EtherCAT AKD-C, AKD-N User Manual

AKD®-C and AKD®-N

EtherCAT Communication

Edition: J, October 2020

Valid for firmware version 1.20

Part Number 903-200023-00

Original Documentation

For safe and proper use, follow these
instructions. Keep for future use.

Record of Document Revisions

Revision Remarks

... Table with lifecycle information of this document see "Record of Docu-

G, 11/2018 Updated object information.

H, 11/2019 Added Emergency Messages

J, 10/2020 Added objects 34D1h, 547Ah, 547Bh and edited data types for objects

Trademarks

l AKD is a registered trademark of Kollmorgen Corporation
l SynqNet is a registered trademark of Motion Engineering Inc.
l EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH
l EtherCAT is a registered trademark and patented technology, licensed by Beckhoff

Automation GmbH

l Ethernet/IP is a registered trademark of ODVA, Inc.
l Ethernet/IP Communication Stack: copyright (c) 2009, Rockwell Automation
l sercos

l HIPERFACE is a registered trademark of Max Stegmann GmbH
l PROFINET is a registered trademark of PROFIBUS and PROFINET International (PI)
l SIMATIC is a registered trademark of SIEMENS AG
l SpeedTec is a registered trademark of TE Connectivity Industrial GmbH
l Windows is a registered trademark of Microsoft Corporation

®

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

ment Revisions" (➜ p. 178)

2001h and 2012.

Current patents

l US Patent 8,154,228 (Dynamic Braking For Electric Motors)
l US 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!

This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be reproduced
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.

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AKD-C/N EtherCAT | Table of Contents

1 Table of Contents

1 Table of Contents 3
2 General 9

2.1 About this Manual 10

2.2 Target Group 10

2.3 Symbols Used 11

2.4 Abbreviations Used 12

3 Installation and Setup 13

3.1 Important Instructions 14

3.2 EtherCAT Onboard 15

3.2.1 LED functions 15

3.2.2 Connection technology 15

3.2.3 Network Connection Example 15

3.3 Guide to Setup 16

3.4 Important Configuration Parameters 17

3.5 Setting up Ethernet over EtherCAT (EoE) 19

3.5.1 EtherCATDevice Settings 19

3.5.2 Drive Settings 20

3.5.3 Connecting to the Drive 20

3.5.4 Performance Concerns 21

3.5.5 Restrictions 21

3.6 Setup via TwinCAT NC/PTP System Manager 21

3.6.1 Scan devices 22

3.6.2 Select the device 22

3.6.3 Scan for boxes 23

3.6.4 Add Slaves to NC tasks 23

3.6.5 Enable the network configuration 23

3.6.6 Enable the axis and move the axis 24

3.7 Setup WorkBench over TwinCAT 25

3.7.1 TwinCAT and WorkBench Configuration 25

3.7.2 Connecting to a Drive Using WorkBench 27

3.7.3 Configuring and Enabling a Drive 30

3.7.4 Download a Parameter File over TwinCAT 31

3.8 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

4.3.4 EtherCAT communication phases 38

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AKD-C/N EtherCAT | Table of Contents

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 41

4.6 Flexible PDO Mappings 44

4.6.1 Example: Flexible PDO Mapping 45

4.6.2 Example: Flexible PDOMapping with one byte gap in Rx-PDO 49

4.7 Supported Cyclical Setpoint and Actual Values 51

4.8 Supported Operation Modes 54

4.9 Adjusting EtherCAT Cycle Time 54

4.10 Maximum Cycle Times depending on operation mode 54

4.11 Synchronization 55

4.11.1 Synchronization behavior with distributed clocks (DC) enabled 55

4.11.2 Synchronization behavior with distributed clocks (DC) disabled 55

4.12 Latch Control Word and Latch Status Word 56

4.13 Mailbox Handling 57

4.13.1 Mailbox Output 58

4.13.2 Mailbox Input 59

4.13.3 Example: Mailbox Access 60

4.14 EEProm Content 61

5 Appendix 62

5.1 CANopen Emergency Messages and Error Codes 63

5.1.1 Error Codes for Drives 63

5.1.2 Error Codes for Power Supply 68

5.2 Object Dictionary AKD-C 69

5.3 Object Dictionary AKD-N 73

5.3.1 Float Scaling 73

5.3.2 Communication SDOs 73

5.3.3 Manufacturer specific SDOs 76

5.3.4 Profile Specific SDOs 94

5.4 Object Descriptions 98

5.4.1 Object 1000h: Device Type (DS301) 98

5.4.2 Object 1001h: Error register (DS301) 98

5.4.3 Object 1002h: Manufacturer Status Register (DS301) 99

5.4.4 Object 1003h: Predefined Error Field (DS301) 100

5.4.5 Object 1005h: COB-ID of the SYNC Message (DS301) 101

5.4.6 Object 1006h: Communication Cycle Period (DS301) 101

5.4.7 Object 1008h: Manufacturer Device Name (DS301) 102

5.4.8 Object 1009h: Manufacturer Hardware Version 102

5.4.9 Object 100Ah: Manufacturer Software Version (DS301) 102

5.4.10 Object 100Ch: Guard Time (DS301)Response monitoring 103

5.4.11 Object 100Dh: Lifetime Factor (DS301) 103

5.4.12 Object 1010h: Store Parameters (DS301) 104

5.4.13 Object 1011h: Restore Default Parameters DS301 105

5.4.14 Object 1012h: COB-ID of the Time Stamp (DS301) 106

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AKD-C/N EtherCAT | Table of Contents

5.4.15 Object 1014h: COB-ID for Emergency Message (DS301) 106

5.4.16 Object 1016h: Consumer Heartbeat Time 107

5.4.17 Object 1017h: Producer Heartbeat Time 108

5.4.18 Object 1018h: Identity Object (DS301) 108

5.4.19 Object 1026h: OS Prompt 110

5.4.20 Objects 1400-1403h: 1st - 4th RxPDO communication parameter (DS301) 111

5.4.21 Objects 1600-1603h: 1st - 4th RxPDO mapping parameter (DS301) 112

5.4.22 Objects 1800-1803h: 1st - 4th TxPDO communication parameter (DS301) 113

5.4.23 Objects 1A00-1A03h: 1st - 4th TxPDO mapping parameter (DS301) 115

5.4.24 Object 1C12h: RxPDO assign (DS301) 116

5.4.25 Object 1C13h: TxPDO assign (DS301) 117

5.4.26 Object 1C32h: SM output parameter (DS301, AKD-C) 118

5.4.27 Object 1C33h: SM input parameter (DS301, AKD-C) 120

5.4.28 Object 2000h: SystemWarnings 121

5.4.29 Object 2001h: SystemFaults 122

5.4.30 Object 2002h: Manufacturer status bytes 122

5.4.31 Object 2011h: DRV.RUNTIME in seconds 123

5.4.32 Object 2012h: Fault history: Fault numbers 123

5.4.33 Object 2013h: Fault history: Time stamps 124

5.4.34 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO 125

5.4.35 Object 2018h: Firmware Version 126

5.4.36 Object 2026h: ASCII Channel 127

5.4.37 Object 204Ch: PV Scaling Factor 128

5.4.38 Object 2071h: Target Current 129

5.4.39 Object 2077h: Current ActualValue 129

5.4.40 Object 207Fh: Maximum Velocity 129

5.4.41 Object 2080h: Motion Task Select 130

5.4.42 Object 2081h: Active Motion Task 130

5.4.43 Object 20A0h: Latch position 1, positive edge 130

5.4.44 Object 20A1h: Latch position 1, negative edge 131

5.4.45 Object 20A2h: Latch position 2, positive edge 131

5.4.46 Object 20A3h: Latch position 2, negative edge 132

5.4.47 Object 20A4h: Latch Control Register 132

5.4.48 Object 20A5h: Latch Status Register 133

5.4.49 Object 20A6h: Latch position 1, positive or negative edge 133

5.4.50 Object 20A7h: Latch position 2, positive or negative edge 134

5.4.51 Object 20B8h: Reset of changed input information 134

5.4.52 Object 345Ah: Brake Control 135

5.4.53 Object 3474h: Parameters for digital inputs 137

5.4.54 Object 3475h: Parameters for digital outputs 138

5.4.55 Object 3496h: Fieldbus synchronization parameters 139

5.4.56 Object 34D1h: Legacy EtherCAT input handling 141

5.4.57 Object 6040h: Control word (DS402) 141

5.4.58 Object 6041h: Status word (DS402) 143

5.4.59 Object 605Ah: Quick stop option code (DS402) 145

5.4.60 Object 6060h: Modes of Operation (DS402) 146

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AKD-C/N EtherCAT | Table of Contents

5.4.61 Object 6061h: Modes of Operation Display (DS402) 147

5.4.62 Object 6063h: position actual value* (DS402) 147

5.4.63 Object 6064h: position actual value (DS402) 148

5.4.64 Object 6065h: Following error window 148

5.4.65 Object 606Ch: Velocity actual value (DS402) 148

5.4.66 Object 6071h: Target torque (DS402) 149

5.4.67 Object 6073h: Max current (DS402) 149

5.4.68 Object 6077h: Torque actual value (DS402) 149

5.4.69 Object 607Ah: Target position (DS402) 150

5.4.70 Object 607Ch: Homing offset (DS402) 150

5.4.71 Object 607Dh: Software position limit (DS402) 151

5.4.72 Object 6081h: Profile velocity (DS402) 152

5.4.73 Object 6083h: Profile acceleration (DS402) 152

5.4.74 Object 6084h: Profile deceleration (DS402) 152

5.4.75 Object 6087h Torque slope (DS402) 153

5.4.76 Object 608Fh: Position encoder resolution (DS402) 153

5.4.77 Object 6091h: Gear Ratio (DS402) 154

5.4.78 Object 6092h: Feed constant (DS402) 155

5.4.79 Object 6098h: Homing method (DS402) 156

5.4.80 Object 6099h: Homing speeds (DS402) 158

5.4.81 Object 609Ah: Homing acceleration (DS402) 158

5.4.82 Object 60B1h: Velocity Offset 159

5.4.83 Object 60B2h: Torque Offset 159

5.4.84 Object 60B8h: Touch probe function 160

5.4.85 Object 60B9h: Touch probe status 161

5.4.86 Object 60BAh: Touch probe 1 positive edge 162

5.4.87 Object 60BBh: Touch probe 1 negative edge 162

5.4.88 Object 60BCh: Touch probe 2 positive edge 162

5.4.89 Object 60BDh: Touch probe 2 negative edge 163

5.4.90 Object 60C0h: Interpolation sub mode select 163

5.4.91 Object 60C1h: Interpolation data record 164

5.4.92 Object 60C2h: Interpolation time period 165

5.4.93 Object 60C4h: Interpolation data configuration 166

5.4.94 Object 60D0h: Touch probe source 168

5.4.95 Object 60E0h: Positive Torque Limit Value 169

5.4.96 Object 60E1h: Negative Torque Limit Value 169

5.4.97 Object 60E4h: Additional position actual value 170

5.4.98 Object 60E8h: Additional gear ratio – motor shaft revolutions 171

5.4.99 Object 60E9h: Additional feed constant – feed 172

5.4.100 Object 60EDh: Additional gear ratio – driving shaft revolutions 173

5.4.101 Object 60EEh: Additional feed constant - driving shaft revolutions 174

5.4.102 Object 60F4h: Following error actual value (DS402) 175

5.4.103 Object 60FCh: Position demand internal value (DS402) 175

5.4.104 Object 60FDh: Digital inputs (DS402) 175

5.4.105 Object 60FEh: Digital outputs (DS402) 176

5.4.106 Object 60FFh: Target velocity (DS402) 177

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AKD-C/N EtherCAT | Table of Contents

5.4.107 Object 6502h: Supported drive modes (DS402) 177

6 Record of Document Revisions 178
7 Index 179

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AKD-C/N EtherCAT | Table of Contents

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AKD-C/N EtherCAT | 2 General

2 General

2.1 About this Manual 10

2.2 Target Group 10

2.3 Symbols Used 11

2.4 Abbreviations Used 12

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AKD-C/N EtherCAT | 2 General

2.1 About this Manual

This manual, AKD-C/N EtherCAT Communication, describes the installation, setup, range of
functions, and software protocol for the decentral drive system with AKD-C and AKD-N
devices.

A digital version of this manual (pdf format) is available on the DVD included with your
device. Document updates can be downloaded from the Kollmorgen website.

Related documents for the AKD-C/N series include:

AKD-C Installation Manual – This manual provides instructions for installation and device
setup.
AKD-N Installation Manual – This manual provides instructions for installation and drive
setup.
AKD 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-C and AKD-N.

Accessories Manual – This manual provides documentation for accessories like cables

and regen resistors used with AKD-C and AKD-N. 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:

The qualified personnel must know and observe the following standards:

Installation: only by electrically qualified personnel.
Setup: only by qualified personnel with extensive knowledge of electrical engineering
and drive technology.
Programming: software developers, project-planners.

ISO 12100, IEC 60364 and IEC 60664
National accident prevention regulations

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2.3 Symbols Used

Symbol Indication

AKD-C/N EtherCAT | 2 General

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.

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.

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AKD-C/N 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

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

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

OSI Open System Interconnect

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

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

PDO Process Data Object

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

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

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

equipment.

crossed lines.

will be assign to companies or organizations and can be used for protocoll iden­tifiers as well (e.g. LLDP)

cess side.

instance of transparent data to a subordinate level

optical signals.

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AKD-C/N EtherCAT | 3 Installation and Setup

3 Installation and Setup

3.1 Important Instructions 14

3.2 EtherCAT Onboard 15

3.3 Guide to Setup 16

3.4 Important Configuration Parameters 17

3.5 Setting up Ethernet over EtherCAT (EoE) 19

3.6 Setup via TwinCAT NC/PTP System Manager 21

3.7 Setup WorkBench over TwinCAT 25

3.8 Setup via KAS IDE 32

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AKD-C/N EtherCAT | 3 Installation and Setup

3.1 Important Instructions

There is a danger of serious personal injury or death by electrical shock or electrical arcing.
Capacitors can still have dangerous voltages present up to 7 minutes after switching off the
supply power. Control and power connections can still be live, even if the motor is not rotat­ing.

Never remove electrical connections to the drive while it is live.
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.
To be sure, measure the voltage in the DC bus link and wait until it has fallen below
50 V.

Risk of death or serious injury for humans working in the machine. Drives with EtherCAT
are remote-controlled machines. They can start to move at any time without previous warn­ing. The drive might restart automatically after power on, voltage dip or interruption of the
supply voltage, depending on the parameter setting.

Place a warning sign ("WARNING: Possible Automatic Start" or
similar) to the machine.
Ensure, that power on is not possible, while humans are in a
dangerous zone of the machine.

High Voltage up to 900 V!

Automatic Restart!

Install the drive as described in the Installation Manual. The wiring for the analog setpoint
input and the positioning interface, as shown in the wiring diagram in the Installation Manual,
is not required. Never break any of the electrical connections to the drive while it is live. This
action can result in destruction of the electronics.

The drive's status must be monitored by the PLC to acknowledge critical situations. Wire the
FAULT contact in series into the emergency stop circuit of the installation. The emergency
stop circuit must operate the supply contactor.

It is permissible to use the setup software to alter the settings of the drive. Any other alter­ations will invalidate the warranty. Because of the internal representation of the position-con­trol parameters, the position controller can only be operated if the final limit speed of the drive
does not exceed:

rotary linear

at sinusoidal² commutation: 7500 rpm at sinusoidal² commutation: 4 m/s
at trapezoidal commutation: 12000 rpm. at trapezoidal commutation: 6.25 m/s

All the data on resolution, step size, positioning accuracy etc. refer to calculatory values.
Non-linearities in the mechanism (backlash, flexing, etc.) are not taken into account. If the
final limit speed of the motor must be altered, then all the parameters that were previously
entered for position control and motion blocks must be adapted.

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3.2 EtherCAT Onboard

Connection to the EtherCAT Network via X10 (in port) and X11 (out port).

3.2.1 LED functions

The communication status is indicated by the built-in LEDs.

Connector LED# Name Function

X10 LED1 IN port Link ON = active

X11 LED3 OUT port Link ON = active

AKD-C/N EtherCAT | 3 Installation and Setup

OFF= not active

LED2 RUN ON = running

OFF = not running

OFF = not active

LED4 - -

3.2.2 Connection technology

You can connect to the EtherCAT network using RJ-45 connectors.

3.2.3 Network Connection Example

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AKD-C/N EtherCAT | 3 Installation and Setup

3.3 Guide to Setup

Only professional personnel with extensive knowledge of control and drive technology are
allowed to setup the drive.

Risk of death or serious injury for humans working in the machine. Drives with EtherCAT
are remote-controlled machines. They can start to move at any time without previous warn­ing. The drive might restart automatically after power on, voltage dip or interruption of the
supply voltage, depending on the parameter setting.

Place a warning sign ("WARNING: Possible Automatic Start" or
similar) to the machine.
Ensure, that power on is not possible, while humans are in a
dangerous zone of the machine.

Refer to chapter "Important Configuration Parameters" (➜ p. 17) for fieldbus parameter set­ting (FBUS.PARAMx).

1. Check assembly/installation. Check that all the safety instructions in the product manual
for the drive and this manual have been observed and implemented. Check the setting for
the station address and baud rate.

2. Connect PC,start WorkBench. Use the setup software WorkBench to set the parameters
for the drive.

3. Setup basic functions. Start up the basic functions of the drive and optimize the current,
speed and position controllers. This section of the setup is described in the in the online
help of the setup software.

4. Save parameters. When the parameters have been optimized, save them in the drive.

Automatic Restart!

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3.4 Important Configuration Parameters

The AKD holds several fieldbus-specific, general purpose parameters. Some of them contain
the following relevant data:

FBUS.PARAM01:

Sets the baud rate for the CANbus. Supported baud rates are 125, 250, 500 and 1000 kBaud.
On AKD-C, FBUS.PARAM01 sets and stores the EtherCAT station alias for the ESC (Ether­CAT slave controller) of string 2.

FBUS.PARAM02:

This parameter activates the synchronization feature of the AKD. The DC feature must be
activated in order to allow the AKD to get synchronized with the master. Only works when
FBUS.TYPE= 3 (CANopen).
Drive internal PLL (phase locked loop) functionality: enabled (1),
Drive internal PLL functionality: disabled (0).

FBUS.PARAM03:

This parameter contains the Configured Station Alias address of the AKD. An EEPROM emu­lation write access to the Configured Station Alias address forces the AKD to store the drive
parameters automatically using the DRV.NVSAVE command. On AKD-C,
FBUS.PARAM03 sets and stores the EtherCAT station alias for the ESC (EtherCAT slave
controller) of string 1.

FBUS.PARAM04:

This parameter enables (1) or disables (0) the synchronization supervision of the CANOpen
or EtherCAT fieldbus.
Default values for this parameter are as follows:
CANopen drive: disabled (0)
EtherCAT drive: enabled (1)
Synchronization supervision is active when FBUS.PARAM 04 = 1 and the first CANOpen
Sync message or first EtherCAT frame is received. When more than three CANOpen sync
messages or seven EtherCAT frames have not been received and the drive is enabled, fault
F125 (“Synchronization lost“), occurs.

FBUS.PARAM05:

AKD-C/N EtherCAT | 3 Installation and Setup

Bit 0 1 Faults can only be reset using DS402 controlword bit 7.

0 The reset can also be done using Telnet or digital input and the DS402

state machine reflects this condition.

Bit 1 1 The state of the hardware enable does not change the state machine to

state Operation enable.

0 If the state Operation enable or Switched on is active, it falls back to the

state Switch on disabled, if the Hardware enable goes to 0.

Bit 2 1 WorkBench/Telnet cannot software enable the drive when

CANopen/EtherCAT are operational.

0 WorkBench/Telnet can software enable the drive.

During commissioning this bit should be set to 1 to
avoid influences to DS402 power stage state machine.
The fieldbus should not be in operation to avoid influ­ence to test functions of WorkBench.

Bit 3 1 DS402 - state machine is not influenced if the software enable is taken

away using Telnet.

0 DS402 - state machine is influenced if the software enable is taken away

using Telnet.

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AKD-C/N EtherCAT | 3 Installation and Setup

Bit 4 1 Scaling is done using special DS402 - objects (independent on units)

0 Scaling for position, velocity and acceleration objects is done using UNIT

parameters.

Bit 5

1 FBUS.PARAM03 defines the station alias address if not 0. If

(EtherCAT

only)

FBUS.PARAM03 is set to 0, the address will be taken from rotary
switches if they are not 0. The EtherCAT master has the ability to use the
alias address selected by the drive or issue its own.

0 The rotary switches define the station alias address if not 0. If the rotary

switches are set to 0, the address is taken from FBUS.PARAM03 instead,
if it is not 0.

Bit 6 1 Bit 0 of parameter MT.CNTL (object 35B9 sub 0) can be accessed.

0 Bit 0 of parameter MT.CNTL (object 35B9 sub 0) is exclusively used for

DS402 controlword.

Bit 7 1 All capture objects (0x20A0-0x20A3, 0x20A6, 0x20A7, 0x60BA to

0x60BD) are scaled as object 0x6063.

0 All capture objects (0x20A0-0x20A3, 0x20A6, 0x20A7, 0x60BA to

0x60BD) are scaled as object 0x6064.

Bit 8 1 DS402 - state Switched on means power stage disabled.

0 DS402 - state Switched on means power stage enabled.

Bit 9 1 SDO content of object 0x6063 is the same as PDO content.

0 SDO content of object 0x6063 depends on AKD unit parameters.

Bit 10

(Bit 10 is act-

ive only,

if Bit 8 is set)

1 State Switched on can be reached without the high-level voltage being act-

ive.

0 State Switched on can only be reached when the high-level voltage is act-

ive; otherwise the drive stays in Ready to switch on.

Bit 11 1 No emergency messages over CANopen are triggered when a drive warn-

ing occurs.

0 Emergency messages over CANopen are triggered when a drive warning

occurs.

Bit 12 reserved

Bit 13

(EtherCAT

1 Downloaded parameter file is stored automatically to nonvolatile memory.

0 Downloaded parameter file is not stored automatically to nonvolatile

only)

memory.

Bit 14 1 If a warning occurs which limits a movement of the motor bit 11 in the

DS402 statusword is additionally set to bit 7.

0 Only bit 7 is set when any warning occurs.

Bit 15 1 The bit 10 of the statusword (target reached) is also set as a reaction to the

halt bit (bit 8) of the controlword when the motor velocity is below
CS.VTHRESH.

0 Bit 10 of the statusword is only set when the external setpoint value of a

movement is reached, e.g., target position in profile position mode.

Bit 16 1 The hardware enable input decides if the transitions between Switch on dis-

abled and Ready to switch on are taken.

0 The decision relies on the DS402 controlword.

FBUS.PARAM06 to FBUS.PARAM10:

Reserved.

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3.5 Setting up Ethernet over EtherCAT (EoE)

If you are using firmware version 1.16 or later and your EtherCATmaster supports Ethernet
over EtherCAT (EoE), a WorkBench connection to your drive can be established without con­necting to the drive’s service port.

If the service port and EoE network interface are used in parallel, the service port network
interface shall be configured to be in a different subnet than the EoE network interface. Run­ning both network interface in the same subnet is NOT supported.

The master will use the EtherCAT mailbox to forward the Ethernet traffic from your PC to the
drive, allowing you to access the drive as if it was connected over Ethernet.

The following walk through uses a TwinCAT master as an example.

3.5.1 EtherCATDevice Settings

The first step is to make sure your EtherCAT device has EoE enabled. TwinCAT has a ded­icated “EoE Support” page inside the EtherCAT device’s settings.

Enable "Virtual Ethernet Switch." Check the box "Connect to TCP/IP Stack."

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3.5.2 Drive Settings

After setting up the EtherCAT device, you must enable EoE for the drive. In TwinCAT there
is an EoE page within the Drive’s Mailbox settings. If the EoE page is not displayed, add the
drive to the EtherCAT network again, using the latest device description.

To enable EoE on your drive, check the “Virtual Ethernet Port” box, select “IP Port” and “IP
Address and enter at least a valid IP address and subnet mask.

3.5.3 Connecting to the Drive

You should now be able to access your drive over WorkBench using EoE.

Open WorkBench and make sure the discovery protocol is enabled for the network interface
that is in the subnet configured for your drive in the previous step. You can now connect to
your drive as if it were connected over the service port.

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3.5.4 Performance Concerns

Since EoE is very demanding on EtherCAT Mailbox communication, all measures to improve
Mailbox performance should be taken.

When releasing the EoE feature, the biggest allowed mailbox size has been increased from
512 to 1024 byte. A larger mailbox means fewer Mailbox transfers, resulting in a performance
increase.

Furthermore an additional Fieldbus Memory Management Unit (FMMU) has been added. This
allows the master to be notified of new data in the mailbox input without the need to poll the
mailbox, leading to a decrease in reaction time, thus improving performance. If your master
does not support this, you should at least try to decrease the period in which the master polls
the drive’s mailbox.

3.5.5 Restrictions

l Since a firmware download restarts the drive in the resident firmware, which does not sup-

port Ethernet over EtherCAT, downloading firmware via EoE is not possible. To update
your drive’s firmware use FoE instead.

l If your EtherCAT master uses the device description provided in the esi-file and you want

to automatically detect your drives, set the keyword ECAT.LEGACYREV to 0. The drive
will then report a different revision number and will be recognized by the master as a
device capable of Ethernet over Ethercat.

AKD-C/N EtherCAT | 3 Installation and Setup

3.6 Setup via TwinCAT NC/PTP System Manager

Before you set up the drive, make sure the following have been completed:

The AKD is configured with WorkBench and the servomotor is able to move
A correctly configured EtherCAT card is present in the master.
TwinCAT software from Beckhoff (NC/PTP-Mode setup) is installed. Install first the
TwinCAT System Manager, restart your PC, then install the option package NC/PTP­Mode.
The XML description of the drive is available (the XML file on the DVD or on the Koll­morgen website).
An AKD EtherCAT slave is connected to the EtherCAT master PC.
The TwinCAT system manager resides in Config-Mode. The current mode of the system
manager is displayed of the bottom right side of the TwinCAT main-screen window.

Copy the XML description of the drive to the TwinCAT system (usually to the folder
c:\TwinCAT\IO\EtherCAT) and restart the TwinCAT system since TwinCAT analyzes all
device description files during start-up.

The following example explains the automatic EtherCAT network setup. The network setup
can also be done manually; please refer to the TwinCAT manual for more details.

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3.6.1 Scan devices

First ensure that the EtherCAT master is physically connected to the EtherCAT AKD. Create
a new (empty) project. Right click I/O Devices and scan for the devices. An example is
included in the EtherCAT network card, which is plugged into the PC.

A pop-up window informs you that not all devices can be detected by the TwinCAT software.
Click OK to continue.

3.6.2 Select the device

TwinCAT must be able to find the EtherCAT network card. An EtherCAT slave must be con­nected to the network card; otherwise TwinCAT will find a real-time EtherNET card instead of
the EtherCAT card. Press the OK button.

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3.6.3 Scan for boxes

Click Yes to allow TwinCat to scan for boxes. A box is an alias for a slave device and is
always used in Beckhoff software products.

3.6.4 Add Slaves to NC tasks

TwinCAT should now have identified the AKD according to the Device Description file.
TwinCAT next asks if the slaves should be connected to NC tasks. Click Yes to continue.
An NC task can, for example, contain a PLC program, which can be programmed by the
user.

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3.6.5 Enable the network configuration

Confirm that the AKD appears in the device tree. Next, enable the network configuration.

First press the button in order to generate the mappings, then press the button in

order to let TwinCAT check the configuration and use finally the button in order to step
into run-mode. Confirm afterwards that TwinCAT is allowed to jump into run-mode.

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3.6.6 Enable the axis and move the axis

The Axis can be enabled by a mouse-click on the Set button within the Online window inside
of each Axis, see also the next picture.

Afterwards a pop-up window appears.

The following setting enables the drive and allows command values in both directions.

Afterwards the motor should move in positive or negative direction as soon as the clicks on
the following yellow buttons within the Online window:

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3.7 Setup WorkBench over TwinCAT

This chapter describes a quick start guide to setup a WorkBench over TwinCAT system and
make a motor spin under that system.

This chapter does not give specific details on TwinCAT system or WorkBench alone but is
giving guidelines and information on how TwinCAT master and WorkBench works together.

Main steps in configuring a WorkBench over TwinCAT system are:

TwinCAT and WorkBench configuration
Connecting to a drive using WorkBench
Configuring and enabling a drive

3.7.1 TwinCAT and WorkBench Configuration

The EtherCAT network must be setup and managed using TwinCAT System Manager. To be
able to connect to a drive and enable it, the drive must be loaded under the I/O Devices node
in TwinCAT System Manager and axis must be added to NC - Configuration as shown ➜ p.
21 "Setup via TwinCATNC/PTPSystem Manager " in the EtherCATManual.

AKD-C/N EtherCAT | 3 Installation and Setup

In order to connect to the drives using WorkBench, the drives must be either in Pre-Op, Safe­Op or Op state. State machine for a drive can be accessed from the Online tab for the cor­responding drive under the I/O Configuration → I/O Devices → Device [x] → Drive [x] node
(see screenshot below).

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Installation process for WorkBench is the same process as normal, except that it must be
installed on the same machine as TwinCAT. Communication to the drive is done thru
TwinCAT master and it's not possible to connect WorkBench to the master remotely.

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3.7.2 Connecting to a Drive Using WorkBench

In order to connect to a drive, a TwinCAT device must be added in WorkBench. The start
page of WorkBench can be used to do this. First, the type of drive (Online - TwinCAT) must
be specified. Then, a list of available drives will be provided.

AKD-C/N EtherCAT | 3 Installation and Setup

The information provided for a drive are it's name, status, Net ID and Port number. After
selecting a drive from the list, clicking on the "Connect" button will create a device in the left
frame of WorkBenchand connect the device.

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The name, Net ID and port number are information comming from the TwinCAT master con­figuration file (the name may be different than the drive name returned by the DRV.NAME
command). While the status is an indicator that tells if there is already a device created within
WorkBench which is already connected to that particular drive.

Using TwinCAT System Manager, the drive name and port number can be found in the Gen­eral and EtherCAT tab respectively for the corresponding drive under the I/O Configuration →
I/O Devices → Device [x] → Drive [x] node.

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The Net ID can be found in the EtherCAT tab in the I/O Configuration → I/O Devices →
Device [x] node.

It is important to understand that thid information is coming from the TwinCAT master and it's
configuration file but not from the drive itself. Thus, if the TwinCAT configuration is not reflect­ing the actual network configuration, you may have a drive listed in WorkBench which is not
be powered up or even connected in the EtherCAT network, or you have a drive powered up
and connected to the TwinCAT network but not shown in the WorkBench list.

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3.7.3 Configuring and Enabling a Drive

Once connected with WorkBench, a drive can be configured using all normal functionality of
WorkBench.

The only operation that is not possible to do using WorkBench over TwinCAT is the download
of a new firmware in the drive. Downloading a new firmware in the drive must be performed
using File over EtherCAT (FoE) feature of TwinCAT server.

If the cyclic communication of the TwinCAT master is enabled, it is possible that some com­mands sent by WorkBench using the ASCII channel are overwritten by the TwinCAT master.
Typically, the drive enable command will have no effect if sent from WorkBench because the
control word is usually mapped.

Using TwinCAT, enabling the drive can be done with the following procedure:

1. Under NC Configuration → Axes → Axis [x] node, choose the Online tab.

2. Press the Set button within the Enabling section.

3. In the pop-up dialog box, check the Controller checkbox to enable the drive (or un-check
to disable the drive) and press on the OK button.

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