AKD® 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.
Record of Document Revisions Revision ... Remarks Table with lifecycle information of this document see "Record of Document Revisions" (➜ p. 50) E, 12/2013 Added bit 14 for position mode in Status word bits (ZSW1) (➜ p. 33). F, 05/2014 Added Signal No. 100 and 101 to Telegram configuration (➜ p. 35). Added Manufacturer specific telegram 352 to I/O Telegrams (➜ p. 41). G, 12/2014 Manufacturer specific telegram 353 (➜ p. 42) added. Signal number 102 and 103 added to Telegram configuration (➜ p. 35).
AKD PROFINET | Table of Contents 1 Table of Contents 1 Table of Contents 2 General 3 5 2.1 About this Manual 6 2.2 Symbols Used 7 2.3 Abbreviations Used 7 9 3 Safety 3.1 Safety Instructions 10 3.2 You should pay attention to this 10 3.3 Use as directed 11 3.4 Prohibited use 11 12 4 Installation and Setup 4.1 Important Instructions 13 4.2 PROFINET Onboard 14 4.2.1 LED functions 14 4.2.2 Connection technology 14 4.2.3 Network Connection Examples 14 4.3 Guide to Setup 15 4.
AKD PROFINET | Table of Contents 6.10.1 Submode „Program mode“ 37 6.10.2 Submode „Manual data input (MDI)“ 38 6.10.3 Homing 40 6.11 I/O Telegrams 41 6.11.1 Telegram 0 41 6.11.2 Standard telegram 1 41 6.11.3 Standard telegram 7 41 6.11.4 Standard telegram 9 41 6.11.5 Manufacturer specific telegram 350 42 6.11.6 Manufacturer specific telegram 351 42 6.11.7 Manufacturer specific telegram 352 42 6.11.8 Manufacturer specific telegram 353 42 6.12 Units 6.12.1 Velocity units 43 6.12.
AKD PROFINET | 2 General 2 General 2.1 About this Manual 6 2.2 Symbols Used 7 2.
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. 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.
AKD PROFINET | 2 General 2.2 Symbols Used Symbol Indication DANGER WARNING CAUTION 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 moderate injury. Indicates situations which, if not avoided, could result in property damage. This symbol indicates important notes.
AKD PROFINET | 2 General 8 Kollmorgen | December 2014
AKD PROFINET | 3 Safety 3 Safety 3.1 Safety Instructions 10 3.2 You should pay attention to this 10 3.3 Use as directed 11 3.
AKD PROFINET | 3 Safety 3.1 Safety Instructions 3.2 You should pay attention to this This section helps you to recognize and avoid dangers to people and objects. Read the documentation! Read the available documentation before installation and commissioning. Improper handling of the drive can cause harm to people or damage to property. The operator of systems using the AKD must require that all personnel who work with the drive read and understand the manual before using the drive.
AKD PROFINET | 3 Safety Hot surface! Drives may have hot surfaces during operation. The heat sink can reach temperatures above 80°C. Risk of minor burns! Measure the temperature, and wait until the heat sink has cooled down below 40 °C before touching it. Earthing! It is vital that you ensure that the drive is safely earthed to the PE (protective earth) busbar in the switch cabinet. Risk of electric shock.
AKD PROFINET | 4 Installation and Setup 4 Installation and Setup 12 4.1 Important Instructions 13 4.2 PROFINET Onboard 14 4.3 Guide to Setup 15 4.4 Configure IP Address parameters 16 4.5 Setup Step 7 19 4.
AKD PROFINET | 4 Installation and Setup 4.1 Important Instructions DANGER Never undo any electrical connections to the drive while it is live. There is a danger of electrical arcing with damage to contacts and serious personal injury. Wait at least seven minutes after disconnecting the drive from the main supply power before touching potentially live sections of the equipment (e.g. contacts) or undoing any connections.
AKD PROFINET | 4 Installation and Setup 4.2 PROFINET Onboard Connection to the PROFINET Network via X11. Connect the service interface (X11) of the drive to an Ethernet interface on the PROFINET Master directly or via a network switch, while the supply to the equipment is switched off. Confirm that the link LED on the AKD (the green LED on the RJ45 connector) and on your Master or Switch are both illuminated. If both lights are illuminated, then you have a good electrical connection.
AKD PROFINET | 4 Installation and Setup 4.3 Guide to Setup Only professional personnel with extensive knowledge of control and drive technology are allowed to setup the drive. CAUTION Drives with 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.
AKD PROFINET | 4 Installation and Setup 4.4 Configure IP Address parameters Start the SIMATIC Manager. To assign a new IP address, go to PLC->Edit Ethernet Node: In the next dialog window, click on browse in the Ethernet node group and look for all PROFINET devices in your network: Select the AKD and click ok. If you have several AKD’s in your network, you can also use the MAC address to filter one PROFINET device.
AKD PROFINET | 4 Installation and Setup Select the radio button Use IP parameters: then enter a new IP address and subnet mask to AKD. Click the Assign IP Configuration button for the change to take effect Use the same popup to change the device name at this time by entering a name in the Device Name fields and clicking on the Assign Name button. Each device connected to the same IO connection must have a unique name. The PROFINET device name for AKD is derived from the AKD DRV.NAME parameter.
AKD PROFINET | 4 Installation and Setup 4.4.1 Dependency Service channel (WorkBench) and PROFINET WorkBench and PROFINET use the same IP communication channel to communicate with the drive so changing the IP address has implications for both interfaces. There are several options for assigning the IP address for WorkBench and PROFINET as described in the AKD User Guide: l l l DHCP, AutoIP Static IP addressing o Via rotary switches (Address area 192.168.0.xx) o Via ASCII commands IP.ADDRESS, IP.SUBNET. IP.
AKD PROFINET | 4 Installation and Setup 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.
AKD PROFINET | 4 Installation and Setup 4. Browse for the latest AKD GSDML file and click on install: 5. The AKD GSDML file is installed now and can be found in the SIMATIC hardware catalog. Open PROFINET I/O->Additional Fieldbus Devices->Drives->AKD 6.
AKD PROFINET | 4 Installation and Setup 7. Now configure the telegram, for example telegram 7 for use in position mode. Drag and drop telegram 7 into slot 1. 8. Double click on the PROFINET network (line which connects PLC and AKD) and configure the update time. Click OK for closing this window. 9. Save and compile the hardware configuration.
AKD PROFINET | 4 Installation and Setup 4.6 Parameter Configuration with PROFIdrive over PROFINET IO The AKD is defined as an I/O Device in PROFINET IO. A PLC or other IO-Controller establishes a connection via a so called application relations (AR). Within this AR, different profiles like PROFIdrive, PROFIsafe etc. can be used for the communication. The PROFIdrive profile, which AKD supports, is defined as Application Process Identifier (API) 0x3A00. Within the AR, further addressing needs to done.
AKD PROFINET | 4 Installation and Setup Record data fields The table shows the structure and the supported fields in the AKD for a parameter request. Field Request reference Data type Unsigned8 Values 0x00 reserved Comment 0x01 – 0xFF Response ID Unsigned8 0x01 Request parameter (+) 0x02 Change parameter (+) 0x81 Request parameter (-) 0x82 Change parameter (-) Axis / DO-ID Unsigned8 0x00 No. of Parameters Unsigned8 0x01..
AKD PROFINET | 4 Installation and Setup 4.6.2 Example for writing the operation mode For writing the operation mode an acyclic change parameter value request needs to be send from the IO-Controller/Supervisor to the AKD. If the user wants to write e.g. the operation mode to position mode (DRV.OPMODE 2) over PROFINET, the PNU 930 needs to be written with value 0x0002. The PROFIdrive base parameter access (see "Position Units" (➜ p. 43)) describes the procedure.
AKD PROFINET | 5 PROFINET IO 5 PROFINET IO 5.1 Introduction 26 5.
AKD PROFINET | 5 PROFINET IO 5.1 Introduction PROFINET IO is a real time protocol based on Ethernet. It is used as high level network for industrial automation applications. PROFINET IO is very similar to PROFIbus and focuses on the data exchange for programmable controller. A PROFINET IO network consists of following devices: l l l IO controller: This is typically the PLC, which controls the whole application. IO device: a decentralized IO device (e.g.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6 PROFIDRIVE over PROFINET IO 6.1 Introduction 28 6.2 AKD as Drive Object (DO) 29 6.3 General State Machine 30 6.4 Control word bits (STW1) 31 6.5 Status word bits (ZSW1) 33 6.6 Supported PNU's 34 6.7 Signals 35 6.8 Telegram configuration 35 6.9 Velocity Mode (Application class 1) 36 6.10 Position Mode (Application class 3) 37 6.11 I/O Telegrams 41 6.12 Units 43 6.13 Alarms 44 6.14 Fault 44 6.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.1 Introduction The AKD supports the PROFIdrive profile for accessing and configuring standard and manufacture parameters via PROFINET IO to start/stop/configuring motion control tasks. The profile defines as main element the Drive Object (DO), which is controlling the motion task related parameters. It is important to understand that PROFIdrive is only a user profile, which can be used with PROFINET IO.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.2 AKD as Drive Object (DO) The drive object contains the following items: l l l General state machine Axis control task Parameter manager with parameter data base Multiple communication channels are used for read/write data values over PROFINET IO.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.4 Control word bits (STW1) The S7 application must set the bits in control word 1 to go through the PROFIdrive standard state machine to enable mode (complying with the PROFIdrive standard 6.3.2). Bits 0-3 control the state machine state. The control word (STW1) defines the following general functions: General Control Word Bits Bit Num- Description ber 0 STW1 on/off Comment ON / OFF. 1 STW1 no coast stop The drive will not coast stop if this bit is set.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO In position mode: STW1 Special bits (Position mode) Bit Num- Name Description ber 4 Do Not Reject Travers- A traversing task is activated using the positive siging Task nal edge at bit 6. 5 No Intermediate Stop Traversing task can be interrupted and continued. 6 Activate Traversing Task Positive signal edge enables a traversing task. 8 Jog 1 on/off The drive runs up/brakes along the ramp to jogging setpoint 1/standstill.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.5 Status word bits (ZSW1) All status word1 bits are implemented according to the PROFIdrive standard. For application class 1 (speed control) and 3 (position mode) all mandatory bits are implemented. The status word (ZSW1) defines the following functions: General Status Word Bits Bit Number Description 0 ZSW1 drive ready to switch on Comment Ready To Switch On /Not Ready To Switch On. 1 ZSW1 drive ready to operate Ready To Operate / Not Ready To Operate.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.6 Supported PNU's List of all supported PROFIdrive PNU's The table mentions all supported PROFIdrive specific parameters. The access needs to be done via base mode parameter access described in "Parameter Configuration with PROFIdrive over PROFINET IO" (➜ p. 22).
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.7 Signals MDI_MOD Bit Description 0 0: Relative Positioning 1: Absolute Positioning 1 to 15 Reserved 6.8 Telegram configuration The telegram configuration is made according to the PROFIdrive standard. The PROFIdrive parameters used in the configuration are: P922, P923, P915, P916 (see PROFIdrive profile, page 110). The following PROFIdrive signals are changing the corresponding AKD signals: Signal No.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.9 Velocity Mode (Application class 1) In this mode, the drive is controlled via a primary set point (speed set point). The speed control is completely in the drive controller. The field bus is merely the transmission medium between the automation system and the drive controller. The Cyclic Data Exchange Communication Service is used. Example This example demonstrates enabling the drive and executing motion in velocity mode using standard telegram 1.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.10 Position Mode (Application class 3) In this application class the Drive Object (DO) provides a closed position control loop with its own position interpolation. The motion tasks, which are configured by MT parameters in AKD, can be accessed. In PROFIdrive two different submodes are possible, which allow the controlling device to access motion task parameters via I/O messaging.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO The extension of the general state diagram of DO: 6.10.2 Submode „Manual data input (MDI)“ The "manual data input" mode can be used to run a motion task directly configured through IO data. Telegram 9 is used for this purpose and defines the motion task specific signals like acceleration (MID_ACC), deceleration (MID_DEC), velocity (MDI_VEL) and target position (MDI_TAR_POS). With setting bit 15 in signal “SATZANW”, the MDI mode can be activated.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO The extension of the state diagram for mdi mode: The activation of a new motion task (or traversing task), is done through a hand shake algorithm. 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.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO The figure shows the behavior: If another motion task shall be executed before the current motion task has finished (“Change on the fly”), the “Activate traversing task” Bit in STW1 can be directly cleared (after the setting of Bit 12 in ZSW1 was detected). In addition, the drive will clear Bit 12 in ZSW1. After this another motion task can be loaded. If an error occurs or the configured motion task can not be executed, bit 12 in ZSW1 will not be set. 6.10.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.11 I/O Telegrams 6.11.1 Telegram 0 Telegram 0 is used for the free mapping of PROFIdrive signals into the PROFINET I/O data. With PNU 922 the telegram can be configured. PNU915 defines then set point signals and PNU 916 the actual value signals. Limitations: The number and kind of signals, which can be mapped, are depending on the configuration of your PROFINET master.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.11.5 Manufacturer specific telegram 350 Telegram 350 is typically used for application class 1 (velocity mode). Additonally to telegram 1 the actual current value can be monitored in the IO data. IO Data number Set point 1 STW1 2 NSOLL_A 3 Actual values ZSW1 NIST_A ITIST_GLATT 6.11.6 Manufacturer specific telegram 351 Telegram 351 is typically used for application class 1 (velocity mode).
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO IO Data Number Set point 13 HOME_MODE Actual values 6.12 Units 6.12.1 Velocity units Velocity units are normalized according to X2 data normalization of PROFIdrive (hence "set normalization bit x" => 2^x = 100% velocity). In velocity mode: The AKD uses x=15 and 100% is the maximum velocity of the AKD hence 12000 rpm. Thus the velocity units are 2^15 = 12000 rpm. E.g.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.13 Alarms Not implemented yet. 6.14 Fault All actual faults can be described as a so called “Fault situation”. This fault situation can be read from the fault buffer with PNU 947. A fault situation can have up to 8 different faults. An unacknowledged is indicated by ZSW1 bit 3 (fault present). With acknowledging the actual fault situation, the fault numbers are shifted to the acknowledged faults section (shift of 8 positions in the fault buffer (PNU 947)).
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO 6.15 ASCII configuration Use the following AKD parameters to configure behavior. FBUS.PARAM01: Reads the configured telegram (PNU922 in Supported PNU's (➜ p. 34)). FBUS.PARAM02 Bit 0: Value of 1: Fault 702 (Fieldbus communication lost) is triggered if the PROFINET master changes states from RUN to STOP. Value of 0: No fault is triggered if the PROFINET master changes states from RUN to STOP. PN.
AKD PROFINET | 7 Sample Projects 7 Sample Projects 7.
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.
AKD PROFINET | 7 Sample Projects 7.1.3 Getting started 1. To use this example project, open the SIMATIC manager and retrieve the project zip file (SimaticManager->File->Retrieve). 2. After the project is loaded, go to the hardware manager and check the communication setup. If no AKD GSDML file is installed, the hardware manager will install it from the project. If there is already an installation of the GSDML file, this step is not required. 3.
AKD PROFINET | 7 Sample Projects 7.1.4 Enable the drive and run in velocity mode The general state machine of the PROFIdrive ("General State Machine" (➜ p. 30)) needs to be toggled to enable the drive. You can find in the variable table “TG1_IO_DATA” all necessary input and output parameters described bit-wise. To enable the drive, write the following sequence in the control world: 1. 2. 3. 4.
AKD PROFINET | 8 Record of Document Revisions 8 Record of Document Revisions 50 Revision A, 10/2011 Remarks Launch version B, 03/2012 Jog mode added, mdi submode description extended C, 08/2012 Manufacturer specific telegram 351 D, 05/2013 Corrections, formatting acc. to 82079 E, 12/2013 Added bit 14 for position mode in Status word bits (ZSW1) (➜ p. 33). F, 05/2014 Added Signal No. 100 and 101 to Telegram configuration (➜ p. 35). Added Manufacturer specific telegram 352 to I/O Telegrams (➜ p.
AKD PROFINET | 9 Index Telegram configuration 9 Index U Units Use as directed A Abbreviations 35 43 11 7 C Control word 31 D Document Revisions Drive Object 50 29 F Fault 44 G General State Machine GSDML 30 19 I I/O Telegrams 41 P Parameter Configuration Position Mode PROFIDRIVE PROFINET Hardware Prohibited Use 22 37 27 14 11 S Safety Instructions General Setup Step 7 Signals Status word Submode „Manual data input (MDI)“ Submode „Program mode“ Supported PNU's Symbols used 10 19 35 33 38
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