 Parameter Class 0x0F 25 7.3.1 Supported Attributes 25 7.3.2 Read a Paramet ...

This manual describes the installation, setup, range of functions, and software protocol for the AKD Ether- Net/IP product series. All AKD EtherNet/IP drives have built-in EtherNet/IP functionality - an additional option card is not required. A digital version of this manual (pdf format) is available on the disk included with your drive. ...

3 Overview EtherNet/IP is an industrial communication protocol based on TCP/IP and UDP/IP. It is used as high level network for industrial automation applications. EtherNet/IP shares a common data structure with DeviceNet and ControlNet, but built on Ethernet as a physical medium. The protocol uses two communicatio ...

4.1 Supported Features AKD follows the ODVA standard for EtherNet/IP. It provides necessary standard objects, as well as certain vendor-specific objects. CIP-Motion (for real-time multi-axis synchronized motion control) is not supported. The following general drive features are supported through EtherNet/IP: l Drive setup and confi ...

5 Setup 5.1 Setting an IP Address in the Drive The IP address of the AKD must be configured properly on the same subnet as the controller. The same address is used for both EtherNet/IP and Workbench connections (though they use different TCP/IP ports). See the AKD Quick Start or AKD Use Guide for instructions on setti ...

Typically, Explicit Messages are used to configure the amplifier and setup drive parameters. Explicit Mes- sages allow you to access a single parameter value at a time. The desired parameter is selected by spe- cifying the class object number, instance number and attribute number in an explicit messa ...

6.1.3 Data Types The table below describes the data type, number of bytes, minimum and maximum Range. Data Type Number of Bytes Minimum Value Maximum Value Abbreviation Boolean 1 0(false) 1(true) Bool Short Integer 1 -16 15.875 S8 Unsigned Short Integer 1 0 31.875 U8 Integer 2 -4096 4095.875 S16 Unsign ...