M, 09/2016Supported cyclical actual values (3470) updated, object 6077 updated, chapter "Important Para-
meters" updated. Added objects 35B8h, 35BDh, and 6087h.
N, 03/2017Setting up Ethernet over EtherCAT (EoE) (➜ p. 18) added.
P, 10/2017Added 0x1725 and 0x1B26 to Fixed PDO Mappings (➜ p. 42). Corrections to Objects 1C12h
and 1C13h.
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 Windows is a registered trademark of Microsoft Corporation
®
is a registered trademark of sercos®international e.V.
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!
Printed in the United States of America
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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Page 3
AKD EtherCAT | Table of Contents
1Table of Contents
1 Table of Contents3
2 General7
2.1 About this Manual8
2.2 Target Group8
2.3 Symbols Used9
2.4 Abbreviations Used10
3 Installation and Setup11
3.1 Important Instructions12
3.2 EtherCAT Onboard13
3.2.1 LED functions13
3.2.2 Connection technology13
3.2.3 Network Connection Example13
3.3 EtherCAT activation with AKD-CC models14
3.4 Guide to Setup15
3.5 Important Configuration Parameters16
3.6 Setting up Ethernet over EtherCAT (EoE)18
3.6.1 EtherCATDevice Settings18
3.6.2 Drive Settings18
3.6.3 Connecting to the Drive19
3.6.4 Performance Concerns19
3.6.5 Restrictions20
3.7 Setup via TwinCAT NC/PTP System Manager21
3.7.1 Scan devices22
3.7.2 Select the device22
3.7.3 Scan for boxes23
3.7.4 Add Slaves to NC tasks23
3.7.5 Enable the network configuration23
3.7.6 Enable the axis and move the axis24
3.8 Setup WorkBench over TwinCAT25
3.8.1 TwinCAT and WorkBench configuration26
3.8.2 Connecting to a drive using WorkBench27
3.8.3 Configuring and enabling a drive30
3.8.4 Download a parameterfile over TwinCAT31
3.9 Setup via KAS IDE32
4 EtherCAT Profile33
4.1 Slave Register34
4.2 AL Event (Interrupt Event) and Interrupt Enable35
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:
l AKD Installation ManualThis manual provides instructions for installation and drive setup.
l 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.
l AKD CAN-BUS Communication. This manual describes the CAN communication and
delivers a lot of information for CAN over EtherCAT communication.
l Accessories 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:
l Installation: only by electrically qualified personnel.
l Setup : only by qualified personnel with extensive knowledge of electrical engineering
l Programming: software developers, project-planners.
The qualified personnel must know and observe the following standards:
l ISO 12100, IEC 60364 and IEC 60664
l National accident prevention regulations
and drive technology.
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2.3 Symbols Used
SymbolIndication
DANGER
AKD EtherCAT | 2 General
Indicates a hazardous situation which, if not avoided, will result in death or serious injury.
WARNING
CAUTION
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 EtherCAT | 2 General
2.4 Abbreviations Used
Abbreviation Meaning
ALApplication Layer: the protocol that directly used by the process entities.
CatCategory – classification for cables that is also used in Ethernet.
DCDistributed Clocks Mechanism to synchronize EtherCAT slaves and master
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 EtherCAT | 3 Installation and Setup
3Installation and Setup
3.1 Important Instructions12
3.2 EtherCAT Onboard13
3.3 EtherCAT activation with AKD-CC models14
3.4 Guide to Setup15
3.5 Important Configuration Parameters16
3.6 Setting up Ethernet over EtherCAT (EoE)18
3.7 Setup via TwinCAT NC/PTP System Manager21
3.8 Setup WorkBench over TwinCAT25
3.9 Setup via KAS IDE32
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AKD EtherCAT | 3 Installation and Setup
3.1 Important Instructions
DANGER
High Voltage up to 900 V.
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.
l Never remove electrical connections to the drive while it is live.
l 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.
l To be sure, measure the voltage in the DC bus link and wait until it
has fallen below 50 V.
WARNING
Automatic Restart
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.
l Place a warning sign ("WARNING: Possible Automatic Start" or
similar) to the machine.
l Ensure, that power on is not possible, while humans are in a
dangerous zone of the machine.
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:
rotarylinear
at sinusoidal² commutation: 7500 rpmat 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 X5 (in port) and X6 (out port).
3.2.1 LED functions
The communication status is indicated by the built-in LEDs.
Connector LED# NameFunction
X5LED1 IN port LinkON = active
X6LED3 OUT port LinkON = active
AKD EtherCAT | 3 Installation and Setup
OFF= not active
LED2 RUNON = 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 EtherCAT | 3 Installation and Setup
3.3 EtherCAT activation with AKD-CC models
AKD-CC drive models are Drives, which support EtherCAT and CAN fieldbus types within
one common software. CC drive models are delivered with EtherCAT set active. If you must
change a drive from CANopen to EtherCAT, the DRV.TYPE parameter must be changed
1. by software: connect the PC to the AKD and change the parameter DRV.TYPE in the
WorkBench terminal screen (see DRV.TYPE parameter documentation) or
2. by hardware: with the rotary switches S1 & S2 at the front and the button B1 on the top
side of the Drive.
The following steps are needed for changing the fieldbus type from CAN to EtherCAT with
the rotary switches.
1. Set the rotary switches on the front side of the AKD to the value of 89.
Set S1 to 8 and S2 to 9
2. Press the button B1 for about 3 seconds (starts DRV.NVSAVE).
The display shows En during the process of changing DRV.TYPE to EtherCAT.
Do not switch off the 24[V] power supply while the seven segment shows En!
3. Wait until the display returns to the original state.
4. Power cycle the drive by switching the 24 V power supply off and then on again.
The seven segment display shows Er (Error) in case that the DRV.TYPE instruction failed. In
this case please power cycle the drive and contact the Kollmorgen customer support for further help.
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3.4 Guide to Setup
Only professional personnel with extensive knowledge of control and drive technology are
allowed to setup the drive.
Automatic Restart
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.
Refer to chapter "Important Configuration Parameters" (➜ p. 16) for fieldbus parameter setting (FBUS.PARAMx).
AKD EtherCAT | 3 Installation and Setup
WARNING
l Place a warning sign ("WARNING: Possible Automatic Start" or
similar) to the machine.
l Ensure, that power on is not possible, while humans are in a
dangerous zone of the machine.
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.
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AKD EtherCAT | 3 Installation and Setup
3.5 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:
Bit 0 1 Faults can only be reset using DS402 control word bit 7.
0 The reset can also be done via 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 state
Operation Enable.
0 If the state Operation Enable or Switched on is active it falls back to the
state switched On Disabled, if the Hardware enable goes to 0.
Bit 2 1 WorkBench/Telnet can not software enable the drive, when
CANopen/EtherCAT are Operational.
0 WorkBench/Telnet can software enable the drive.
NOTE: During commissioning this bit should be set to 1 to avoid
influences to DS402 power stage state machine. The field bus
should not be in operation as well to avoid influence to test functions of Workbench.
Bit 3 1 DS402-state machine is not influenced, if the software-enable is taken
away via Telnet.
0 DS402-state machine is influenced, if the software-enable is taken away
via Telnet.
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Bit 4 1 Scaling is done via special DS402 - objects (independent on units)
Bit 5
(EtherCAT
only)
Bit 6 1 Bit 0 of parameter MT.CNTL (object 35B9 sub 0) can be accessed.
Bit 7 1 All capture objects (0x20A0-0x20A3, 0x20A6, 0x20A7, 0x60BA to
Bit 8 1 DS402-state SWITCHED ON means power stage disabled.
Bit 9 1 SDO content of object 0x6063 is the same as PDO content.
Bit 10
(Bit 10 is active only,
if Bit 8 is set)
Bit 11 1 No emergency messages over CANopen are triggered when a drive warn-
Bit 12reserved
Bit 13
(EtherCAT
only)
AKD EtherCAT | 3 Installation and Setup
0 Scaling for position, velocity and acceleration objects is done via UNIT
parameters.
1 FBUS.PARAM03 defines the station alias address if not 0. If
FBUS.PARAM03 set to 0, the address will be taken from rotary switches
instead, 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 will be taken from FBUS.PARAM03
instead, if it is not 0.
0 Bit 0 of parameter MT.CNTL (object 35B9 sub 0) is exclusively used for
DS402 controlword.
0x60BD) are scaled like object 0x6063.
0 All capture objects (0x20A0-0x20A3, 0x20A6, 0x20A7, 0x60BA to
0x60BD) are scaled like object 0x6064.
0 DS402-state SWITCHED ON means power stage enabled.
0 SDO content of object 0x6063 depends on AKD unit parameters.
1 State “Switch On” can be reached without the high-level voltage being act-
ive.
0 State “Switch On” can only be reached when the high-level voltage is act-
ive; otherwise the drive will stay in “Ready to Switch On”.
ing occurs.
0 Emergency messages over CANopen are triggered when a drive warning
occurs.
1 Downloaded parameter file is stored automatically to nonvolatile memory.
0 Downloaded parameter file is not stored automatically to nonvolatile
memory.
FBUS.PARAM06 to FBUS.PARAM10:
Reserved.
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AKD EtherCAT | 3 Installation and Setup
3.6 Setting up Ethernet over EtherCAT (EoE)
If you are using firmware version 1.16 or later and your EtherCATmaster 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.
3.6.1 EtherCATDevice 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."
3.6.2 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.
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AKD EtherCAT | 3 Installation and Setup
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.
3.6.3 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.
3.6.4 Performance Concerns
Since EoE is very demanding on EtherCAT Mailbox communication, all measures to improve
Mailbox performance should be taken.
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AKD EtherCAT | 3 Installation and Setup
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.
3.6.5 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.
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3.7 Setup via TwinCAT NC/PTP System Manager
Before you set up the drive, make sure the following have been completed:
l The AKD is configured with WorkBench and the servomotor is able to move
l A correctly configured EtherCAT card is present in the master.
l 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.
l The XML description of the drive is available (the XML file on the DVD or on the Koll-
morgen website).
l An AKD EtherCAT slave is connected to the EtherCAT master PC.
l 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.
AKD EtherCAT | 3 Installation and Setup
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AKD EtherCAT | 3 Installation and Setup
3.7.1 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.
3.7.2 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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3.7.3 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.
3.7.4 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.
AKD EtherCAT | 3 Installation and Setup
3.7.5 Enable the network configuration
Confirm that the AKD appears in the device tree. Next, enable the network configuration.
First press thebutton in order to generate the mappings, then press thebutton in
order to let TwinCAT check the configuration and use finally thebutton in order to step
into run-mode. Confirm afterwards that TwinCAT is allowed to jump into run-mode.
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AKD EtherCAT | 3 Installation and Setup
3.7.6 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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3.8 Setup WorkBench over TwinCAT
This chapter describes a quick start guide for a user to be able to setup a WorkBench over
TwinCAT system and be able to make a motor spin under that system.
This chapter does not give any 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:
l TwinCAT and WorkBench configuration
l Connecting to a drive using WorkBench
l Configuring and enabling a drive
AKD EtherCAT | 3 Installation and Setup
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AKD EtherCAT | 3 Installation and Setup
3.8.1 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 TwinCATNC/PTPSystem Manager " in the EtherCATManual.
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).
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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3.8.2 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 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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AKD EtherCAT | 3 Installation and Setup
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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AKD EtherCAT | 3 Installation and Setup
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 these information are comming 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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AKD EtherCAT | 3 Installation and Setup
3.8.3 Configuring and enabling a drive
Once connected with WorkBench, a drive can be configured using all normal functionnalities
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 overwirtten 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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3.8.4 Download a parameterfile over TwinCAT
You can download a parameter file to the drive over EtherCAT. Before you start, make sure
that the drive is in INIT, PREOP, or SAFEOP state before trying to download the file.
1. First select the drive where you want to perform the download.
2. Change to the online tab.
AKD EtherCAT | 3 Installation and Setup
3. Press the download button.
4. Chose “All Files (*.*)” as filetype to see the parameter files which end with “.akd”.
5. Select the file.
6. press open (6) to start the download.
Downloading a parameter file over TwinCAT is support by all drives from firmware 01.12.000.
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AKD EtherCAT | 3 Installation and Setup
3.9 Setup via KAS IDE
If you are using a Kollmorgen Automation Suite (KAS) system, the AKD setup is completely
integrated into the KAS Integrated Development Environment (IDE), as shown below:
For further information on the setup for a KASsystem, see the following sections in the KAS
documentation:
l KAS IDE User Manual:See section 4.2.3 Add and Configure Drive.
l KAS Online Help: See Using the KAS IDE> Creating a Project> Step 3 - Add and
Configure Drive.
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4EtherCAT Profile
4.1 Slave Register34
4.2 AL Event (Interrupt Event) and Interrupt Enable35
4.3 Phase Run-Up37
4.4 CANopen over EtherCAT (CoE) State Machine39
4.5 Fixed PDO Mappings42
4.6 Flexible PDO Mappings44
4.7 Supported Cyclical Setpoint and Actual Values49
4.8 Supported Operation Modes51
4.9 Adjusting EtherCAT Cycle Time51
4.10 Maximum Cycle Times depending on operation mode51
4.11 Synchronization52
4.12 Latch Control Word and Latch Status Word53
4.13 Mailbox Handling54
4.14 EEProm Content58
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4.1 Slave Register
The table below gives the addresses of individual registers in the FPGA memory. The data is
provided in little-endian format, with the ’least significant byte’ occupying the lowest address.
A detailed description of all registers and FPGA memory locations is available in the “EtherCAT Slave Controller” description of the EtherCAT user organization (www.EtherCAT.org).
AddressLength
(Byte)
0x01202AL ControlR/WR/O
0x01302AL StatusR/OR/W
0x01342AL Status CodeR/OR/W
0x02042Interrupt Enable RegisterR/OR/W
0x02202AL Event (IRQ Event)R/WR/O
0x08008Sync Manager 0 (Mail Out Control Register)R/WR/O
0x08088Sync Manager 1 (Mail In Control Register)R/WR/O
0x08108Sync Manager 2 (Process data Output Con-
0x08188Sync Manager 3 (Process data Input Control
0x08208Sync Manager 4R/WR/O
0x08288Sync Manager 5R/WR/O
0x08308Sync Manager 6R/WR/O
0x08388Sync Manager 7R/WR/O
0x08408Sync Manager 8R/WR/O
0x1100Max. 64ProOut Buffer (Process data Output, set-
0x1140Max. 64ProIn (Process data Input, act. values
0x1800up to 512**
up to 1024**
0x1C00up to 512**
up to 1024**
DescriptionZA
ECAT*ZADrive*
R/WR/O
trol Register)
R/WR/O
Register)
R/WR/O
points ECAT)
R/OR/W
ECAT)
Mail Out Buffer (Object Channel Buffer
ECAT, byte-length is specified in the device
description file)
Mail In Buffer (Object Channel Buffer Drive,
byte-length is specified in the device description file)
R/WR/O
R/OR/W
* ZA ECAT = Access mode EtherCAT
* ZA Drive = Access mode drive
** depends on firmware version and revision number
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4.2 AL Event (Interrupt Event) and Interrupt Enable
Communication between the drive and the EtherCAT FPGA can be interrupt-driven. The interrupt enable register and the AL event register are responsible for the EtherCAT interface interrupt functionality.
There are two events which lead also to a HW interrupt within the drive, the EEPROM emulation event and the SyncManager 2 event. The actual values of the drive (SyncManager 3
data) are written without any AL event request during each HW IRQ, e.g. triggered by a SyncManager 2 event. The Mailbox exchange between the master and the AKD is completely
handled by polling the AL event register within the background task of the drive.
The drive activates individual EtherCAT interface events when the corresponding bit of the
interrupt enable register is set to 1. When it is set to 0, the hardware interrupts for the specific
events are deactivated.
Sync Manager 2 Event0x2012R/OR/W Process data output (PDO,
Sync Manager 3 Event0x2013R/OR/W Process data input (PDO,
Sync Manager 4 –
Sync Manager 7 Event0x2214 to 7R/OR/W Reserved
Sync Manager 8 –
Sync Manager 15 Event 0x2220 to 7R/OR/WReserved
0x2202R/OR/WProcessing of a distributed
0x2203R/OR/WProcessing of a distributed
0x2204R/OR/WThe content of the Syn-
0x2205R/OR/WProcessing of an EEPROM
Description
for phase run-up
clock (DC) event
clock (DC) event
cManager activation register
has been changed.
emulation event in order to
identify the AKD within the network.
Manager 0) for object channel.
Manager 1) for object channel.
card's cyclical setpoints)
drive's cyclical actual values)
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4.3 Phase Run-Up
The AL control, AL status and AL status code registers are responsible for communication
phase run-up (also referred to as EtherCAT status change), for current status display and for
any fault messages. The drive responds to every EtherCAT interface transition request made
by the AL control register via the AL Status and AL Status Code registers. Any fault messages are displayed in the AL status code register.
A status change within the AL control register is polled within the AKD, which means that an
AL control event does not lead to a HW interrupt within the drive.
4.3.1 AL Control (Address 0x0120:0x0121)
AKD EtherCAT | 4 EtherCAT Profile
ParameterAddressBitZA
Status0x1203 to 0R/OW/O 0x01: Init Request
0x02: PreOperational
Request
0x03: Bootstrap Mode
Request
0x04: Safe Operational
Request
0x08: Operational
Request
Acknowledgement0x1204R/OW/O 0x00: No fault acknowledgement
Reserved0x1207 to 5R/OW/O -
Applic. specific0x120 15 to 8R/OW/O -
4.3.2 AL Status (Address 0x0130:0x0131)
ParameterAddressBitZA
Status0x1303 to 0W/OR/O0x01: Init
0x02: PreOperational
0x03: Bootstrap Mode
0x04: Safe Operational
0x08: Operational
Status change0x1304W/OR/O0x00: Acknowledgement
Reserved0x1307 to 5W/OR/O-
Applic. specific0x130 15 to 8 W/OR/O-
Description
DriveZAECAT
0x01: Fault acknowledgement
(positive edge)
Description
DriveZAECAT
0x01: Error, e.g. forbidden transition
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4.3.3 AL Status Code (Address 0x0134:0x0135)
Parameter AddressBitZA Drive ZA ECATDescription
Status0x1347 to 0W/OR/OSee table below
Status0x1357 to 0W/OR/OSee table below
CodeDescriptionCurrent Status
0x0000No errorAllCurrent Status
0x0011Invalid requested state changeI -> S, I -> O, P -> O,
0x0017Invalid sync manager configuration I -> P, P -> SCurrent Status + E
No other codes are supported.
4.3.4 EtherCAT communication phases
Resulting Status
(Status change)
Current Status + E
O -> B, S -> B, P -> B
INIT:
Initialization, no communication.
EEPROM emulation will be activated.
PRE-OP:
Mailbox active, slave parameterization
and startup parameters
SAVE-OP:
Cyclical actual values are transferred
and the drive tries to synchronize.
OPERATIONAL:
Cyclical setpoints are processed,
torque enable can be activated and the
drive must be synchronized.
Individual communication transitions
Transition ALControl
(Bit 3 to 0)
(IB)0x03-
(BI)--
(IP)0x02AKD reads the SyncManager 0 & 1 configuration and verifies the
(PI)0x01-
(PS)0x04AKD reads the SyncManager 2 & 3 configuration and verifies the
(SP)0x02-
(SI)0x01-
(SO)0x08The SnycManager 2 hardware interrupt will be enabled by the
(OS)0x04Deactivation of SyncManager 2 hardware interrupt.
(OP)0x02Deactivation of SyncManager 2 hardware interrupt..
(OI)0x01Deactivation of SyncManager 2 hardware interrupt.
Description
value of the start-address and the length. The AKD prepares
itself for handling SyncManager 0 events.
value of the start-address and the length.
drive.
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4.4 CANopen over EtherCAT (CoE) State Machine
AKD EtherCAT | 4 EtherCAT Profile
The state machine for the control and
status words corresponds to the
CANopen state machine in accordance
with DS402.
CANopen control and status words are
captured in every instance of fixed PDO
mapping (see chapter "Fixed PDO Mappings" (➜ p. 42)).
4.4.1 Status Description
StatusDescription
Not Ready to Switch On The drive is not ready to switch on; the controller has not indicated readiness for ser-
vice. The drive is still in the boot phase or in fault status.
Switch On DisableIn 'Switch On Disable' status, the amplifier cannot be enabled via the EtherCAT inter-
face, because (for example) there is no connection to a power source.
Ready to Switch OnIn 'Ready to Switch On' status, the drive can be enabled via the control word.
Switched OnIn 'Switched On' status, the amplifier is enabled, but the setpoints of the EtherCAT-
interface are not yet transferred. The amplifier is idle, and a positive edge in bit 3 of
the control word activates setpoint transfer (transition to 'Operation Enable' status).
Operation EnableIn this status, the drive is enabled and setpoints are transferred from the EtherCAT
interface.
Quick Stop ActiveThe drive follows a quick stop ramp.
Fault Reaction ActiveThe drive responds to a fault with an emergency stop ramp.
FaultA fault is pending, the drive is stopped and disabled.
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4.4.2 Commands in the Control Word
Bit assignment in the control word
BitNameBitName
0Switch on8Pause/halt
1Disable Voltage9reserved
2Quick Stop10reserved
3Enable Operation11reserved
4Operation mode specific12reserved
5Operation mode specific13Manufacturer-specific
6Operation mode specific14Manufacturer-specific
7Reset Fault (only effective for faults)15Manufacturer-specific
Commands in the control word
CommandBit 7
Fault
Reset
ShutdownXX1102, 6, 8
Switch onXX1113
Disable VoltageXXX0X7, 9, 10, 12
Quick StopXX01X7, 10, 11
Disable OperationX01115
Enable OperationX11114, 16
Fault Reset1XXXX15
Bits labeled X are irrelevant. 0 and 1 indicate the status of individual bits.
Mode-dependent bits in the control word
The following table shows the mode-dependent bits in the control word. Only manufacturerspecific modes are supported at present. The individual modes are set by Object 6060h
Modes of operation.
Operation modeNo Bit 4Bit 5Bit 6
Profile Position Mode (pp)01h new_setpointchange_set_
Interpolated Position Mode (ip) 07hreservedreserved
Cyclic synchronous position
mode
Bit 3
Enable Oper-
ation
start
08h reservedreservedreserved
Bit 2
Quick
Stop
Bit 1
Disable
Voltage
immediately
reservedreserved
Bit 0
Switch
On
absolute/relative
Transitions
Description of the remaining bits in the control word
Bit 8: (Pause) If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed
for homing or jogging, motion task number, setpoints for digital mode) for the individual
modes are retained.
Bit 9,10: These bits are reserved for the drive profile (DS402).
Bit 13, 14, 15: These bits are manufacturer-specific, and reserved at present.
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4.4.3 State Machine Bits (status word)
Bit assignment in the status word
Bit NameBit Name
0Ready to switch on8Manufacturer-specific (reserved)
1Switched on9Remote (always 1)
2Operation enable10 Target reached
3Fault11 Internal limit active
4Voltage enabled12 Operation mode specific (reserved)
5Quick stop13 Operation mode specific (reserved)
6Switch on disabled14 Manufacturer-specific (reserved)
7Warning15 Manufacturer-specific (reserved)
States of the state machine
AKD EtherCAT | 4 EtherCAT Profile
StateBit 6
switch on
disable
Not ready to switch on0X0000
Switch on disabled1X0000
Ready to switch on010001
Switched on010011
Operation enabled010111
Fault0X1000
Fault reaction active0X1111
Quick stop active000111
Bits labeled X are irrelevant. 0 and 1 indicate the status of individual bits.
Description of the remaining bits in the status word
Bit 4: voltage_enabled The DC-link voltage is present if this bit is set.
Bit 7: warning There are several possible reasons for Bit 7 being set and this warning being
produced. The reason for this warning can be revealed by using the Object 20subindex manufacturer warnings.
Bit 9: remote is always set to 1, i.e. the drive can always communicate and be influenced via
the RS232 - interface.
Bit 10: target_reached This is set when the drive has reached the target position.
Bit 11: internal_limit_active This bit specifies that a movement was or is limited. In different
modes, different warnings cause the bit to be set.
Bit 5
quick
stop
Bit 3
fault
Bit 2
operation
enable
Bit 1
switched
on
Bit 0
ready to
switch
on
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4.5 Fixed PDO Mappings
Various ready-to-use mappings can be selected for cyclic data exchange via SDO’s of the
object 0x1C12 and 0x1C13. Using object 0x1C12 subindex 1 (Sync Manager 2 assignment),
a fixed mapping for the cyclic command values can be set with the values 0x1701,
0x1702,0x1720 to 0x1725. Using object 0x1C13 subindex 1 (Sync Manager 3 assignment), a
fixed mapping for the cyclic actual values can be set via the data 0x1B01, 0x1B20 to 0x1B26.
Use the sequence below to select the fixed command value mapping 0x1701 via SDO’s:
1. SDO write access to object 0x1C12Sub0 Data:0x00
2. SDO write access to object 0x1C12Sub1 Data:0x1701
3. SDO write access to object 0x1C12Sub0 Data:0x01
Up to firmware version 1.8.x.x AKD.XML file, fixed mapping 0x1701 called out 0x6062sub0
as the “Position Command”. From AKD firmware release 1.8.5.0, the AKD.XML will be
changed to call out 0x60C1sub1 as the “Position Command” and an additional XML file called
“AKD_TwinCAT.XML” will be added to support TwinCat 2x and older. In reality, SDO
0x6062sub0 is not supported in the AKD firmware but was called in the fixed mapping to support a TwinCat issue.
Position interface, supported fixed mappings:
0x1701 Position command value (4 bytes), Control word (2 bytes), total (6 bytes)
0x1720 Control Word (2 bytes), Interpolated position command value (4 bytes), Latch con-
trol word (2 bytes), Torque feed forward (2 bytes), Digital outputs (2 bytes)
0x1721 Interpolated position command value (4 bytes), Control Word (2 bytes), Torque
feed forward (2 bytes)
0x1722 Control word (2 byte), Interpolated position command value (4 bytes), Latch control
word (2 bytes), Torque feed forward (2 bytes), Digital outputs (2 bytes), max.
torque (2 bytes)
0x1723 Control word (2 bytes), Interpolated position command value (4 bytes), Latch con-
trol word (2 bytes), Torque feed forward (2 bytes), Digital outputs (2 bytes), Reset
of changed input information (2 bytes)
0x1724 Target position for cyclic synchronous position mode (4 bytes), Control word (2
byte), Torque feed forward (2 bytes)
0x1725 Controlword (2 bytes), Target position for cyclic synchronous position mode (4
bytes), Digital outputs (4 bytes), Torque feed forward (2 bytes), Analog output value
(2 bytes), Max torque (2 bytes)
0x1B01 Position actual value (4 bytes), Status word (2 bytes), total (6 bytes)
0x1B20 Position actual internal value (4 bytes), 2nd position feedback position (4 bytes),
velocity actual value (4 bytes), digital inputs (4 bytes), following error (4 bytes),
latch position positive (4 bytes), status word (2 bytes), torque actual value (2
bytes), latch status (2 bytes), analog input value (2 bytes)
0x1B21 Position Actual Internal Value (4 bytes), Status word (2 bytes)
0x1B22 Position actual internal value (4 bytes), 2nd position feedback position (4 bytes),
velocity actual value (4 bytes), digital inputs (4 bytes), following error (4 bytes),
latch position negative (4 bytes), status word (2 bytes), torque actual value (2
bytes), latch status (2 bytes), analog input value (2 bytes)
0x1B23 Position actual internal value (4 bytes), 2nd position feedback position (4 bytes),
velocity actual value (4 bytes), digital inputs (4 bytes), following error (4 bytes),
latch position positive / negative (4 bytes), status word (2 bytes), torque actual
value (2 bytes), latch status (2 bytes), analog input value (2 bytes)
0x1B24 Position actual value (4 bytes), status word (2 bytes)
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0x1B25 Position actual internal value (4 bytes), 2nd position feedback position (4 bytes),
latch position 2 positive / negative (4 bytes), digital inputs (4 bytes), following error
(4 bytes), latch position 1 positive / negative (4 bytes), status word (2 bytes), torque
actual value (2 bytes), latch status (2 bytes), analog input value (2 bytes)
0x1B26 Statusword (2 bytes), Position actual value (4 bytes), Analog input value (2 bytes),
Digital inputs (4 bytes), Following error actual value (4 bytes)
Velocity interface, supported fixed mappings:
0x1702Velocity command value (4 bytes), Control word (2 bytes), total (6 bytes)
The objects, which are mapped into the fixed PDOs can be read via the subindices 1 to n of
the above indices. The number of mapped entries is available by reading subindex 0 of the
above indices.
Example:
A read access to object 1702 sub 0 gives a value of 2, a read on subindex 1 gives
0x60ff0020, on subindex 2 0x60400010. The meaning of these numbers can be seen in the
CANopen manual or the flexible-mapping example (➜ p. 46.).
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4.6 Flexible PDO Mappings
In addition to the fixed PDO mapping the so-called flexible mapping of real-time objects is
possible.
Available objects for PDO mapping are listed in the object dictionaries ("Appendix" (➜ p.
59)). All objects with the entry "yes" in column "PDO map." can be used.
Restrictions of flexible mapping:
l An odd length PDO is not allowed.
o
In the Rx(=set-point)-direction the dummy-object 0x0002 sub 0 with a length of 8 bits
can be used to make the PDO-length even.
o
In the Tx(=actual value)-direction one sub-index of the manufacturer status object
0x2002 sub 1..4 can be used to guarantee the even length of the Tx-PDO.
o
These special mappings may be used if the objects 0x6060 and 0x6061 have to be
used in the mapping.
l The allowed PDOs have up to 32 bytes (Tx) or 20 bytes (Rx). They are built from smaller
PDO modules with a maximum length of 8 bytes. These are built by using the mapping
objects 0x1600 to 0x1603 and 0x1a00 to 0x1a03.
The configuration is similar to the described sequence for the fixed mappings:
1. The mapping selection is cleared (write 0 to object 0x1C12 sub 0 and 1C13 sub 0)
2. As the AKD - implementation is based on CANopen the real-time data are build from up to
4 PDOs with 8 bytes in both directions. These PDOs are built in the same way as in a
CAN-drive with the objects 0x1600 - 0x1603 and 0x1A00 - 0x1A03. Unused PDOs must
be cleared with writing 0 to the subindex 0.
3. SDO write access to object 0x1C12 sub 1 .. 4 with the PDOs (0x1600 .. 0x1603), that
should be used in receive direction of the AKD (set point values).
4. SDO write access to object 0x1C13 sub 1 .. 4 with the PDOs (0x1A00 .. 0x1A03), that
should be used in transmit direction of the AKD (actual values).
5. SDO write access to the objects 0x1C12 sub 0 and 0x1C13 sub 0 with the number of
mapped PDOs in this direction.
See an example in chapter "Flexible PDO Mappings" (➜ p. 44) .
The cyclically used data are visible in the PDO-assignment window for the Inputs and Outputs of the Sync Managers. Default setting are the fixed PDOs 0x1701 and 0x1B01 (visible
contents when selected in the PDO list).
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If the flexible mapping is required, the PDO configuration check box must be changed.
4.6.1 Example: Flexible PDO Mapping
For the flexible mapping of the Outputs the fixed mapping 0x1701 has to be switched off and
up to 4 free-mappable PDOs (0x1600-0x1603) can be used instead. The maximum number of
bytes for each of these PDOs is 8.
After that the default mapping of e.g. the PDO 0x1600 can be extended:
==========>
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A list of possible objects for the mapping will be shown and a new entry can be chosen.
In this case the setpoint for the interpolated
position mode is selected.
The same is valid for the Tx-PDO-direction.
Here the value of the actual internal position
is selected.
This results in the startup-SDO-list for this sample free-mapped-configuration.
The meaning of the data (for example 0x60410010 in the mapping of 0x1A00 sub 1) is as follows:
l 0x6041 is the index of the DS402 status word
l 0x00 is the subindex of the DS402 status word
l 0x10 is the number of bits for this entry, i. e. 16 bits or 2 bytes.
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If this shall be used in the NC, the interpolation set point position has to be linked from the
axis to the NC-axis.
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After doing this configuration the mapping can be activated as seen before in this document:
Now the NC-screen should show a position in the online window, which changes a bit in the
last digits.
After enabling the power stage with the All-button, the drive can be moved via the jog-buttons
or via the functions in the function menu.
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4.7 Supported Cyclical Setpoint and Actual Values
Supported cyclical setpoint values
AKD EtherCAT | 4 EtherCAT Profile
NameCANopen
object
Target current0x2071 sub 0 32 bitscaled in mA
Latch Control word0x20A4 sub 0 UINT16
Clear digital Input Change Bit 0x20B816 bit
Analog output value0x3470 sub 3 16 bit
External feedback position0x3497 sub 0 32 bit
CANopen control-word0x6040 sub 0 UINT16 CANopen control word.
Modes of Operation0x6060 sub 0 8 bitDS402 opmode setpoint
Velocity Window0x606D sub 0 16 bit
Velocity Window Time0x606E sub 0 16 bit
Target Torque0x6071 sub 0 16 bit0.1% resolution
Maximum Torque0x6072 sub 0 16 bit
Target position0x607A sub 0 INT32Used in profile position mode / cyc-
Profile position target velocity 0x6081 sub 0 32 bitrelated to MT.V
Profile position target acc0x6083 sub 0 32 bitrelated to MT.ACC
Profile position target dec0x6084 sub 0 32 bitrelated to MT.DEC
Velocity feed forward0x60B1 sub 0 32 bit
Torque feed forward0x60B2 sub 0 INT16
Touch probe function0x60B816 bit
Position command value0x60C1 sub 1 INT32Interpolation data record in IP-
Digital outputs0x60FE sub 1 UINT32
Velocity command value0x60FF sub 0 INT32
Data
type
Description
lic synchronous position mode
mode
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Supported cyclical actual values
NameCANopen
object
Data
type
Description
Position actual internal value0x6063 sub 0 INT32
Velocity actual value0x606C sub 0 INT32
CANopen status-word0x6041 sub 0 UINT16 CANopen status word
Second position feedback0x2050 sub 0INT32
Digital inputs0x60FD sub 0 UINT32
Following error actual value0x60F4 sub 0 INT32
Latch position positive edge0x20A0 sub 0 INT32
Torque actual value0x6077 sub 0 INT16
Latch status0x20A5 sub 0 UINT16
Actual Current0x2077 sub 0 32 bitscaled in mA
Latch1 negative edge0x20A1 sub 0 32 bit
Latch2 Positive0x20A2 sub 0 32 bit
Latch2 Negative0x20A3 sub 0 32 bit
Latch1 positive/negative edge0x20A632 bit
Latch 2 positive/negative edge0x20A732 bit
Modes of Operation0x60618 bitDS402 opmode status
Position Actual Value0x6064 sub 0 32 bitWB/ DS402 scale units
Touch probe status0x60B9 sub 0 16 bit
Touch probe 1 positive edge pos 0x60BA sub 0 32 bit
Touch probe 1 negative edge pos 0x60BB sub 0 32 bit
Touch probe 2 positive edge pos 0x60BC sub 0 32 bit
Touch probe 2 negative edge pos 0x60BD sub 0 32 bit
Additional Pos actual value0x60E4 sub 0 48 bit
Additional Pos actual value0x60E4 sub 1 32 bit
Motor I2t0x3427 sub 3 32 bit
Analog output value0x3470 sub 2 16 bit
Analog Input value0x3470 sub 4 16 bit
Manufacturer status register0x1002 sub 032 bit
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4.8 Supported Operation Modes
AKD EtherCAT | 4 EtherCAT Profile
CANopen mode of
operation
Profile velocityDRV.OPMODE 1
Interpolated position DRV.OPMODE 2
Homing modeDRV.OPMODE 2
Profile PositionDRV.OPMODE 2
TorqueDRV.OPMODE 0
Cyclic Synchronous
Position
AKD mode of operation
DRV.CMDSOURCE 1
DRV.CMDSOURCE 1
DRV.CMDSOURCE 0
DRV.CMDSOURCE 0
DRV.CMDSOURCE 1
DRV.OPMODE 2
DRV.CMDSOURCE 1
Description
0x6060Sub0 Data: 3
In this mode, the EtherCAT master sends
cyclic velocity command values to the
AKD.
0x6060Sub0 Data: 7
In this mode of operation the EtherCAT master sends cyclic position command values
to the AKD. These command values are
interpolated by the AKD according to the
fieldbus sample rate.
0x6060 sub 0 data : 6
In this mode an AKD-internal homing can be
done.
0x6060sub0 Data: 1
Uses motion task 0 to execute a point to
point move
0x6060sub0 Data: 4
Commands torque in % of drive peak torque
0x6060sub0 Data: 8
Master calculates move profile and commands motion with position points
4.9 Adjusting EtherCAT Cycle Time
The cycle time to be used in the drive for the cyclical setpoints and actual values can either
be stored in the FBUS.SAMPLEPERIOD parameter in the amplifier or configured in the startup phase. This happens via SDO mailbox access to objects 60C2 subindex 1 and 2.
Subindex 2, known as the interpolation time index, defines the power of ten of the time value
(e.g. -3 means 10-3 or milliseconds) while subindex 1, known as interpolation time units,
gives the number of units (e.g. 4 means 4 units).
You can run a 2 ms cycle using various combinations. For example,
Index = -3, Units = 2 or
Index = -4, Units = 20 etc.
The FBUS.SAMPLEPERIOD parameter is counted in multiples of 62.5us microseconds
within the device. This means, for example that 2 ms equates to FBUS.SAMPLEPERIOD
value of 32.
4.10 Maximum Cycle Times depending on operation mode
The minimum cycle time for the drive is largely dependent on the drive configuration (second
actual position value encoder latch functionality enabled and so on)
Interface Cycle time AKD
Position ≥ 0.25 ms (≥ 250 µs)
Velocity ≥ 0.25 ms (≥ 250 µs)
Torque≥ 0.25 ms (≥ 250 µs)
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4.11 Synchronization
On all drives, the internal PLL is theoretically able to even out an average deviation of up to
4800 ppm in the cycle time provided by the master. The drive checks once per fieldbus cycle
a counter within the drive internal FPGA, which is cleared by a Sync0 (Distributed clock)
event. Depending of the counter value, the drive extends or decreases the 62.5 µs MTS signal within the drive by a maximum of 300 ns.
The theoretical maximum allowed deviation can be calculated by using the following formula:
The synchronization functionality within the drive can be enabled via setting bit 0 of the
FBUS.PARAM02 parameter to high. Therefore FBUS.PARAM02 must be set to the value of
1. Furthermore the distributed clock functionality must be enabled by the EtherCAT master in
order to activate cyclic Sync0 events.
4.11.1 Synchronization behavior with distributed clocks (DC) enabled
When the EtherCAT master enables distributed clocks, a distributed clock (DC) event is created in the AKD once per fieldbus cycle. An assigned 62.5 µs real-time task in the AKD monitors the elapsed time between the DC events and the AKD System time and extends or
reduces the 62.5 µs strobe to the CPU as necessary.
The following fieldbus parameters are used for the synchronization feature:
1. FBUS.SYNCDIST = Expected time delay of the AKD PLL-code to the DC event.
2. FBUS.SYNCACT = Actual time delay of the AKD PLL-code to the DC event.
3. FBUS.PLLTHRESH = Number of consecutive successful synchronized PLL cycles of
the AKD before the Drive is considered as synchronized.
4. FBUS.SYNCWND = Synchronization window in which the AKD is considered to be synchronized. The Drive is considered synchronized as long as the following statement is
true is true for FBUS.PLLTHRESH consecutive cycles:
FBUS.SYNCDIST-FBUS.SYNCWND < FBUS.SYNCACT <
FBUS.SYNCDIST+FBUS.SYNCWND
Example with a 4kHz fieldbus sample rate:
Explanation: The red-marked 62.5[µs] real-time task displays the AKD 62.5 µs real-time task
within one fieldbus cycle which is responsible for calling the AKD PLL-code. The time delay
(1) shows the actual delay to the previous DC event, which is ideally close to the adjusted
FBUS.SYNCDIST parameter. Depending on (1) the AKD slightly extends or reduce the 62.5
[µs] IRQ generation of the high-priority real-time task in order to either increase or decrease
the measured time delay to the DC event (1) for the next PLL cycle. The time distance (2)
shows the 62.5[µs] ± x[ms] realtime task of the AKD.
4.11.2 Synchronization behavior with distributed clocks (DC) disabled
The AKD fieldbus synchronization algorithm is similar to that used by Distributed Clocks.
The difference is that the AKD synchronizes to a SyncManager2 event instead of the DC
event. A SyncManager2 event is created when the EtherCAT Master sends a new package
of command values to the drive while the network is in the Operational state. This occurs
once per fieldbus cycle.
8-1100000001 00000000z1zzAcknowledge value external latch 1 (positive rise)
00000010 00000000z2zzAcknowledge value external latch 1 (negative rise)
00000011 00000000z3zzAcknowledge value external latch 2 (positive rise)
00000100 00000000z4zzAcknowledge value external latch 2 (negative rise)
12-15 00010000 000000001zzzZustand Digital Input 4
00100000 000000002zzzZustand Digital Input 3
01000000 000000004zzzZustand Digital Input 2
10000000 000000008zzzZustand Digital Input 1
Description
Description
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AKD EtherCAT | 4 EtherCAT Profile
4.13 Mailbox Handling
With EtherCAT, acyclical data traffic (object channel or SDO channel) is called mailbox.
Available SDO objects are listed in the ("Appendix" (➜ p. 59)).
This system is based around the master:
Mailbox Output:
The master (EtherCAT controller) sends data to the slave (drive). This is essentially a
(read/write) request from the master. Mailbox output operates via Sync Manager 0.
Mailbox Input:
The slave (drive) sends data to the master (EtherCAT controller). The master reads the
slave's response. Mailbox input operates via Sync Manager 1.
Timing diagram
The timing diagram illustrates the mailbox access process:
1. The EtherCAT master writes the mailbox request to the mail-out buffer.
2. On the next interrupt, the EtherCAT interface activates a Sync Manager 0 event (mailbox
output event) in the AL event register.
3. The drive reads 16 bytes from the mail-out buffer and copies them to the internal mailbox
output array.
4. The drive identifies new data in the internal mailbox output array and performs an SDO
access to the object requested by the EtherCAT interface. The response from the drive is
written to an internal mailbox input array.
5. The drive deletes all data in the internal mailbox output array so that a new mailbox
access attempt can be made.
6. The drive copies the response telegram from the internal mailbox input array to the mail-in
buffer of the EtherCAT interface.
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4.13.1 Mailbox Output
An interrupt by the EtherCAT-interface with a Sync Manager 0 - Event starts a Mailbox Output Process. A 1 in the Mail Out Event-Bit of the AL Event register signalizes the drive, that
the EtherCAT-interface wants to send a Mailbox message and that it has already stored the
required data in the Mail Out Buffer. Now 16 Byte data are read by the drive with the IRQ process. The bytes are defined as follows
0123456789101112131415
Byte 0Length of the data (Low Byte)
Byte 1Length of the data (High Byte)
Byte 2Address (Low Byte)
Byte 3Address (High Byte)
Byte 4Bit 0 to 5: Channel
Byte 5Bit 0 to 3: Type1 = Reserved: ADS over EtherCAT
Byte 6PDO Number (with PDO transmissions only, Bit 0 = LSB of the PDO number,
Byte 7Bit 0: MSB of the PDO number, see Byte 6
Byte 8Control-Byte in the CAN telegram:
Byte 9Low Byte of the CAN object number (Index)
Byte 10High Byte of the CAN object number (Index)
Byte 11Subindex according to CANopen Specification for the drive
Byte 12Data with a write access (Low Byte)
Byte 13Data with a write access
Byte 14Data with a write access
Byte 15Data with a write access (High Byte)
AKD EtherCAT | 4 EtherCAT Profile
Address 0x1800Address 0x180F
CAN over EtherCAT specific data
(CoE Header)
Bit 6 to 7: Priority
2 = Reserved: Ethernet over EtherCAT
3 = Can over EtherCAT…)
The drive answers every telegram with an answer in the Mailbox Input buffer.
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AKD EtherCAT | 4 EtherCAT Profile
4.13.2 Mailbox Input
The drive answers every CoE telegram with a 16 byte answer telegram in the Mailbox Input
buffer. The bytes are defined as follows:
0123456789101112131415
CAN over EtherCAT specific data
Byte 0Length of the data (Low Byte)
Byte 1Length of the data (High Byte)
Byte 2Address (Low Byte)
Byte 3Address (High Byte)
Byte 4Bit 0 to 5: Channel
Bit 6 to 7: Priority
Byte 5Bit 0 to 3: Type1 = Reserved: ADS over EtherCAT
Bit 4 to 7: Reserved
Byte 6PDO Number (with PDO transmissions only, Bit 0 = LSB of the PDO number, see
Byte 7 for MSB)
Byte 7Bit 0: MSB of the PDO number, see Byte 6
Bit 1 to 3: Reserved
Bit 4 to 7: CoE specific type0: Reserved
Byte 8Control-Byte in the CAN telegram:
write access OK:0x60
read access OK + length of answer: 0x43 (4 Byte), 0x47 (3 Byte), 0x4B (2Byte),
error with read- or write access:0x80
Byte 9Low Byte of the CAN object number (Index)
Byte 10 High Byte of the CAN object number (Index)
Byte 11 Subindex according to CANopen Specification for Kollmorgen drive
Byte 12 Data (Low Byte)
Byte 13 Dataerror code Fehlercode according to
Byte 14 Datadata value of the object in case of suc-
Byte 15 Data (High Byte)
Address 0x1C00Address 0x1C0F
CAN specific data
(CoE Header)
2 = Reserved: Ethernet over EtherCAT
3 = Can over EtherCAT…)
1: Emergency message
2: SDO request
3: SDO answer
4: TXPDO
5: RxPDO
6: Remote transmission request of a
TxPDO
7: Remote transmission request of a
RxPDO
8…15: reserved
0x4F (1Byte)
CANopen Specification in case of an error
cessfull read access
(standard CAN SDO)
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4.13.3 Example: Mailbox Access
In the example below, PDOs 0x1704 are mapped (see Chapter "Fixed PDO Mappings" (➜ p.
42) “Fixed PDO Mappings”):
The master sends this mailbox output message:
Byte 00x0A The next 10 Bytes contain data (Byte 2 to Byte 11)
Byte 10x00 The next 10 Bytes contain data (Byte 2 to Byte 11)
Byte 20x00 Address 0
Byte 30x00 Address 0
Byte 40x00 Channel 0 and Priority 0
Byte 50x03 CoE Object
Byte 60x00 PDO Number 0
Byte 70x20 PDO Number 0 and SDO-Request
Byte 80x2B 2 Byte write access
Byte 90x12 SDO-Object 0x1C12
Byte 10 0x1C SDO-Object 0x1C12
Byte 11 0x01 Subindex 1
Byte 12 0x04 Data value 0x00001704
Byte 13 0x17 Data value 0x00001704
Byte 14 0x00 Data value 0x00001704
Byte 15 0x00 Data value 0x00001704
AKD EtherCAT | 4 EtherCAT Profile
The drive returns the following message:
Byte 00x0E The next 14 Bytes contain data (Byte 2 to Byte 15)
Byte 10x00 The next 14 Bytes contain data (Byte 2 to Byte 15)
Byte 20x00 Address 0
Byte 30x00 Address 0
Byte 40x00 Channel 0 and Priority 0
Byte 50x03 CoE Object
Byte 60x00 PDO Number 0
Byte 70x20 PDO Number 0 and SDO-Answer
Byte 80x60 Successful write access
Byte 90x12 SDO-Object 0x1C12
Byte 10 0x1C SDO-Object 0x1C12
Byte 11 0x01 Subindex 1
Byte 12 0x00 Data value 0x00000000
Byte 13 0x00 Data value 0x00000000
Byte 14 0x00 Data value 0x00000000
Byte 15 0x00 Data value 0x00000000
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AKD EtherCAT | 4 EtherCAT Profile
4.14 EEProm Content
AKD has a built-in emulated EEProm. This EEProm can be read by the EtherCAT master to
get some information about drive properties, like PDO-information, drive name, serial numbers and communication-specific attributes.
They are organized in categories. There are two manufacturer-specific categories implemented in the AKD:
l Category 0x0800: Holds a string with the model type in the format AKD-P00000-NxxC-
0000
l Category 0x0801: Holds the firmware version in the format 0x_xx-xx-yyy
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5Appendix
5.1 CANopen Emergency Messages and Error Codes
Emergency messages are triggered by internal equipment errors. They have a high ID-priority
to ensure quick access to the bus. An emergency message contains an error field with predefined error/fault numbers (2 bytes), an error register (1byte), the error category (1 byte), and
additional information. Error numbers 0000h to 7FFFh are defined in the communication or
drive profile. Error numbers FF00h to FFFFh have manufacturer-specific definitions.
AKD EtherCAT | 5 Appendix
Error
Code
0x00000Emergency error free.
0x1080-General Warning.
0x1081-GeneralError.
0x3110F523DC Bus link over voltage FPGA.
0x3120F247DC Bus link voltage exceed allowed thresholds.
0x3130F503DC Bus link capacitor overload.
0x3180n503Warning: DC Bus link capacitor overload.
0x86AAn168Warning: Invalid bit combination in the motion task control word.
0x86ABn169Warning: 1:1 profile cannot be triggered on the fly.
0x86ACn170Warning: Customer profile table is not initialized.
0x86ADn171Warning: Motion task activation is currently pending
0x86AEn135Warning: Homing is needed.
0x86AFn174Warning: Homing maximum distance exceeded
0x86B0F438Following error (numeric).
0x86B6n179Teaching of Cogging compensation stopped before finishing
0x86B7n180Cogging compensation not active. Axis needs to be homed first.
0x8780F125Fieldbus synchronization lost.
0x8781n125Warning: Fieldbus synchronization lost.
0x8AF0n137Warning: Homing and feedback mismatch.
0xFF00F701Fieldbus runtime.
0xFF01F702Fieldbus communication lost.
0xFF02F529Iu current offset limit exceeded.
0xFF03F530Iv current offset limit exceeded.
0xFF04F521Regen over power.
0xFF07F525Output over current.
0xFF08F526Current sensor short circuit.
0xFF09F128MPOLES/FPOLES not an integer.
0xFF0AF531Power stage fault.
0xFF0BF602Safe torque off.
0xFF0CF131Secondary feedback A/B line break.
0xFF0DF130Secondary feedback supply over current.
0xFF0EF134Secondary feedback illegal state.
0xFF0FF245External fault.
0xFF10F136Firmware and FPGA versions are not compatible.
0xFF11F101Firmware type mismatch.
0xFF12n439Warning: Following error (user).
0xFF13n438Warning: Following error (numeric).
0xFF14n102Warning: Operational FPGA is not a default FPGA.
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AKD EtherCAT | 5 Appendix
Error
Code
Fault/
Warning
Description
0xFF15n101Warning: The FPGA is a laboratory FPGA.
0xFF16n602Warning: Safe torque off.
0xFF17F132Secondary feedback Z line break.
0xFF18n603Warning: OPMODE incompatible with CMDSOURCE.
0xFF19n604Warning: EMUEMODE incompatible with DRV.HANDWHEELSRC.
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5.2 Object Dictionary
The following tables describe all objects reachable via SDO or PDO. (i.p. = in preparation).
Abbreviations:
U= UNSIGNEDRO= Read only
INT= INTEGERRW= Read and Write
VisStr = Visible StringWO= Write only
5.2.1 Float Scaling
The scaling applied to objects which match floating-point parameters in WorkBench/Telnet
are listed in the column "Float Scaling."
For example, index 607Ah is listed as 1:1 - this means that commanding a value of 1000 in
SDO 607Ah is equivalent to entering MT.P 1000.000 in WorkBench. On the other hand, index
3598h is listed as 1000:1 - this means that commanding a value of 1000 in SDO 3598h is equivalent to entering IL.KP 1.000 in WorkBench.
A few parameters are listed as variable (var), because the scaling depends on other settings.
AKD EtherCAT | 5 Appendix
const = Constant
5.2.2 Effectiveness of PDO set-points
Some objects are having effect only in the state machine state "Operation Enabled", which is
controlled by the DS402 control word. They are marked with an asterisk (*) at the PDO mapping.
5.2.3 Communication SDOs
IndexSub-
index
1000h0U32ROnoDevice type—
1001h0U8ROnoError register—
1002h0U32ROyes Manufacturer-specific status register—
1003hARRAYPre-defined error field—
1003h0U8RWnoNumber of errors—
1003h 1 to 10U32ROnostandard error field—
1005h0U32RWnoCOB—ID SYNC message—
1006h0U32RWnoCommunication cycle period—
1008h0VisStrconstnoManufacturer device name—
1009h0VisStrconstnoManufacturer hardware version—
100Ah0VisStrconstnoManufacturer software version—
100Ch0U16RWnoGuard time—
100Dh0U8RWnoLifetime factor—
1010hARRAYSave parameters—
1010h0U8ROnohighest sub-index—
1010h1U32RWnoSaves the drive parameters from the
1011hARRAYLoad parameters—
1011h0U8ROnohighest sub-index—
1011h1U32RWnoLoads default parameters to the RAM.DRV.RSTVAR
1012h0U32RWnoCOB—ID for the Time Stamp—
1014h0U32RWnoCOB—ID for the Emergency Object—
Data
Type
Float
Scale
Access PDO
map.
DescriptionASCII object
DRV.NVSAVE
RAM to the NV.
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AKD EtherCAT | 5 Appendix
IndexSub-
index
Data
Type
Float
Scale
Access PDO
map.
DescriptionASCII object
1016hRECORDConsumer heartbeat time
1016h0U8ROnohighest sub-index—
1016h1U32RWnoConsumer heartbeat time—
1017h0U16RWnoProducer heartbeat time—
1018hRECORDIdentity Object—
1018h0U8ROnohighest sub-index—
1018h1U32ROnoVendor ID—
1018h2U32ROnoProduct Code—
1018h3U32ROnoRevision number—
1018h4U32ROnoSerial number
1026hARRAYOS prompt—
1026h0U8ROnohighest sub-index—
1026h1U8WOnoStdIn—
1026h2U8ROnoStdOut—
1400hRECORDRXPDO1 communication parameter—
1400h0U8ROnohighest sub-index—
1400h1U32RWnoRXPDO1 COB — ID—
1400h2U8RWnoTransmission type RXPDO1—
1401hRECORDRXPDO2 communication parameter—
1401h0U8ROnohighest sub-index—
1401h1U32RWnoRXPDO2 COB—ID—
1401h2U8RWnoTransmission type RXPDO2—
1402hRECORDRXPDO3 communication parameter—
1402h0U8ROnohighest sub-index—
1402h1U32RWnoRXPDO3 COB—ID—
1402h2U8RWnoTransmission type RXPDO3—
1403hRECORDRXPDO4 communication parameter—
1403h0U8ROnohighest sub-index—
1403h1U32RWnoRXPDO4 COB—ID—
1403h2U8RWnoTransmission type RXPDO4—
1600hRECORDRXPDO1 mapping parameter—
1600h0U8ROnohighest sub-index—
1600h1 to 8U32RWnoMapping for n—th application object—
1601hRECORDRXPDO2 mapping parameter—
1601h0U8ROnohighest sub-index—
1601h1 to 8U32RWnoMapping for n—th application object—
1602hRECORDRXPDO3 mapping parameter—
1602h0U8ROnohighest sub-index—
1602h1 to 8U32RWnoMapping for n—th application object—
1603hRECORDRXPDO4 mapping parameter—
1603h0U8ROnohighest sub-index—
1603h1 to 8U32RWnoMapping for n—th application object—
1800hRECORDTXPDO1 communication parameter—
1800h0U8ROnohighest sub-index—
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AKD EtherCAT | 5 Appendix
IndexSub-
index
Data
Type
Float
Scale
Access PDO
map.
DescriptionASCII object
1800h1U32RWnoTXPDO1 COB—ID—
1800h2U8RWnoTransmission type TXPDO1—
1800h3U16RWnoInhibit time—
1800h4U8constnoreserved—
1800h5U16RWnoEvent timer—
1801hRECORDTXPDO2 communication parameter—
1801h0U8ROnohighest sub-index—
1801h1U32RWnoTXPDO2 COB—ID—
1801h2U8RWnoTransmission type TXPDO2—
1801h3U16RWnoInhibit time—
1801h4U8constnoreserved—
1801h5U16RWnoEvent timer—
1802hRECORDTXPDO3 communication parameter—
1802h0U8ROnohighest sub-index—
1802h1U32RWnoTXPDO3 COB—ID—
1802h2U8RWnoTransmission type TXPDO3—
1802h3U16RWnoInhibit time—
1802h4U8constnoreserved—
1802h5U16RWnoEvent timer—
1803hRECORDTXPDO4 communication parameter—
1803h0U8ROnohighest sub-index—
1803h1U32RWnoTXPDO4 COB—ID—
1803h2U8RWnoTransmission type TXPDO4—
1803h3U16RWnoInhibit time—
1803h4U8constnoreserved—
1803h5U16RWnoEvent timer—
1A00hRECORDMapping parameter TXPDO1—
1A00h0U8ROnohighest sub-index—
1A00h1 to 8U32RWnoMapping for n—th application object—
1A01hRECORDMapping parameter TXPDO2—
1A01h0U8ROnohighest sub-index—
1A01h1 to 8U32RWnoMapping for n—th application object—
1A02hRECORDMapping parameter TXPDO3—
1A02h0U8ROnohighest sub-index—
1A02h1 to 8U32RWnoMapping for n—th application object—
1A03hRECORDMapping parameter TXPDO4—
1A03h0U8ROnohighest sub-index—
1A03h1 to 8U32RWnoMapping for n—the application object—
MOTOR.FIELDWEAKENING
magnet motor to operate as
an interior permanent magnet
motor
HOME.IPEAKACTIVE
HOME.IPEAK and current
loop limits during homing
DRV.EMUESTEPCMDPIN
the command
DRV.EMUESTEPCMD
DRV.EMUESTEPCMDPOUT
for the command
DRV.EMUESTEPCMD
HOME.TPOSWND
dow for the homing procedure; active in opmode 2
(position) only
WS.FORCEOFF
Wake & Shake in special
cases
FAULT314.ACTION
314.
5.2.5 Profile specific SDOs
IndexSub-
index
6040h0U16WOyes Control word—
6041h0U16ROyes Status word—
605Ah0INT16RWnoQuick stop option
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Data Type Float
Scale
Access PDO
map.
DescriptionASCII object
code
—
Page 87
AKD EtherCAT | 5 Appendix
IndexSub-
index
Data Type Float
Scale
Access PDO
map.
DescriptionASCII object
6060h0INT8RWyes Modes of operation —
6061h0INT8ROyes Modes of operation
—
display
6063h0INT32ROyes Position actual
—
value (increments)
6064h0INT321:1ROyes Position actual
PL.FB
value (position
units)
6065h0U321:1RWnoFollowing error win-
dow
606Bh0INT321:1ROnoVelocity demand
PL.
ERRFTHRESH
VL.CMD
value
606Ch0INT321000:1ROyes Velocity actual
VL.FB
value (PDO in
RPM)
606Dh0U16RWyes Velocity window
606Eh0U16RWyes Velocity window
time
6071h0INT16RWyes* Target torque—
6072h0U16RWyes* Max torque—
6073h0U16RWnoMax current
6077h0INT16ROyes Torque actual
DRV.ICONT
value
607Ah0INT321:1RWyes Target positionMT.P
607Ch0INT321:1RWnoReference offsetHOME.P
607DhARRAYSoftware position
limit
607Dh0U8ROnohighest sub-index
607Dh1INT321:1RWnoSoftware position
SWLS.LIMIT0
limit 1
607Dh2INT321:1RWnoSoftware position
SWLS.LIMIT1
limit 2
6081h0U321:1RWyes Profile VelocityMT.V
6083h0U321:1RWyes Profile Accel-
MT.ACC , DRV.ACC
eration
6084h0U321:1RWyes Profile Decel-
MT.DEC , DRV.DEC
eration
6087h0U32RWyes Torque slope—
608FhARRAYPosition encoder
—
resolution
608Fh0U8ROnohighest sub-index—
608Fh1U32RWnoEncoder incre-
—
ments
608Fh2U32RWnoMotor revolutions
6091hARRAYGear ratio—
6091h0U8ROnohighest sub-index—
6091h1U32RWnoMotor revolution
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AKD EtherCAT | 5 Appendix
IndexSub-
index
Data Type Float
Scale
Access PDO
map.
DescriptionASCII object
6091h2U32RWnoShaft revolutions
6092hARRAYFeed constant—
6092h0U8ROnohighest sub-index—
6092h1U32RWnoFeedUNIT.PIN
6092h2U32RWnoShaft revolutions—
6098h0INT8RWnoHoming typeHOME.MODE , HOME.DIR
6099hARRAYHoming velocity—
6099h0U8ROnohighest sub-index—
6099h1U321:1RWnoSpeed while
HOME.V
searching for limit
switch
6099h2U32RWnoSpeed while
searching for zero
HOME.
FEEDRATE
mark
609Ah0U321:1RWnoHoming accel-
HOME.ACC , HOME.DEC
eration
60B1h0INT321:1RWyes* Velocity offsetVL.BUSFF
60B2h0INT16RWyes* Torque offset
(PDO only)
60B8h0U16RWyes Touch probe func-
—
tion
60B9h0U16RWyes Touch probe status —
60BAh0INT32RWyes Touch probe 1 pos-
—
itive edge
60BBh0INT32RWyes Touch probe 1 neg-
—
ative edge
60BCh0INT32RWyes Touch probe 2 pos-
—
itive edge
60BDh0INT32RWyes Touch probe 2 neg-
—
ative edge
60C0h0INT16RWnoInterpolation sub-
—
mode select
60C1hARRAYInterpolation data
—
record
60C1h0U8ROnohighest sub-index—
60C1h1INT32RWyes* Interpolation target
—
position
60C1h2U32RWyes Interpolation time—
60C1h3INT32RWyes Interpolation target
—
velocity
60C2hRECORDInterpolation time
—
period
60C2h0U8ROnohighest sub-indexFBUS.
SAMPLEPERIOD
60C2h1U8RWnoInterpolation time
—
units
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AKD EtherCAT | 5 Appendix
IndexSub-
index
60C2h2INT8RWnoInterpolation time
Data Type Float
Scale
Access PDO
map.
DescriptionASCII object
—
index
60C4hRECORDInterpolation data
—
configuration
60C4h0U8ROnohighest sub-index—
60C4h1U32ROnoMaximum buffer
—
size
60C4h2U32ROyes Actual buffer size—
60C4h3U8RWnoBuffer organization —
60C4h4U16RWnoBuffer position—
60C4h5U8WOnoSiza of data record —
60C4h6U8WOnoBuffer clear—
60D0hARRAYTouch probe
—
source
60D0h0U8ROnohighest sub-index-
60D0h1INT16RWnoTouch probe 1
—
source
60D0h2INT16RWnoTouch probe 2
—
source
60E0h0UINT16ROyes* Positive torque
IL.LIMITP
limit value
60E1h0UINT16ROyes* Negative torque
IL.LIMITN
limit value
60E4hARRAYAdditional position
—
actual value
60E4h0U8ROnohighest sub-index—
60E4h1INT32RWno1st additional pos-
—
ition actual value
60E4h2INT32RWnoreserved—
60E4h3INT32RWno3rd additional pos-
—
ition actual value
60E8hARRAYAdditional gear
—
ratio - motor shaft
revolutions
60E8h0U8ROnohighest sub-index—
60E8h1U32RWno1st additional gear
DS402.1ADDPOSGEARMOTORREV
ratio - motor shaft
revolutions
60E8h2U32RWno2nd additional gear
DS402.2ADDPOSGEARMOTORREV
ratio - motor shaft
revolutions
60E8h3U32RWno3rd additional gear
DS402.3ADDPOSGEARMOTORREV
ratio - motor shaft
revolutions
60E9hARRAYAdditional feed con-
—
stant - feed
60E9h0U8ROnohighest sub-index—
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AKD EtherCAT | 5 Appendix
IndexSub-
index
60E9h1U32RWno1st additional feed
60E9h2U32RWno2nd additional gear
60E9h3U32RWno3rd additional feed
60EDhARRAYAdditional gear
60EDh0U8ROnohighest sub-index—
60EDh1U32RWno1st additional gear
60EDh2U32RWno2nd additional gear
60EDh3U32RWno3rd additional gear
60EEhARRAYAdditional feed con-
60EEh0U8ROnohighest sub-index—
60EEh1U32RWno1st additional feed
60EEh2U32RWno2nd additional feed
60EEh3U32RWno3rd additional feed
60F4h0INT32ROyes Following error
60FCh0INT32ROyes Position demand
60FDh0U32ROyes Digital inputsDIN1.MODE TO DIN6.MODE
60FEhARRAYDigital outputs
60FEh0U8ROnohighest sub-index
60FEh1U32RWyes Physical outputs
60FEh2U32RWnoBit mask
60FFh0INT321000:1RWyes* Target velocityVL.CMDU
6502h0U32ROnoSupported drive
Data Type Float
Scale
Access PDO
map.
DescriptionASCII object
DS402.
constant - feed
ratio - motor shaft
revolutions
constant - feed
ratio - driving shaft
revolutions
ratio - driving shaft
revolutions
ratio - driving shaft
revolutions
ratio - driving shaft
revolutions
stant - driving shaft
revolutions
constant - driving
shaft revolutions
constant - driving
shaft revolutions
constant - driving
shaft revolutions
actual value
internal value
modes
1ADDPOSFCFEED
DS402.2ADDPOSFCFEED
DS402.
3ADDPOSFCFEED
—
DS402.1ADDPOSGEARSHAFTREV
DS402.2ADDPOSGEARSHAFTREV
DS402.3ADDPOSGEARSHAFTREV
—
DS402.
1ADDPOSFCFSHAFTREV
DS402.
2ADDPOSFCFSHAFTREV
DS402.
3ADDPOSFCFSHAFTREV
PL.ERR
PL.CMD
—
5.3 Object descriptions
The objects in this section are sorted by object number.
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5.3.1 Object 1000h: Device Type (DS301)
This object describes the device type (servo drive) and device functionality (DS402 drive profile). Definition:
MSBLSB
Additional informationDevice profile number
Mode bitsType402d=192h
31242316150
The device profile number is DS402, the type is 2 for drives, the mode bits 28 to 31 are manufacturer specific and may be changed from its actual value of 0. A read access delivers
0x00020192 at the moment.
Index1000h
Namedevice type
Object codeVAR
Data typeUNSIGNED32
Categorymandatory
AccessR/O
PDO mappingnot possible
Value rangeUNSIGNED32
Default valueno
AKD EtherCAT | 5 Appendix
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5.3.2 Object 1001h: Error register (DS301)
This object is an error register for the device. The device can map internal errors into this
byte. It is a part of an Emergency object.
Index1001h
NameError register
Object codeVAR
Data typeUNSIGNED8
Categorymandatory
AccessR/O
PDO mappingnot possible
Value rangeUNSIGNED8
Default valueno
Error reasons to be signaled:If a bit is set to 1 the specified error has occurred. The generic
error is signaled at any error situation.
Bit DescriptionBit Description
0 generic error4 communication error (overrun, error state)
1 current5 device profile specific
2 voltage6 reserved (always 0)
3 temperature7 manufacturer specific
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5.3.3 Object 1002h: Manufacturer Status Register (DS301)
The manufacturer status register contains important drive informations.
Index1002h
NameManufacturer Status Register
Object codeVAR
Data typeUNSIGNED32
Categoryoptional
AccessR/O
PDO mappingpossible
Value rangeUNSIGNED32
Default valueno
The following table shows the bit assignment for the status register:
Bit DescriptionBit Description
0 1 = Movement (positioning, homing) active 16 1 = Homing move active
1 reference position set17 reserved
2 1 = reference switch high (home-position)18 reserved
3 1 = In Position19 1 = Emergency stop active
4 reserved20 reserved
5 reserved21 reserved
6 reserved22 reserved
7 Active Disabel activated23 1 = Homing move finished
8 Warning active24 Power stage deactivating
9 1 = target velocity reached (pp- or pv-Mode) 25 1 = digital input 1 set
10 reserved26 1 = digital input 2 set
11 1 = Homing error27 1 = digital input 3 set
12 reserved28 1 = digital input 4 set
13 1 = Safe Torque Off selected29 1 = digital input hardware enable set
14 1 = Power stage enabled30 1 = Wake and Shake action is required
15 1 = Error state31 Braking, 1 = set points not accepted
AKD EtherCAT | 5 Appendix
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AKD EtherCAT | 5 Appendix
5.3.4 Object 1003h: Predefined Error Field (DS301)
The object 1003h provides an error history with a maximum size of 10 entries.
Subindex 0 contains the number of errors which have occured since the last reset of the error
history, either by startup of the drive or resetting the error history by writing 0 to subindex 0.
A new Emergency-message is written into subindex 1 shifting the old entries one subindex
higher. The old content of subindex 8 is lost.
The UNSIGNED32-information written to the subindizes is defined in the field Error Code in
the description of the Emergency Messages (➜ p. 59).
Index1003h
Namepre-defined Error Field
Object codeARRAY
Data typeUNSIGNED32
Categoryoptional
Subindex0
Descriptionhighest sub-index supported
Data typeUNSIGNED8
Categorymandatory
AccessR/W
PDO mappingnot possible
Value range0 to 10
Default value0
Subindex1 to 10
DescriptionStandard error field (➜ p. 59)
Categoryoptional
AccessR/O
PDO mappingnot possible
Value rangeUNSIGNED32
Default valueno
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5.3.5 Object 1005h: COB-ID of the SYNC Message (DS301)
This object defines the COB-Id of the synchronisation object (SYNC).
Index1005h
NameCOB-ID for the SYNC message
Object codeVAR
Data typeUNSIGNED32
Categoryconditional
AccessR/W
PDO mappingnot possible
Value rangeUNSIGNED32
Default value0x80
Bit coded information:
BitValue Meaning
31 (MSB)X—
300Device not generate SYNC message
1Device generates SYNC message
29011 Bit ID (CAN 2.0A)
129 Bit ID (CAN 2.0B)
28 to 11X—
0if Bit 29=0
10 to 0 (LSB)XBit 0 to 10 of SYNC COB-ID
AKD EtherCAT | 5 Appendix
The device does not support the generation of SYNC-messages and only the 11-bit IDs. So
the bits 11 to 30 are always 0.
5.3.6 Object 1006h: Communication Cycle Period (DS301)
This object can be used to define the period (in µs) for the transmission of the SYNC telegram.
Index1006h
NamePeriod of the communication cycle
Object codeVAR
Data typeUNSIGNED32
CategoryO
AccessR/W
PDO mappingnot possible
Value rangeUNSIGNED32
Default value00h
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AKD EtherCAT | 5 Appendix
5.3.7 Object 1008h: Manufacturer Device Name (DS301)
The device name consists of four ASCII characters in the form Yzzz, whereby Y stands for
the mains voltage (L, M, H or U, e.g. H for High Voltage) zzz stands for the power stage current.
Index1008h
NameManufacturer Device Name
Object codeVAR
Data typeVisible String
CategoryOptional
Accessconst
PDO mappingnot possible
Value range
Default valueno
5.3.8 Object 1009h: Manufacturer Hardware Version
This object will be supported in the future.
Index1009h
Namemanufacturer hardware version
Object codeVAR
Data typeVisible String
CategoryOptional
Accessconst
PDO mappingnot possible
Value range-
Default valueno
5.3.9 Object 100Ah: Manufacturer Software Version (DS301)
The object contains the manufacturer software version (here: the CANopen-part of the drive
firmware).
Index100Ah
NameManufacturer Software Version
Object codeVAR
Data typeVisible String
CategoryOptional
Accessconst
PDO mappingnot possible
Value range0.01 to 9.99
Default valueno
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5.3.10 Object 100Ch: Guard Time (DS301)Response monitoring
The arithmetical product of the Objects 100Ch Guard Time and 100Dh Lifetime Factor is the
response monitoring time. The Guard Time is given in milliseconds. The response monitoring
is activated with the first Nodeguard object. If the value of the object Guard Time is set to
zero, then the response monitoring is inactive.
Index100Ch
NameGuard Time
Object codeVAR
Data typeUNSIGNED16
Categoryconditional; mandatory, if heartbeat not supported
AccessR/W
PDO mappingnot possible
Value rangeUNSIGNED16
Default value0
5.3.11 Object 100Dh: Lifetime Factor (DS301)
The product of Guard Time and Life Time Factor gives the life time for the nodeguarding protocol. If it’s 0, the protocol is not used.
AKD EtherCAT | 5 Appendix
Index100Dh
NameLifetime Factor
Object codeVAR
Data typeUNSIGNED8
Categoryconditional; (mandatory, if heartbeat not supported)
AccessR/W
PDO mappingnot possible
Value rangeUNSIGNED8
Default value0
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5.3.12 Object 1010h: Store Parameters (DS301)
This object supports the saving of parameters to a flash EEPROM. Only the subindex 1 for
saving of all parameters, which can also be saved in the parameter files via the GUI, is supported.
Index1010h
Namestore parameters (DRV.NVSAVE)
Object codeARRAY
Data typeUNSIGNED32
Categoryoptional
Subindex0
Namehighest sub-index supported
Object codeVAR
Data typeUNSIGNED8
Categorymandatory
AccessR/O
PDO Mappingnot possible
Value range1
Default value1
Subindex1
Namesave all parameters
Object codeVAR
Data typeUNSIGNED32
Categorymandatory
AccessR/W
PDO Mappingnot possible
Value rangeUNSIGNED32
Default value1
Data definition:
BitValue Meaning
31 to 20reserved (=0)
10Device does not save parameters autonomously
1Device does save parameters autonomously
00Device does not save parameters on command
1Device does save parameters on command
By read access to subindex 1 the drive provides information about its storage functionality.
This drive provides a constant value of 1 by read access, i.e. all parameters can be saved by
writing to Object 1010 sub 1. In general the drive does not save parameters autonomously
with the exception of e.g. the special treatment of the homing of multiturn absolute encoders.
Storing of parameters is only done if a special signature ("save") is written to subindex 1.
"save" is equivalent to the unsigned32 - number 65766173h.
With this object the default values of parameters according to the communication or device
profile are restored. The AKD gives the possibility to restore all default values.
Index1011h
Namerestore default parameters
Object codeARRAY
Data typeUNSIGNED32
Categoryoptional
Subindex0
Namehighest sub-index supported
Object codeVAR
Data typeUNSIGNED8
Categorymandatory
AccessR/O
PDO Mappingnot possible
Value range1
Default value1
AKD EtherCAT | 5 Appendix
Subindex1
Namerestore all default parameters (DRV.RSTVAR)
Object codeVAR
Data typeUNSIGNED32
Categorymandatory
AccessR/W
PDO Mappingnot possible
Value rangeUNSIGNED32
Default value1 (device restores parameter)
Restoring default parameters to the RAM will be done, if a special signature ("load”) is written
to subindex 1. "load” has to be transmitted as unsigned32 - number 64616F6Ch.
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AKD EtherCAT | 5 Appendix
5.3.14 Object 1012h: COB-ID of the Time Stamp (DS301)
This object defines the COB-Id of the time stamp.
Index1012h
NameCOB-ID for thetime stamp
Object codeVAR
Data typeUNSIGNED32
Categoryoptional
AccessR/W
PDO mappingnot possible
Value rangeUNSIGNED32
Default value100h
Bit coded information:
BitContentValueMeaning
31 (MSB)consume0Drive does not consume time message
1Drive does consume time message
30produce0Drive does not produce time message
1Drive does produce time message
29frame0Value fixed to 0
28 to 11reserved_reserved
10 to 0 (LSB) CAN-ID0h - 800hCOB-ID of the time stamp
5.3.15 Object 1014h: COB-ID for Emergency Message (DS301)
This object defines the COB-ID of the Emergency message.
Index1014h
NameCOB-ID emergency message
Object codeVAR
Data typeUNSIGNED32
Categoryconditional; mandatory, if Emergency is supported
AccessR/O
PDO mappingnot possible
Value rangeUNSIGNED32
Default value80h + Node - ID
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