AKD™ EtherNet/IP Communication

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AKD™ EtherNet/IP Communication | Manualzz

AKD™

EtherNet/IP Communication

Edition August 2012, Revision C

Valid for firmware version 1.7

Patents Pending

Part Number 903-200008-00

Keep all manuals as a product component during the life span of the product.

Pass all manuals to future users/owners of the product.

Ethernet/IP Communications |

Record of Document Revisions:

Revision Remarks

A, 10/2011 Launch version

C, 08/2012 Minor updates to formatting.

EtherNet/IP is a registered trademark of ODVA, Inc.

Windows is a registered trademark of Microsoft Corporation

AKD is a registered trademark of Kollmorgen™ Corporation

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™.

2 Kollmorgen™ | August 2012

Ethernet/IP Communications | 1   Table of Contents

1 Table of Contents

1 Table of Contents

2 About this Manual

3 Overview

4 AKD EtherNet/IP Features

4.1 Supported Features

4.2 Expected Packet Rate

4.3 Connection Port

4.4 Network Topology

5 Setup

5.1 Setting an IP Address in the Drive

5.2 Controller Setup

5.3 Setting Expected Packet Rate in the Controller

6 Communication Profile

6.1 Explicit Messaging (on-demand)

6.1.1 Supported Services

6.1.2 Supported Objects

6.1.3 Data Types

6.1.4 Error Codes

6.2 I/O Assembly Messaging (cyclic)

6.2.1 Controller Configuration

6.2.2 Command Assemblies

6.2.2.1 Command Assembly Data Structure

6.2.2.2 Control Word

6.2.2.3 Command Type 0x05 - Torque

6.2.2.4 Command Type 0x06 - Position Move

6.2.2.5 Command Type 0x07 - Jog Move

6.2.2.6 Command Type 0x1B - Set Attribute of Position Controller Object

6.2.2.7 Command Type 0x1F - Read or Write Parameter Value

6.2.2.8 Get Attribute

6.2.3 Response Assemblies

6.2.3.1 Response Assemly Data Structure

6.2.3.2 Status Word 1

6.2.3.3 Status Word 2

6.2.3.4 Response Type 0x05 - Actual Torque

6.2.3.5 Response Type 0x14 - Command/Response Error

6.2.4 Data Handshake

6.3 Velocity Mode

6.3.1 Setup Velocity Mode

6.3.2 Velocity Moves

6.4 Position Mode

6.4.1 Setup Position Mode

6.4.2 Homing

15

15

16

17

14

14

14

15

17

17

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18

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13

11

12

12

12

10

10

10

11

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10

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9

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8

8

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7

7

3

5

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Kollmorgen™ | August 2012 3

Ethernet/IP Communications | 1   Table of Contents

6.4.3 Position Moves (point to point)

6.4.4 Running a Stored Motion Task Sequence

6.5 Torque

6.5.1 Setup Torque Mode

6.5.2 Torque Moves

6.6 Handling Faults

6.7 Saving to Non-volatile Memory

7 Drive Objects

7.1 Position Controller Class 0x25

7.2 Position Controller Supervisor Class 0x24

7.3 Parameter Class 0x0F

7.3.1 Supported Attributes

7.3.2 Read a Parameter Value

7.3.3 Write a Parameter Value

7.3.4 Execute a Command Parameter

8 Units

8.1 Position Units

8.2 Velocity and Acceleration Units

8.3 Torque Units

8.4 Other Floating Point Values

9 RS Logix Sample Projects

9.1 Add On Instructions

9.2 AKD Sample Project

9.3 "Registration Example" Project

10 Appendix A: Supported EtherNet/IP Objects and Attributes

10.1 Position Controller Object 0x25

11 Appendix B: Parameter Listing

12 Appendix C: Software Distribution License

28

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25

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4 Kollmorgen™ | August 2012

Ethernet/IP Communications | 2   About this Manual

2 About this Manual

This manual describes the installation, setup, range of functions, and software protocol for the AKD EtherNet/IP product series. All AKD EtherNet/IP drives have built-in EtherNet/IP functionality - an additional option card is not required.

A digital version of this manual (pdf format) is available on the disk included with your drive. Manual updates can be downloaded from the Kollmorgen™ website.

Related documents for the AKD series include: l l l l

Using AKD EtherNet/IP with RSLogix. This manual provides easy start guide for RSLogix programs, as well as a reference to the sample add-on instructions.

AKD Quick Start (also provided in hard copy). This guide provides instructions for initial drive setup and connection to a network.

AKD Installation Manual (also provided in hard copy). This manual provides instructions for installation and drive setup.

AKD Parameter and Command Reference Guide. This guide provides documentation for the parameters and commands used to program the AKD.

Additional documentation: l l

The CIP Networks Library Volume 1: Common Industrial Protocol. ODVA

The CIP Networks Library Volume 2: EtherNet/IP Adaptation of CIP. ODVA

Kollmorgen™ | August 2012 5

Ethernet/IP Communications | 3   Overview

3 Overview

EtherNet/IP is an industrial communication protocol based on TCP/IP and UDP/IP. It is used as high level network for industrial automation applications. EtherNet/IP shares a common data structure with

DeviceNet and ControlNet, but built on Ethernet as a physical medium.

The protocol uses two communication channels: l l

Explicit Messages are used for reading or writing values on-demand. Typically they are used for drive configuration and occasional reads or writes of parameter values. Communication rates depend on the particular parameter or command, and can range from approximately 5ms to 5s. The

AKD can be fully configured using Explicit Messages.

I/O Assembly Messages are data structures usually sent on a timed cyclic basis. These are normally use for drive control and status. The data structure is predetermined and only certain values can be read and written.

Typically, Explicit Messaging is used to configure the amplifier and I/O Assemblies are used to control movement. Most PLC’s will support both types of messaging simultaneously.

Explicit Messages allow you to access a single parameter value at a time. The desired parameter is selected by specifying the class object number, instance number and attribute number in an explicit message.

I/O Assembly messages combine many control and status bits into command and response messages.

They are less versatile than explicit messages (only certain parameters are accessible), but several control values may be changed within one message. For this reason, Explicit Messaging is better for configuration and I/O Assembly Messaging is better for motion control.

The Position Controller Object and Position Controller Supervisor Objects are used to set the operational mode (torque, velocity, or position), home, and configure motion.

Additional configuration may be done through the Parameter Object, which exposes vendor configuration parameters such as those accessible through Workbench.

Motion sequences may be pre-programmed into the amplifier using the AKD motion tasking feature. Once the motion task sequence has been configured, it may be executed with the Command Assembly Message Block Number field and Start Block bit.

I/O Assembly Messaging is used for most motion control. Control bits in a command message are used to enable the amplifier, do a controlled stop of the motor, initiate motion, and initiate stored motion block programs. Command messages can also set the target position, target velocity, acceleration, deceleration, and torque set points. Status bits in a response message display error states and the general state of the amplifier. Response messages can also display the actual position, commanded position, actual velocity and torque.

6 Kollmorgen™ | August 2012

Ethernet/IP Communications | 4   AKD EtherNet/IP Features

4 AKD EtherNet/IP Features

4.1 Supported Features

AKD follows the ODVA standard for EtherNet/IP. It provides necessary standard objects, as well as certain vendor-specific objects. CIP-Motion (for real-time multi-axis synchronized motion control) is not supported.

The following general drive features are supported through EtherNet/IP: l l l l l

Drive setup and configuration l

A full range of drive parameters can be accessed l

Configure parameters through user programs l

Setup motion tasks

Position Control l

Setup and trigger homing l l

Point to point moves

Absolute and relative motion l

Configure and execute motion task sequences

Velocity Control l

Initiate jog moves

Torque Control l

Write torque commands l

Read actual torque

Status and actual values l

Monitor drive status (enabled, faulted, homed, in position, in motion, etc) on every cycle l l

Monitor actual position and velocity on every cycle

Monitor any drive value using explicit messaging on-demand

4.2 Expected Packet Rate

The Expected Packet Rate (EPR) is also called the Requested Packet Interval (RPI).

The fastest supported cyclic rate for EtherNet/IP on AKD is 10 milliseconds. For simultaneous operation of Workbench and an EtherNet/IP controller communicating with an AKD, the cycle rate should be reduced to 20 milliseconds.

4.3 Connection Port

The EtherNet/IP network connection port with the AKD is the same RJ45 connector used for the Telnet.

This port is numbered as X11 on the AKD side panel.

4.4 Network Topology

AKD can be connected on an EtherNet/IP network in two manners:

1. As the last node in the network (since AKD has only one connector) in a line topology

2. As another node on the network in star topology (using a switch)

Kollmorgen™ | August 2012 7

Ethernet/IP Communications | 5   Setup

5 Setup

5.1 Setting an IP Address in the Drive

The IP address of the AKD must be configured properly on the same subnet as the controller. The same address is used for both EtherNet/IP and Workbench connections (though they use different TCP/IP ports). See the AKD Quick Start or AKD Use Guide for instructions on setting this address.

5.2 Controller Setup

Some controllers request an EDS file (electronic data sheet) for configuring each EtherNet/IP node. The

AKD EtherNet/IP EDS file can be found on the Kollmorgen web site and on the product disk.

The IP address of the controller must be set to the same subnet as the AKD.

The controller will typically need to be setup to know the IP address of the AKD. The process required will vary by controller.

5.3 Setting Expected Packet Rate in the Controller

The controller is responsible for setting the “Expected Packet Rate.” The AKD and controller will each send cyclic messages at this rate.

The fastest supported cyclic rate for EtherNet/IP on AKD is 10 milliseconds. For simultaneous operation of Workbench and an EtherNet/IP controller communicating with an AKD, the cycle rate should be reduced to 20 milliseconds.

If the rate is set to too short of a time, communication may timeout between the drive and controller, resulting in fault F702 Fieldbus Communication Lost. In this case, the EPR should be set to a larger value.

8 Kollmorgen™ | August 2012

Ethernet/IP Communications | 6   Communication Profile

6 Communication Profile

6.1 Explicit Messaging (on-demand)

Typically, Explicit Messages are used to configure the amplifier and setup drive parameters.

Explicit Messages allow you to access a single parameter value at a time. The desired parameter is selected by specifying the class object number, instance number and attribute number in an explicit message.

See chapter 2, “Overview” for an overview of Explicit versus IO Assembly messaging.

6.1.1 Supported Services

l l

0x10 – Write Value

0x0E – Read Value

6.1.2 Supported Objects

AKD supports a number of standard and vendor-specific objects for motion control. See the

Drive Objects chapter for information about these objects.

Parameter Object

Class Code: 0x0F

Instance: The instance number references the desired parameter. See Appendix B for a list of available parameters.

Description: The parameter object gives direct access to amplifier configuration parameters

Position Controller Supervisor Object

Class Code: 0x24

Instance: 1

Description: The position controller supervisor handles errors for the position controller.

Position Controller Object

Class Code: 0x25

Instance: 1

Description: The position controller object is used to set the operating mode (torque, velocity, position), configure motion profiles, and initiate movement.

AKD also supports the required standard objects for EtherNet/IP communication. Typically the controller will automatically configure these objects, and the user program will not need to directly use them: l l l l l l

Identity

Message Router

Assembly

Connection Manager

TCP/IP

Ethernet Link

Kollmorgen™ | August 2012 9

Ethernet/IP Communications | 6.1.3 Data Types

6.1.3 Data Types

The table below describes the data type, number of bytes, minimum and maximum Range.

Data Type

Boolean

Short Integer

Unsigned Short

Integer

Integer

Unsigned Integer

Double Integer

Unsigned Double

Integer

1

1

1

2

2

4

4

Number of

Bytes

Minimum

Value

0(false)

-16

0

-4096

0

-228

0

Maximum

Value

1(true)

15.875

31.875

4095.875

8191.875

228-1

228-1

Abbreviation

Bool

S8

U8

S16

U16

S32

U32

6.1.4 Error Codes

The following error codes may be returned in response to an Explicit Message.

Error

Not Settable

Attribute Not Supported

Service Not Supported

Class Not Supported

Value is Out of Range

0x0E

0x14

0x08

0x16

0x09

Error Code

6.2 I/O Assembly Messaging (cyclic)

The cyclic data exchange includes the transmission and reception of data values like set point values (e.g. Position set point, velocity set point or control word) and actual values (actual position value, actual velocity or status word) between the master and the drive.

The data commands and responses contain multiple values in pre-defined data structures, called assemblies.

AKD defines one Command Assembly (sent from the controller to the drive) and one Response

Assembly (sent from the drive to the controller).

Assemblies are transmitted on a timer according to the Expected Packet Rate.

I/O Assembly Messages and Explicit Messages may be used simultaneously.

6.2.1 Controller Configuration

A controller must be configured with the correct assembly information in order to open an IO connection to the AKD. This setup will differ depending on the controller type.

See the guide Using AKD with EtherNet/IP and RSLogix for information specific to Allen Bradley controllers.

In addition to configuring the IP address of the AKD in the controller setup, the following values must be configured:

Input Assembly (also called Response Assembly or “Target to Originator Connection”)

Instance: 102

Size: 64 bytes

Run/Idle Header: No

10 Kollmorgen™ | August 2012

Ethernet/IP Communications | 6.2.2 Command Assemblies

Output Assembly (also called Command Assembly or “Originator to Target Connection”)

Instance: 101

Size: 64 bytes

Run/Idle Header: Yes

Configuration Assembly

Instance: 100

Size: 0 bytes

Requested Packet Interval (also called Expected Packet Rate)

20ms or greater for simultaneous use with Workbench, such as during commissioning

10ms or greater if simultaneous Workbench use is not required

IO Connection Type: Multicast, Class 1 Type

6.2.2 Command Assemblies

Command assemblies contain a control word and several fields used for setting values, requesting response data, and commanding moves. A command assembly may be used to send one data command at a time (target position, target velocity, acceleration, deceleration or torque). The command type is specified in the Command Type field. A command assembly also specifies a Response Type, requesting a particular kind of data in the response assembly.

A command assembly may contain both a Command Type and a Response Type to transmit a command and request a particular response in the same assembly.

A valid Command Type is required to be set in each command assembly. Data outside the allowed range will result in an Error Response Assembly.

The amplifier must be homed before motion is begun in position mode. Failure to home the amplifier will result in a fault that must be cleared before amplifier operation can continue.

6.2.2.1 Command Assembly Data Structure

0

1

2

3

Byte

4-7

8-11

Data

Position

12-15 Velocity

16-19 Acceleration

20-23 Deceleration

24-31

32

Data

Control Word

Block #

Command Type

Response Type

Parameter/Attribute Data

Attribute to Get

Comment

The control word contains bits for enabling, moving, and handshaking with the drive.

The block number is used to start a particular Motion Task, in combination with the Start Block bit in the Control Word.

Specifies the desired command to execute, such as Set Position or Set Parameter.

Specifies the desired response data to return in the Response

Assembly.

The command data for most Command Types*

Position data for Command Type 6 (Position Move)*

Velocity data for Command Type 6 (Position Move) and 7 (Jog)*

Acceleration data for Command Type 6 (Position Move) and 7

(Jog)*

Deceleration data for Command Type 6 (Position Move) and 7

(Jog)*

Command Data for Command Type 0x1B (Set Position Controller Attribute) and 0x1F (Set Parameter)*

Index of desired Position Controller Attribute value to return in the

Response Assembly bytes 24-31)

33-63 Reserved

*Least significant byte first for all data fields

Kollmorgen™ | August 2012 11

Ethernet/IP Communications | 6.2.2.2   Control Word

6.2.2.2 Control Word

Byte

0

Bit 7 Bit 6

Enable Reserved

Bit 5

Hard

Stop

Bit 4

Smooth

Stop

Bit 3 Bit 2

Direction Relative

Bit 1

Start

Block

Bit 0

Load/Start

Enable: Setting this bit enables the amplifier.

Hard Stop: Setting this bit causes the amplifier to execute a Controlled Stop. The Enable bit must be cleared and reset in order to enable motion again.

Smooth Stop: Setting this bit causes the amplifier to decelerate to a stop.

Direction: This bit is used only in velocity mode. Positive direction=1 and negative direction=0.

Relative: This bit is used in only in position mode. This bit indicates whether a move executed with Command Type 1 (Target Position) or 6 (Position Move) should be absolute (0) or incremental (1).

Start Block: Executes a Motion Task sequence previously generated and stored in the drive.

Put the starting block number in the Block Number field (byte 1) and transition this bit high (1).

The Load/Start flag must be zero (0) while transitioning Start Block.

Load/Start: This bit is used for data handshaking between the controller and amplifier.

To transmit a command to the amplifier, set the Command Type and load data into the data fields, then toggle Load/Start high. The amplifier will accept data only when Load/Start transitions from 0 to 1.

If the command type matches the operating mode (Target Position or Position Move in position mode, Target Velocity or Jog in velocity mode, Torque in torque mode), the amplifier will start motion when the data is loaded.

When the data has been loaded successfully, the amplifier will set the Load Complete response flag high.

6.2.2.3 Command Type 0x05 - Torque

This command type is used to change the target torque. This can only be used in torque mode.

Motion will begin as soon as the value is loaded.

1. Put drive in torque mode by sending a message to Position Controller class 0x25,

Instance 1, Attribute 3 Operation Mode.

2. Load the desired torque value in bytes 4-7.

3. Set the Load/Start bit to begin the move.

Torque values are in milliamps [mA].

6.2.2.4 Command Type 0x06 - Position Move

This command type is used to start a trajectory (Position mode only) of the specified distance, velocity, acceleration and deceleration. Since all command values are sent to the drive in a single assembly, this is the preferred way

The trajectory can be absolute or relative, depending on the value of the Relative bit. The move will begin as soon as the command is loaded.

The position move is loaded into Motion Task 0 and can be viewed within Workbench.

1. Put drive in position mode by sending a message to Position Controller class 0x25,

Instance 1, Attribute 3 Operation Mode.

2. Load Target Position, Velocity, Acceleration and Deceleration into bytes 8-23 (see

Data Structure section).

3. Set the Load/Start bit to begin the move.

12 Kollmorgen™ | August 2012

Ethernet/IP Communications | 6.2.2.5   Command Type 0x07 - Jog Move

Position values are scaled according to EIP.POSUNIT. Velocity and acceleration values are scaled according to EIP.PROFUNIT.

6.2.2.5 Command Type 0x07 - Jog Move

This command type is used to change the target velocity, acceleration and deceleration in velocity mode. The Direction bit sets the desired direction. The move will begin as soon as the target velocity is loaded.

1. Put drive in velocity mode by sending a message to Position Controller class 0x25,

Instance 1, Attribute 3 Operation Mode.

2. Load Target Velocity, Acceleration and Deceleration into bytes 12-23 (see Data

Structure section).

3. Set the Load/Start bit to begin the move.

Velocity and acceleration values are scaled according to EIP.PROFUNIT.

6.2.2.6 Command Type 0x1B - Set Attribute of Position Controller Object

This command type is used to set a value in the Position Controller object, such as for configuring and triggering a home move. See the Drive Objects chapter for a listing of available attributes in this object.

1. Set Command Type to 0x1B

2. Load the Attribute number which you wish to set into bytes 4-5 (first half of the Data field, least significant byte first).

3. Load the desired value into bytes 24-31 Parameter/Attribute Data (see Data Structure section).

4. Set the Load/Start bit to set the value in the drive.

6.2.2.7 Command Type 0x1F - Read or Write Parameter Value

This command type is used to configure or read any parameter in the drive. See Appendix B for a listing of parameter indexes, data types, and scaling.

Use this command to either read or write the desired parameter. Byte 6 is used to determine whether this is a read or write command.

Some parameters can take a very long time to execute. When the command has completed, the Load Complete status bit will be set in the response, or else an Error Response Assembly will be returned.

1. Set Command Type to 0x1F

2. Load the parameter Index which you wish to access into bytes 4-5 (first half of the

Data field, least significant byte first).

3. Set byte 6 according to whether you wish to read or write the parameter. 0=read,

1=write.

4. If writing a parameter, load the desired value into bytes 24-31 Parameter/Attribute

Data.

5. Set the Load/Start bit to execute the command.

6. If reading a parameter, the value will be returned in bytes 24-31 of the response.

6.2.2.8 Get Attribute

Get Attribute field operates differently from the Command Types listed above, as it does not make use of the Command Type field or require Load/Start to be set.

To read an attribute of the Position Controller in each cycle, just set byte 32 Attribute to Get to the desired attribute number. The data will be returned in each response assembly in bytes 24-

31 Parameter Data with the Attribute to Get mirrored in byte 32 of the response.

Kollmorgen™ | August 2012 13

Ethernet/IP Communications | 6.2.3 Response Assemblies

14

Note: Attribute to Get and Command Type 0x1F Read Parameter Value both use bytes 24-31 of the response assembly. When using command 0x1F to read a parameter, set the Attribute to

Get field to 0.

1. Load the desired attribute number of the Position Controller Object into byte 32 Attribute to Get.

2. The value will be updated each communication cycle in bytes 24-31 of the response assembly.

6.2.3 Response Assemblies

In I/O Assembly Messaging, the amplifier transmits a response assembly back to the controller. The response assembly has a number of pre-defined status words and data values. In addition, it can contain one data value which is selected by the Response Type field of the command assembly.

6.2.3.1 Response Assemly Data Structure

1

2

Byte

0

Data

Status Word 1

Executing Block #

Status Word 2

3 Response Type

Various status bits

Various status bits

Comment

The index of the Motion Task which is currently being executed

Specifies the response type of this assembly, echoing the

Response Type set in the command assembly.

The response data for most Response Types*

Actual Position*

20-

23

24-

31

4-7 Data

8-11 Position

12-

15

Velocity

16-

19

Motion Status

Reserved

Parameter/Attribute

Data

32 Attribute to Get

Actual Velocity*

Status bits. This provides the status word DRV.MOTIONSTAT.

See the Parameter Reference Guide.

Response Data for Command Type 0x1F (Set Parameter) and the Attribute to Get*

Mirrors the Attribute to Get from the Command Assembly. If nonzero, the data will be in the Parameter Data field.

33-

63

Reserved

* Least significant byte first for all data fields

Status 1, Status 2, Actual Position, Actual Velocity, and Motion Status data are updated in every response assembly.

Data in bytes 4-7 will be updated depending on the value of the Response Type.

Parameter/Attribute Data in bytes 24-31 will be updated when Attribute to Get is non-zero or when a Get Parameter command was completed.

6.2.3.2 Status Word 1

Byte

0

Bit 7

Enable

State

Bit 6

Reserved

Bit 5

Homed

Bit 4

Current

Direction

Bit 3

General

Fault

Enable State: This bit reflects the enable state of the amplifier.

Bit 2

In Position

Bit 1

Block in

Execution

Bit 0

In

Motion

Kollmorgen™ | August 2012

Ethernet/IP Communications | 6.2.3.3   Status Word 2

Homed: This bit is set when the drive has been successfully homed.

Current Direction: This bit reflects the actual direction of motion.

General Fault: This bit indicates whether or not a fault has occurred.

In Position: This bit indicates whether or not the motor is on the last targeted position

(1=On Target).

Block Executing: When set, indicates the amplifier is running a motion task.

Executing Block: Indicates the index of the currently executing Motion Task when the

Block Executing bit is set.

In Motion: This bit indicates whether a trajectory is in progress (1) or has completed (0).

This bit is set immediately when motion begins and remains set for the entire motion.

6.2.3.3 Status Word 2

Byte

Bit 7

2

Load

Complete

Bit 6

Reserved

Bit 5

Reserved

Bit 4

Neg SW

Limit

Bit 3

Pos SW

Limit

Bit 2

Neg HW

Limit

Bit 1

Pos HW

Limit

Bit 0

Reserved

Load Complete: This bit indicates that the command data contained in the command message has been successfully loaded into the device. Used for handshaking between the controller and amplifier – see Data Handshaking.

Negative SW Limit: This bit indicates when the position is less than or equal to the Negative

Software Limit Position.

Positive SW Limit: This bit indicates when the position is greater than or equal to the Positive

Software Limit Position.

Negative HW Limit: This bit indicates the state of the Negative Hardware Limit Input.

Positive HW Limit: This bit indicates the state of the Positive Hardware Limit Input.

6.2.3.4 Response Type 0x05 - Actual Torque

This I/O response assembly is used to return the actual torque (current) of the motor in milliarms. Data will be received in the Data field, bits 4-7. Set Response Type = 0x05 in the command assembly to read this value.

6.2.3.5 Response Type 0x14 - Command/Response Error

This I/O response identifies an error that has occurred. This response will always be returned in response to an invalid Command Assembly. The Response Type field of the response assembly usually echoes the matching field from the previous command assembly. But in the case of an invalid command assembly, the Response Assembly Type field of the response assembly will be set to 0x14 and error codes will be returned in the Data field.

Error Code

(hex)

0

2

5

8

5

5

8

Additional Code

(hex)

FF

FF

FF

1

2

FF

1

NO ERROR

EtherNet IP Error

RESOURCE_UNAVAILABLE

PATH_UNKNOWN

COMMAND_AXIS_INVALID

RESPONSE_AXIS_INVALID

SERVICE_NOT_SUPP

COMMAND_NOT_SUPPORTED

Kollmorgen™ | August 2012 15

Ethernet/IP Communications | 6.2.4 Data Handshake

14

15

16

17

20

F

10

11

13

Error Code

(hex)

8

9

B

C

D

E

Additional Code

(hex)

2

FF

FF

FF

FF

FF

FF

FF

FF

FF

FF

FF

FF

FF

FF

EtherNet IP Error

RESPONSE_NOT_SUPPORTED

INVALID_ATTRIBUTE_VALUE

ALREADY_IN_STATE

OBJ_STATE_CONFLICT

OBJECT_ALREADY_EXISTS

ATTRIBUTE_NOT_SETTABLE

ACCESS_DENIED

DEVICE_STATE_CONFLICT

REPLY_DATA_TOO_LARGE

NOT_ENOUGH_DATA

ATTRIBUTE_NOT_SUPP

TOO_MUCH_DATA

OBJECT_DOES_NOT_EXIST

FRAGMENTATION_SEQ_ERR

INVALID_PARAMETER

6.2.4 Data Handshake

Data handshaking is used to transmit data commands with I/O Assembly Messaging. To transmit a command to the amplifier, set the Command Type and load data into the data fields, then toggle the Load/Start bit high. The amplifier will accept data only when Load/Start transitions from 0 to 1. If the data is loaded successfully, the amplifier will set the Load Complete response flag high. Load Complete will be cleared by the amplifier after Load/Start is cleared by the controller. If the data does not load successfully due to an error in the command assembly, the amplifier will load an error response into the response assembly (Response Type = 0x14, byte

4 = Error Code, byte 5 = Additional Code, bytes 6-7 echo command assembly bytes 2-3). See

I/O Assembly Messaging Response Type 0x14 – Command/Response Error for more information.

I/O Assembly Messaging Handshaking

Sequence

Example

1. Controller loads a valid Command Type and data into the command assembly with

Load/Start low (0).

2. Amplifier clears the Load Complete flag in the response assembly when Load/Start is low in the command assembly.

3. Controller checks that the Load Complete flag in the response assembly is low to ensure that the amplifier is ready to receive data. Controller sets the Load Data flag in the command assembly.

Load a Target Position command of 1000.

C: 0x80 0x00 0x21 0x20 0xE8 0x03 0x00

0x00 Enable=1, Load/Start=0, Command

Axis=1, Command Type=1, Response

Axis=1, Response Type=0 (none),

Data=1000

Respond with status flags. No command yet. R: 0x84 0x00 0x00 0x20 0x00 0x00

0x00 0x00 Enabled=1, In Position=1, Load

Complete=0, Response Axis=1, Response

Type=0 (none), Data=0

Set the Load Data flag. C: 0x81 0x00 0x21

0x20 0xE8 0x03 0x00 0x00 Enable=1,

Load/Start=1, Command Axis=1, Command Type=1, Response Axis=1,

Data=1000

16 Kollmorgen™ | August 2012

Ethernet/IP Communications | 6.3   Velocity Mode

I/O Assembly Messaging Handshaking

Sequence

4. Amplifier sees the Load/Start flag transition high and attempts to execute the command specified in the Command Type field on the data in the Data bytes. If successful, the amplifier sets the Load Complete flag. If the command fails or the command assembly is invalid, the amplifier will set Response Type to Error and load error information in the response assembly

Data fields. If the command matches the operating mode (e.g. Target Position in positioning mode), the amplifier will start motion.

5. Controller waits for either the Load Complete flag to transition high or for an Error Response

Type in the response assembly, then clears

Load/Start. Ready for next command

Example

If no error, execute the requested command

R: 0x81 0x00 0x80 0x20 0x00 0x00 0x00

0x00 Enabled=1, In Motion=1, Load Complete=1, Response Axis=1, Response

Type=0 (none), Data=0 If there was an error

(e.g. data out of range): R: 0x80 0x00 0x00

0x34 0x09 0xFF 0x21 0x20 Enabled=1,

Load Complete=0, Response Axis=1,

Response Type=0x14 (Error), Error codes=0x09FF (Invalid Attribute), bytes 6-7 echo command assembly bytes 2-3.

Clear Load/Start C: 0x80 0x00 0x21 0x20

0xE8 0x03 0x00 0x00 Enable=1,

Load/Start=0, Command Axis=1, Command Type=1, Response Axis=1,

Data=1000

6.3 Velocity Mode

In this mode, the drive is controlled via a speed set point sent from the controller to the drive using I/O Assembly Messaging (the Jog command). When changing velocity, the commanded acceleration and deceleration rates will be used.

6.3.1 Setup Velocity Mode

Before Jog commands may be issued, the following conditions must be met: l l l l l

Faults are cleared (query the General Fault bit in Status Word 1 and issue an explicit message to clear faults if necessary)

Drive is enabled (set Enable bit in the Control Word)

Drive is in velocity mode (set Attribute 3 Operational Mode of the Position Controller object)

Smooth Stop and Hard Stop bits are cleared in Status Word 1.

Position Limits are cleared (check bits in Status Word 2)

6.3.2 Velocity Moves

Once the drive is ready to jog, issue Jog commands (command type 0x07) to set a speed set point in the drive. Target Velocity, Acceleration, Deceleration, and Direction should all be loaded before setting the Load/Start bit to initiate the move.

While in motion, you may issue another Jog command to immediately change velocity and direction at the desired acceleration and deceleration rates.

While a jog is operating, the In Motion bit in Status Word 1 will be set and In Position will be cleared. The Direction status bit will reflect the actual direction of motion.

Set the Smooth Stop bit to stop the motor at the previously set deceleration rate and remain enabled.

Set the Hard Stop bit to immediately stop at the Controlled Stop rate and disable. To clear this

Controlled Stop condition, you must clear the Hard Stop and Enable bits, then set the Enable bit.

Velocity move values can be verified in Workbench. From the terminal, the affected values are

VL.CMD.

Kollmorgen™ | August 2012 17

Ethernet/IP Communications | 6.4   Position Mode

6.4 Position Mode

In this mode, the drive runs an internal trajectory generator for moving between commanded positions. These positions can be sent directly from the controller (point to point moves), or preprogrammed in Motion Task sequences.

6.4.1 Setup Position Mode

Before Position Move commands may be issued, the following conditions must be met: l l l l l l

Faults are cleared (query the General Fault bit in Status Word 1 and issue an explicit message to clear faults if necessary)

Drive is enabled (set Enable bit in the Control Word)

Drive is in position mode (set Attribute 3 Operational Mode of the Position Controller object)

Smooth Stop and Hard Stop bits are cleared in Status Word 1.

Position Limits are cleared (check bits in Status Word 2)

Drive is homed (check Homed bit in Status Word 1)

6.4.2 Homing

Once all conditions listed under Setup Position Mode have been met (with the exception of homing), the drive may be homed.

The homing mode may be selected using attribute 0x64 Home Mode of the Position Controller object, or by setting the homing mode directly in Workbench. See the User Manual for a description of homing modes.

To execute homing, write a value of 1 to attribute 0x65 Start Home Move.

When homing is complete, the Homed flag in Status Word 1of the response assembly will be set.

6.4.3 Position Moves (point to point)

Once all conditions listed under Setup Position Mode have been met, and the drive has been homed, issue Position Move commands (command type 0x06) to move to a desired position.

Target Position, Velocity, Acceleration, Deceleration, and Incremental (bit in Command Word) should all be loaded before setting the Load/Start bit to initiate the move.

While in motion, you may issue another Position Move command to interrupt the move with a new target position.

While a Position Move is operating, the In Motion bit in Status Word 1 will be set and In Position will be cleared. The Direction status bit will reflect the actual direction of motion. In Position will be set when the target position is reached.

Set the Smooth Stop bit to stop the motor at the previously set deceleration rate and remain enabled.

Set the Hard Stop bit to immediately stop at the Controlled Stop rate and disable. To clear this

Controlled Stop condition, you must clear the Hard Stop and Enable bits, then set the Enable bit.

Position moves are loaded into Motion Task 0, which can be viewed in Workbench for test and verification of user programs.

6.4.4 Running a Stored Motion Task Sequence

As an alternative to issuing a single point-to-point position commands, EtherNet/IP can be used to start a predefined motion task or sequence of motion tasks.

18 Kollmorgen™ | August 2012

Ethernet/IP Communications | 6.5   Torque

A motion tasking sequence may be setup in Workbench and then executed later through EtherNet/IP. Motion tasks may also be setup directly through EtherNet/IP as demonstrated in the sample programs.

To execute a motion task sequence, set Block Number equal to the index of the motion task to begin executing and transition the Start Block bit high. The drive must be enabled and the stop and Load/Start bits must be low.

When a stored motion task is running, the response assembly will report this with the Block in

Execution status bit, and the executing task will be given in the Block # response byte.

To stop an executing sequence, set the Smooth Stop or Hard Stop bit.

6.5 Torque

In this mode, the drive runs at constant torque using the latest command value received from the controller.

6.5.1 Setup Torque Mode

Before Torque Move commands may be issued, the following conditions must be met: l l l l l

Faults are cleared (query the General Fault bit in Status Word 1 and issue an explicit message to clear faults if necessary)

Drive is enabled (set Enable bit in the Control Word)

Drive is in torque mode (set Attribute 3 Operational Mode of the Position Controller object)

Smooth Stop and Hard Stop bits are cleared in Status Word 1.

Position Limits are cleared (check bits in Status Word 2)

6.5.2 Torque Moves

Once the drive is setup for torque mode, issue Torque commands (command type 0x05) to set a torque set point in the drive. Torque commands and values are scaled in milliarms.

While in motion, issue another Torque command to immediately change the target torque.

While a torque command is active, the In Motion bit in Status Word 1 will be set and In Position will be cleared. The Direction status bit will reflect the actual direction of motion.

Set the Smooth Stop bit to stop the motor at the previously set deceleration rate and remain enabled.

Set the Hard Stop bit to immediately stop at the Controlled Stop rate and disable. To clear this

Controlled Stop condition, you must clear the Hard Stop and Enable bits, then set the Enable bit.

Torque move values can be verified in Workbench. From the terminal, the affected value is

IL.CMD.

6.6 Handling Faults

Drive fault conditions are reported with the General Fault bit in Status Word 1 of the response assembly.

Specific fault numbers can be read through fault registers using the Parameter Class. The fault registers DRV.FAULT1..DRV.FAULT3 are at indexes 478-480. FAULT1 will always list the highest-priority fault.

Faults may be cleared by sending a message to the DRV.CLRFAULTS index 113 of the Parameter Class. Write a 1-byte value (any value) to the parameter to execute the command.

Kollmorgen™ | August 2012 19

Ethernet/IP Communications | 6.7   Saving to Non-volatile Memory

Transmit the following explicit message:

Service: 0x10 (Write)

Class: 0x0F (Parameter)

Instance: 113 (DRV.CLRFAULTS)

Attribute: 0x01 (Value)

Data Length: 4 bytes

Data Value: 1

6.7 Saving to Non-volatile Memory

Drive parameters are typically stored in RAM and only stored to non-volatile memory when a

Save is commanded through an Explicit Message to the Parameter Object.

Transmit the following explicit message:

Service: 0x10 (Write)

Class: 0x0F (Parameter)

Instance: 470 (DRV.NVSAVE)

Attribute: 0x01 (Value)

Data Length: 4 bytes

Data Value: 1

20 Kollmorgen™ | August 2012

Ethernet/IP Communications | 7   Drive Objects

7 Drive Objects

7.1 Position Controller Class 0x25

The following attributes are supported in the Position Controller class. The instance number always equals 1 in the class/instance/attribute mappings for the Position Controller.

Description

Attribute 0x01: Number of Attributes

The total number of attributes supported by the unit in the Position Controller class.

Access Rule Get

Data Type

Range

Unsigned Short Integer

N/A

Default N/A

Non-Volatile N/A

See Also DRV.FAULTS

Description

Attribute 0x02: Attribute List

Returns an array with a list of the attributes supported by this unit in the Position Controller Class. The length of this list is specified in Number of Attributes.

Access

Rule

Get

Data Type Array of Unsigned Short Integer

Range

Default

Array size is defined by Attribute 1

N/A

Non-Volatile N/A

See Also N/A

Description

Attribute 0x03: Operation Mode

This attribute is used to get or set the operating mode. 0=Position

(DRV.OPMODE 2). 1= velocity (DRV.OPMODE 1). 2=Torque

(DRV.OPMODE 0). This attribute must be set before any move is attempted.

Access

Rule

Get / Set

Data Type Unsigned Short Integer

Range

0 = Position Mode

1 = Velocity Mode

2 = Torque Mode

3 = Other (read only)

Default 0

Non-Volatile No

See Also N/A

Kollmorgen™ | August 2012 21

22

Ethernet/IP Communications | 7.1   Position Controller Class 0x25

Description

Attribute 0x04: Position Units

This ratio value is the number of 32-bit actual position feedback counts equal to one position unit.

Access

Rule

Get / Set

Data Type U32

Range 0 to 231

Default 65536 (16 bits/revolution)

Non-Volatile Yes

See Also N/A

Description

Attribute 0x05: Profile Units

This ratio value is the number of 32-bit actual position feedback counts per second (velocity) or second squared (acceleration) equal to one velocity or acceleration unit.

Access

Rule

Get / Set

Data Type U32

Range 0 to 231

Default 65536 (16 bits/revolution)

Non-Volatile Yes

See Also N/A

Description

Attribute 0x06: Target Position

This attribute specifies the target position in counts. Set Start Trajectory=1 (attribute 11) or the Polled I/O Start Trajectory/Load

Data bit to initiate the positioning move.

Access

Rule

Get / Set

Data Type Double Integer

Range -231 to 231

Default 0

Non-Volatile No

See Also N/A

Description

Attribute 0x07: Target Velocity

This attribute specifies the target velocity in counts per second.

Use target velocity for position opmode and jog velocity (attribute

22) for velocity opmode. Units are determined by the amplifier setup (VUNIT, Position controller attributes 40-41)

Access

Rule

Get / Set

Data Type Double Integer

Range

Default

Set to a positive number

According to setup

Non-Volatile Yes

See Also N/A

Kollmorgen™ | August 2012

Ethernet/IP Communications | 7.1   Position Controller Class 0x25

Description

Attribute 0x08: Acceleration

This attribute specifies the acceleration for positioning and homing (HOME.ACC) when in position opmode and the acceleration for constant velocity (DRV.ACC) when in velocity opmode. Units are determined by the amplifier setup (ACCUNIT, Position controller attributes 40-41) All position moves initiated through a Command Assembly or Command Block Object use this acceleration rate. To set different acceleration rates for multiple motion blocks

(tasks) requires the motion block to be setup using the amplifier setup software.

Access

Rule

Get / Set

Data Type Double Integer

Range

Default

Set to a positive number

According to setup

Non-Volatile Yes

See Also N/A

Description

Attribute 0x09: Deceleration

This attribute specifies the deceleration for positioning and homing (DECR) when in position opmode and the acceleration for constant velocity (DEC) when in velocity opmode. Units are determined by amplifier setup (ACCUNIT, Position controller attributes 40-41) All position moves initiated through a Command

Assembly or Command Block Object use this deceleration rate.

To set different deceleration rates for multiple motion blocks

(tasks) requires the motion block to be setup using the amplifier setup software.

Access

Rule

Get / Set

Data Type Double Integer

Range

Default

Set to a positive number

According to setup

Non-Volatile Yes

See Also N/A

Description

Attribute 0x0A: Move Type

This bit is used to define the position value as either absolute or incremental in DRV.OPMODE 2.

Access

Rule

Get / Set

Data Type Boolean

Range

0 = Absolute Postion

1 = Incremental Position

1 Default

Non-Volatile No

See Also N/A

Kollmorgen™ | August 2012 23

Ethernet/IP Communications | 7.1   Position Controller Class 0x25

Description

Attribute 0x0B: Trajectory Start/Complete

Set high (1) to start a trajectory move. Reads high (1) while in motion and low (0) when motion is complete

Access

Rule

Get / Set

Data Type Boolean

Range

Default

0 = Move Complete

1 = Start Trajectory (In Motion)

0

Non-Volatile No

See Also N/A

Description

Attribute 0x3A: Load Data Complete

Indicated the drive has successfully loaded the previous command value. It is used in combination with attribute 0x0B Trajectory Start/Complete to handshake motion starts between the

AKD and controller.

Access

Rule

Get

Data Type Boolean

Range

0 = Load not complete

1 = Load complete

0 Default

Non-Volatile No

See Also N/A

Description

Attribute 0x11: Enable

This flag is used to control the enable output. Clearing this bit sets the enable output inactive and the currently executing motion profile is aborted.

Access

Rule

Get / Set

Data Type Boolean

Range

0 = Disable

1 = Enable

Default 0

Non-Volatile N/A

See Also N/A

Description

Attribute 0x19: Torque

Set a new torque command (IL.CMDU) in torque mode or read the current torque command. The Trajectory Start attribute is used to begin motion.

24 Kollmorgen™ | August 2012

Ethernet/IP Communications | 7.2   Position Controller Supervisor Class 0x24

Attribute 0x19: Torque

Access

Rule

Get / Set

Data Type Double Integer

Range

Default

-3280 to 3280 (3280 = peak torque)

0

Non-Volatile No

See Also N/A

Attribute 0x64: Home Mode

Description Set the desired homing mode.

Access

Rule

Get / Set

Data Type U16

Range N/A

Default 0

Non-Volatile Yes

See Also N/A

Attribute 0x65: Start Home Move

Description Start homing.

Access

Rule

Get / Set

Data Type Boolean

Range

0 = Do not move home

1 = Initiate a home move

Default 0

Non-Volatile No

See Also N/A

7.2 Position Controller Supervisor Class 0x24

Description

Attribute 0x05: General Fault

When active, this indicates that an amplifier related failure has occured (short circuit, over-voltage, ect).

Access

Rule

Get

Data Type U32

Range

See Also

1 = Fault condition exists

0 = No fault exists

DRV.FAULTS

7.3 Parameter Class 0x0F

Most drive parameters can be read and or written through the Parameter Object. This includes many drive parameters also available through the Position Controller and Position Controller

Kollmorgen™ | August 2012 25

Ethernet/IP Communications | 7.3.1 Supported Attributes

Supervisor classes.

For an explicit message to the Parameter Object, the instance number of the desired parameter can be found in Appendix B. See the Appendix for instance numbers, data types, and scaling.

Note that Float types are scaled by 1000 to get an integer value.

Attribute 1 of each parameter instance refers to the value of that parameter.

Amplifier commands such as MOVE.HOME and DRV.NVSAVE are executed by sending a

Set Value command with a data length of 1 and any value 0 to 255. Reading the value will not execute the process.

For example, send the following explicit message to initiate homing (HOME.MOVE, instance =

205):

[class=0x0F, instance=205, attribute=0x01, data length=1, data value=0x01].

7.3.1 Supported Attributes

The following attributes are supported for each parameter index:

1 – Get/Set parameter value

5 – Get data type

6 – Get data size

Description

Access

Rule

Attribute 0x01: Parameter Value

Directly access the parameter value. Check the command reference for the data type and read/write access rule. Float types are multiplied by 1000 to get an integer value. Set the value to 1 to execute an amplifier process (eg Move Home).

Depends on the parameter and is given in ascii.chm in the Type field.

Data Type

Depends on the parameter and is given in ascii.chm in the Format field. The byte length is given by Data Length parameter.

N/A Range

Default N/A

Non-Volatile N/A

See Also N/A

Attribute 0x05: Data Type

Description This data type of this parameter.

Access

Rule

Get

Data Type U8

Range N/A

Default N/A

Non-Volatile Yes

See Also See table below

Data Type Code

0xC1

0xC2

0xC6

0xC3

Boolean

Data Type

Short Integer

Unsigned Short Integer

Integer

Abbreviation

Bool

S8

U8

S16

26 Kollmorgen™ | August 2012

Ethernet/IP Communications | 7.3.2 Read a Parameter Value

Data Type Code

0xC7

0xC4

0xC8

0xC5

0xC9

Data Type

Unsigned Integer

Double Integer

Unsigned Double Integer

Long Integer

Unsigned Long Integer

Abbreviation

U16

S32

U32

S64

U64

Attribute 0x06: Data Length

Description Length of the parameter in bytes.

Access

Rule

Get

Data Type Unsigned Short Integer

Range

Default

N/A

N/A

Non-Volatile N/A

See Also N/A

7.3.2 Read a Parameter Value

To read a parameter value through Explicit messaging, use Service 0x0E (Read Value), Class

0x0F (Parameter class), Attribute 1 (Parameter Value).

The instance number corresponds to the index of the desired parameter. This number may be found in Appendix B.

7.3.3 Write a Parameter Value

To set a parameter value through Explicit messaging, use Service 0x10 (Write Value), Class

0x0F (Parameter class), Attribute 1 (Parameter Value).

The instance number corresponds to the index of the desired parameter. This number may be found in Appendix B.

The length of the data written must match the length of the parameter. Read attribute 0x06 Data

Length to determine the correct length to send. In the case of 64 bit parameters, it is also possible to write a 32-bit value.

7.3.4 Execute a Command Parameter

Some parameters are actually “commands” which do not take a value, but execute a drive function such as HOME.MOVE or DRV.CLRFAULTS. To execute a command, write a value of 1 to the parameter.

The instance number of the desired parameter can be found in Appendix B.

To execute a command parameter through Explicit messaging, use Service 0x10 (Write Value),

Class 0x0F (Parameter class), Attribute 1 (Parameter Value), Data=0x01.

Kollmorgen™ | August 2012 27

Ethernet/IP Communications | 8   Units

8 Units

Position, Velocity and Acceleration are scaled differently for EtherNet/IP than for Workbench.

In Workbench, these values are displayed as floating point numbers and can been configured in many ways. In EtherNet/IP, these values are integers and are scaled as a ratio of position units to actual position counts.

8.1 Position Units

Position values are scaled according to the EtherNet/IP Position Controller Device standard.

One “Position Units” scaling value is defined, which gives the number of actual position feedback counts (at 32 bits per revolution) equal to one position unit.

From Workbench, this scaling parameter is visible in the EtherNet/IP screen or as EIP.PO-

SUNIT in the terminal.

From EtherNet/IP, this value can be accessed at attribute 0x04 Position Units of the Position

Controller object.

The default value is 2^16 = 65536, which provides 2^32 / 2^16 = 2^16 counts per revolution. A value of 1 would provide 2^32 / 1 = 2^32 counts per revolution.

8.2 Velocity and Acceleration Units

Velocity and Acceleration values are scaled according to the EtherNet/IP Position Controller

Device standard. One “Profile Units” scaling value is defined, which affects both velocity and acceleration.

For velocity values, Profile Units gives the number of actual position feedback counts (at 32 bits per revolution) per second equal to one velocity unit.

For acceleration values, Profile Units gives the number of actual position feedback counts (at

32 bits per revolution) per second^2 equal to one acceleration unit.

From Workbench, this scaling parameter is visible in the EtherNet/IP screen or as EIP.PRO-

FUNIT in the terminal.

From EtherNet/IP, this value can be accessed at attribute 0x05 Profile Units of the Position

Controller object.

The default value is 2^16 = 65536, which provides 2^32 / 2^16 = 2^16 counts per second per revolution. A value of 1 would provide 2^32 / 1 = 2^32 counts per second per revolution.

8.3 Torque Units

Torque commands and values are scaled in milliamps [mA].

8.4 Other Floating Point Values

Other parameters which are displayed as floating point values in Workbench are provided with three-digit accuracy over EtherNet/IP. For example, a velocity loop gain VL.KP of 1.200 would be read over EtherNet/IP as 1200.

28 Kollmorgen™ | August 2012

Ethernet/IP Communications | 9   RS Logix Sample Projects

9 RS Logix Sample Projects

On www.kollmorgen.com, you can find RSLogix sample projects and add-on instructions, which demonstrate an EtherNet/IP network with a CompactLogix controller and the AKD.

The Using AKD EtherNet/IP with RSLogix manual provides easy start guide for RSLogix programs, as well as a reference to the sample add-on instructions.

The sample projects are based on an L32E CompactLogix controller, which easily can be changed to another controller which supports RSLogix.

9.1 Add On Instructions

A set of Add On instructions are provided for easy creation of AKD programs with RSLogix.

The instructions are written to mirror the native instructions, leveraging existing knowledge of the software. They provide easy control of IO Assembly messages.

The native MSG instruction is used in RSLogix for sending Explicit Messages.

Add-On Instructions include: l l l l l l l l l l l l l l l

AKD_Enable

AKD_Disable

AKD_Home

AKD_Jog

AKD_Move

AKD_Set_Home_Mode

AKD_Set_Mode

AKD_Shutdown

AKD_Shutdown_Reset

AKD_Stop_Smooth

AKD_Get_Attribute

AKD_Get_Parameter

AKD_Set_Attribute

AKD_Set_Parameter

AKD_Set_Units

9.2 AKD Sample Project

The sample project can help you to learn: l l l l l l how to enable the drive how to write/read a parameter via the acyclic channel how the cyclic data exchange is done how to run motion in position or velocity mode how to clear faults how to load and execute motion task sequences

9.3 "Registration Example" Project

This sample project can help you learn: l l l

How to configure the drive for registration using only EtherNet/IP (no Workbench setup required).

How to start a motion task sequence

How to control digital I/O

Kollmorgen™ | August 2012 29

Ethernet/IP Communications | 10   Appendix A: Supported EtherNet/IP Objects and Attributes

10 Appendix A: Supported EtherNet/IP Objects and

Attributes

6

7

10.1 Position Controller Object 0x25

Attribute

ID (Dec-

Name imal

Value)

1 Number of Attributes

2 Attribute List

Access

Rule

Get

Type

USINT

3 Mode

Get Array of

USINT

Get/Set USINT

4

5

8

9

10

11

17

25

58

100

101

Position Units

Profile Units

Target Position

Target Velocity

Acceleration

Deceleration

Get/Set DINT

Get/Set DINT

Incremental Position Get/Set BOOL

Flag

Load Data/Profile

Handshake

Get/Set BOOL

Enable

Torque

Get/Set

Get/Set

BOOL

DINT

Load Data Complete Get/Set BOOL

Home Mode

Home Move

Get/Set DINT

Get/Set DINT

Get/Set DINT

Get/Set DINT

Get/Set INT

Set BOOL

Description

Returns the total number of attributes supported by this object in this device.

Returns an array with a list of the attributes supported by this object in this device.

Operating mode. 0 = Position mode(default), 1 =

Velocity mode, 2 = Torque mode.

Position Units ratio value is the number of actual position feedback counts equal to one position unit

(default 1).

Profile Units ratio value is the number of actual position feedback counts per second or second2 equal to one velocity, acceleration or deceleration unit (default 1).

Specifies the target position in counts.

Specifies the Target Velocity in counts per second.

Not used yet.

Not used yet.

Incremental Position Flag 0 := absolute, 1:= incremental.

Used to Load Command Data, Start a Profile

Move, and indicate that a Profile Move is in progress.

Enable Output (same as DRV.EN).

Output torque.

Indicates that valid data for a valid I/O command message type has been loaded into the position controller device.

See home mode section of the AKD User Manual

Initiate a home move.

30 Kollmorgen™ | August 2012

Ethernet/IP Communications | 11   Appendix B: Parameter Listing

11 Appendix B: Parameter Listing

The parameters in this list correspond to drive parameters available in Workbench and are described in the Workbench help documentation and the AKD User's Guide.

Position values are scaled according to EIP.PROSUNIT.

Velocity and Acceleration values are scaled according to EIP.PROFUNIT.

Other floating point values are multiplied by 1000, such that a value displayed in Workbench as

1.001 will be transmitted through EtherNet/IP as 1001.

31

32

33

35

27

28

29

30

23

24

25

26

19

20

21

22

36

37

38

39

40

41

12

13

15

17

8

9

10

11

Instance

1

Parameter

AIN.CUTOFF

2 AIN.DEADBAND

5

7

3

4

AIN.ISCALE

AIN.OFFSET

AIN.PSCALE

AIN.VALUE

AIN.VSCALE

AIN.ZERO

AOUT.ISCALE

AOUT.MODE

AOUT.OFFSET

AOUT.PSCALE

AOUT.VALUE

AOUT.VALUEU

AOUT.VSCALE

BODE.EXCITEGAP

BODE.FREQ

BODE.IAMP

BODE.INJECTPOINT

BODE.MODE

BODE.MODETIMER

BODE.PRBDEPTH

BODE.VAMP

CAP0.EDGE

CAP0.EN

CAP0.EVENT

CAP0.FILTER

CAP0.MODE

CAP0.PLFB

CAP0.PREEDGE

CAP0.PREFILTER

CAP0.PRESLECT

CAP0.STATE

CAP0.T

CAP0.TRIGGER

CAP1.EDGE

4 Byte

1 Byte

4 Byte

2 Byte Signed

1 Byte

1 Byte

4 Byte

1 Byte

8 Byte Signed

1 Byte

1 Byte

1 Byte

1 Byte

1 Byte

8 Byte Signed

1 Byte

Data Size

4 Byte

2 Byte

4 Byte

2 Byte Signed

8 Byte

2 Byte

4 Byte

Command

4 Byte

2 Byte

2 Byte Signed

8 Byte

8 Byte Signed

8 Byte Signed

1 Byte

1 Byte

1 Byte

4 Byte

1 Byte

1 Byte

Velocity

Integer

Float

Float

Integer

Integer

Integer

Integer

Velocity

Integer

Integer

Integer

Integer

Integer

Position

Integer

Data Type

Float

Float

Float

Float

Position

Float

Velocity

None

Float

Integer

Float

Position

Float

Float

Integer

Integer

Integer

Integer

Integer

Integer

Kollmorgen™ | August 2012 31

Ethernet/IP Communications | 11   Appendix B: Parameter Listing

83

85

86

87

78

80

81

82

88

90

91

92

93

73

75

76

77

68

70

71

72

63

65

66

67

59

60

61

62

54

56

57

58

50

51

52

53

Instance

42

Parameter

CAP1.EN

43

44

CAP1.EVENT

CAP1.FILTER

45

46

48

49

CAP1.MODE

CAP1.PLFB

CAP1.PREEDGE

CAP1.PREFILTER

CAP1.PRESELECT

CAP1.STATE

CAP1.T

CAP1.TRIGGER

CS.DEC

CS.STATE

CS.TO

CS.VTHRESH

DIN.ROTARY

DIN.STATES

DIN1.INV

DIN1.MODE

DIN1.PARAM

DIN1.STATE

DIN2.INV

DIN2.MODE

DIN2.PARAM

DIN2.STATE

DIN3.INV

DIN3.MODE

DIN3.PARAM

DIN3.STATE

DIN4.INV

DIN4.MODE

DIN4.PARAM

DIN4.STATE

DIN5.INV

DIN5.MODE

DIN5.PARAM

DIN5.STATE

DIN6.INV

DIN6.MODE

DIN6.PARAM

DIN6.STATE

DIN7.INV

DIN7.MODE

DIN7.PARAM

Varies

Integer

Integer

Integer

Varies

Integer

Integer

Integer

Integer

Array

Integer

Integer

Varies

Integer

Integer

Integer

Data Type

Integer

Integer

Integer

Integer

Position

Integer

Integer

Integer

Integer

Integer

Integer

Acceleration

Integer

Integer

Velocity

Varies

Integer

Integer

Integer

Varies

Integer

Integer

Integer

Varies

Integer

Integer

Integer

Varies

1 Byte

1 Byte

1 Byte

2 Byte

8 Byte Signed

1 Byte

1 Byte

2 Byte

8 Byte Signed

1 Byte

1 Byte

2 Byte

8 Byte Signed

1 Byte

1 Byte

2 Byte

Data Size

1 Byte

1 Byte

1 Byte

1 Byte

8 Byte Signed

1 Byte

1 Byte

1 Byte

1 Byte

4 Byte

1 Byte

8 byte

1 Byte

4 Byte

8 Byte

8 Byte Signed

1 Byte

1 Byte

2 Byte

8 Byte Signed

1 Byte

1 Byte

2 Byte

8 Byte Signed

1 Byte

1 Byte

2 Byte

8 Byte Signed

32 Kollmorgen™ | August 2012

Ethernet/IP Communications | 11   Appendix B: Parameter Listing

Instance

95

Parameter

DIN7.STATE

96

97

DOUT.CTRL

DOUT.RELAYMODE

98

99

DOUT.STATES

DOUT1.MODE

100 DOUT1.PARAM

102 DOUT1.STATE

103 DOUT1.STATEU

104 DOUT2.MODE

105 DOUT2.PARAM

107 DOUT2.STATE

108 DOUT2.STATEU

109 DRV.ACC

111 DRV.ACTIVE

112 DRV.CLRFAULTHIST

113 DRV.CLRFAULTS

114 DRV.CMDSOURCE

115 DRV.DBILIMIT

116 DRV.DEC

118 DRV.DIR

119 DRV.DI

120 DRV.DISMODE

121 DRV.DISSOURCES

122 DRV.DISTO

123 DRV.EMUEDIR

124 DRV.EMUEMODE

125 DRV.EMUEMTURN

126 DRV.EMUERES

127 DRV.EMUEZOFFSET

128 DRV.EN

129 DRV.ENDEFAULT

130 DRV.HANDWHEEL

131 DRV.HWENMODE

132 DRV.ICONT

133 DRV.IPEAK

134 DRV.IZERO

135 DRV.MOTIONSTAT

136 DRV.OPMODE

137 DRV.RSTVAR

138 DRV.STOP

139 DRV.TYPE

140 DRV.ZERO

141 FB1.BISSBITS

142 FB1.ENCRES

Command

1 Byte

2 Byte

8 Byte

1 Byte

Command

1 Byte

2 Byte

4 Byte

1 Byte

2 Byte

4 Byte

4 Byte

2 Byte

Command

1 Byte

Data Size

1 Byte

1 Byte

1 Byte

1 Byte

1 Byte

8 Byte Signed

1 Byte

1 Byte

1 Byte

8 Byte Signed

1 Byte

1 Byte

8 Byte

1 Byte

Command

4 Byte

1 Byte

2 Byte Signed

2 Byte Signed

2 Byte

4 Byte

1 Byte

Command

Command

1 Byte

1 Byte

1 Byte

4 Byte

None

Integer

Float

Acceleration

Integer

None

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

None

Integer

Data Type

Integer

Integer

Integer

Array

Integer

Float

Integer

Integer

Integer

Float

Integer

Integer

Acceleration

Integer

None

Integer

Integer

Float

Float

Float

Integer

Integer

None

None

Integer

Integer

Integer

Integer

Kollmorgen™ | August 2012 33

Ethernet/IP Communications | 11   Appendix B: Parameter Listing

Instance Parameter

143 FB1.IDENTIFIED

144 FB1.INITSIGNED

145 FB1.MECHPOS

146 FB1.OFFSET

148 FB1.ORIGIN

150 FB1.PFIND

151 FB1.PFINDCMDU

152 FB1.POLES

153 FB1.PSCALE

154 FB1.RESKTR

155 FB1.RESREFPHASE

156 FB1.SELECT

157 FB1.TRACKINGCAL

158 FBUS.PARAM01

159 FBUS.PARAM02

160 FBUS.PARAM03

161 FBUS.PARAM04

162 FBUS.PARAM05

163 FBUS.PARAM06

164 FBUS.PARAM07

178 FBUS.PLLTHRESH

179 FBUS.SAMPLEPERIOD

180 FBUS.SYNCACT

181 FBUS.SYNCDIST

182 FBUS.SYNCWND

183 FBUS.TYPE

184 GEAR.ACCMAX

186 GEAR.DECMAX

188 GEAR.IN

189 GEAR.MODE

190 GEAR.MOVE

191 GEAR.OUT

192 GEAR.VMAX

193 HOME.ACC

195 HOME.AUTOMOVE

196 HOME.DEC

198 HOME.DIR

199 HOME.DIST

201 HOME.FEEDRATE

202 HOME.IPEAK

204 HOME.MODE

205 HOME.MOVE

206 HOME.P

208 HOME.PERRTHRESH

4 Byte

4 Byte

4 Byte

4 Byte

4 Byte

2 Byte

1 Byte

4 Byte

4 Byte

4 Byte

1 Byte

8 Byte

8 Byte

2 Byte

2 Byte

Command

Data Size

1 Byte

1 Byte Signed

4 Byte

8 Byte Signed

8 Byte

1 Byte

2 Byte

2 Byte

1 Byte

2 Byte

4 Byte Signed

1 Byte Signed

1 Byte

4 Byte

4 Byte

2 Byte signed

8 Byte

8 Byte

1 Byte

8 Byte

2 Byte

8 Byte Signed

2 Byte

4 Byte Signed

2 Byte

Command

8 Byte Signed

8 Byte Signed

34 Kollmorgen™ | August 2012

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Acceleration

Acceleration

Integer

Integer

None

Data Type

Integer

Integer

Integer

Position

Position

Integer

Float

Integer

Integer

Float

Float

Integer

Integer

Integer

Integer

Integer

Velocity

Acceleration

Integer

Acceleration

Integer

Position

Integer

Float

Integer

None

Position

Position

Ethernet/IP Communications | 11   Appendix B: Parameter Listing

Instance Parameter

210 HOME.SET

211 HOME.V

212 HWLS.NEGSTATE

213 HWLS.POSSTATE

214 IL.BUSFF

215 IL.CMD

217 IL.FB

218 IL.FF

219 IL.FOLDFTHRESH

220 IL.FOLDFTHRESHU

221 IL.FOLDWTHRESH

222 IL.FRICTION

223 IL.IFOLDS

224 IL.IUFB

225 IL.IVFB

226 IL.KACCFF

227 IL.KBUSFF

228 IL.KP

229 IL.KPDRATIO

230 IL.KVFF

231 IL.LIMITN

232 IL.LIMITP

233 IL.MFOLDD

234 IL.MFOLDR

235 IL.MFOLDT

236 IL.MIFOLD

237 IL.OFFSET

238 IL.VCMD

239 IL.VUFB

240 IL.VVFB

241 MOTOR.AUTOSET

242 MOTOR.BRAKE

243 MOTOR.BRAKERLS

244 MOTOR.CTF0

245 MOTOR.ICONT

246 MOTOR.IDDATAVALID

247 MOTOR.INTERTIA

248 MOTOR.IPEAK

249 MOTOR.KT

250 MOTOR.LQLL

251 MOTOR.PHASE

252 MOTOR.PITCH

253 MOTOR.POLES

254 MOTOR.R

4 Byte Signed

4 Byte

2 Byte 

4 Byte

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte

4 Byte

4 Byte

4 Byte

4 Byte Signed

2 Byte Signed

2 Byte Signed

2 Byte Signed

1 Byte

Data Size

Command

8 Byte

1 Byte

1 Byte

2 Byte Signed

2 Byte Signed

2 Byte Signed

2 Byte

2 Byte

4 Byte Signed

4 Byte Signed

4 Byte

4 Byte

2 Byte Signed

2 Byte Signed

1 Byte

1 Byte

4 Byte

4 Byte

1 Byte

4 Byte

4 Byte

4 Byte

4 Byte

2 Byte

4 Byte

2 Byte

4 Byte

Float

Float

Float

Float

Integer

Integer

Integer

Integer

Float

Float

Float

Float

Float

Float

Float

Float

Float

Float

Float

Float

Float

Float

Float

Float

Data Type

None

Velocity

Integer

Integer

Float

Float

Float

Integer

Integer

Float

Float

Integer

Float

Float

Float

Float

Integer

Float

Integer

Float

Kollmorgen™ | August 2012 35

Ethernet/IP Communications | 11   Appendix B: Parameter Listing

Instance Parameter

255 MOTOR.RTYPE

256 MOTOR.TBRAKEAPP

257 MOTOR.TBRAKERLS

258 MOTOR.TEMP

259 MOTOR.TEMPFAULT

260 MOTOR.TEMPWARN

261 MOTOR.TYPE

262 MOTOR.VMAX

263 MOTOR.VOLTMAX

264 MT,ACC

266 MT.CLEAR

267 MT.CNTL

268 MT.CONTINUE

269 MT.DEC

271 MT.EMERGMT

272 MT.LOAD

273 MT.MOVE

274 MT.MTNEXT

275 MT.NUM

276 MT.P

278 MT.SET

279 MT.TNEXT

280 MT.TNUM

281 MT.TPOSWND

283 MT.TVELWND

284 MT.V

285 MT.VCMD

286 PL.CMD

288 PL.ERR

290 PL.ERRMODE

291 PL.ERRFTHRESH

293 PL.ERRWTHRESH

295 PL.FB

297 PL.FBSOURCE

298 PL.INTINMAX

300 PL.INTOUTMAX

302 PL.KI

303 PL.KP

304 PL.MODP1

306 PL.MODP2

308 PL.MODPDIR

309 PL.MODPEN

310 PLS.EN

311 PLS.MODE

Command

2 Byte Command

1 Byte

1 Byte

8 Byte Signed

1 Byte Command

2 Byte

1 Byte

8 Byte Signed

8 Byte

8 Byte

8 Byte Signed

8 Byte

8 Byte

1 Byte

8 Byte

Data Size

1 Byte

2 Byte

2 Byte

4 Byte

4 Byte

4 Byte

1 Byte

2 Byte

2 Byte

8 Byte

2 Byte Signed

4 Byte

Command

8 Byte

2 Byte Signed

8 Byte

8 Byte Signed

1 Byte

8 Byte

8 Byte

4 Byte

4 Byte

8 Byte Signed

8 Byte Signed

1 Byte

1 Byte

2 Byte

2 Byte

None

None

Integer

Integer

Position

None

Integer

Integer

Position

Velocity

Velocity

Velocity

Position

Position

Integer

Position

Data Type

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Acceleration

Integer

Integer

None

Acceleration

Integer

Position

Position

Integer

Position

Position

Float

Float

Position

Position

Integer

Integer

Integer

Integer

36 Kollmorgen™ | August 2012

Ethernet/IP Communications | 11   Appendix B: Parameter Listing

Instance

312 PLS.P1

Parameter

314 PLS.P2

316 PLS.P3

318 PLS.P4

320 PLS.P5

322 PLS.P6

324 PLS.P7

326 PLS.P8

328 PLS.RESET

329 PLS.STATE

330 PLS.T1

331 PLS.T2

332 PLS.T3

333 PLS.T4

334 PLS.T5

335 PLS.T6

336 PLS.T7

337 PLS.T8

338 PLS.UNITS

339 PLS.WIDTH1

341 PLS.WIDTH2

343 PLS.WIDTH3

345 PLS.WIDTH4

347 PLS.WIDTH5

349 PLS.WIDTH6

351 PLS.WIDTH7

353 PLS.WIDTH8

355 REC.ACTIVE

356 REC.DONE

357 REC.GAP

358 REC.NUMPOINTS

359 REC.OFF

360 REC.STOPTYPE

361 REC.TRIG

362 REC.TRIGPOS

363 REC.TRIGPRMLIST

364 REC.TRIGSLOPE

365 REC.TRIGTYPE

366 REC.TRIGVAL

368 REGEN.POWER

370 REGEN.REXT

371 REGEN.TEXT

372 REGEN.TYPE

373 REGEN.WATTEXT

2 Byte

2 Byte

2 Byte

1 Byte

8 Byte Signed

8 Byte Signed

8 Byte Signed

8 Byte Signed

8 Byte Signed

8 Byte Signed

8 Byte Signed

8 Byte Signed

1 Byte

1 Byte

2 Byte

2 Byte

Data Size

8 Byte Signed

8 Byte Signed

8 Byte Signed

8 Byte Signed

8 Byte Signed

8 Byte Signed

8 Byte Signed

8 Byte Signed

2 Byte

2 Byte

2 Byte

2 Byte

2 Byte

2 Byte

2 Byte

Command

1 Byte

Command

1 Byte

-

1 Byte

1 Byte

8 Byte Signed

8 Byte

2 Byte

4 Byte

1 Byte Signed

2 Byte

Integer

Integer

Integer

Integer

Position

Position

Position

Position

Position

Position

Position

Position

Integer

Integer

Integer

Integer

Data Type

Position

Position

Position

Position

Position

Position

Position

Position

Integer

Integer

Integer

Integer

Integer

Integer

Integer

None

Integer

None

Integer

String

Integer

Integer

Varies

Integer

Integer

Float

Integer

Integer

Kollmorgen™ | August 2012 37

Ethernet/IP Communications | 11   Appendix B: Parameter Listing

Instance

374 SM.I1

Parameter

375 SM.I2

376 SM.MODE

377 SM.MOVE

378 SM.T1

379 SM.T2

380 SM.V1

381 SM.V2

382 STO.STATE

383 SWLS.EN

384 SWLS.LIMIT0

386 SWLS.LIMIT1

388 SWLS.STATE

389 UNIT.ACCLINEAR

390 UNIT.ACCROTARY

391 UNIT.PIN

392 UNIT.PLINEAR

393 UNIT.POUT

394 UNIT.PROTARY

395 UNIT.VLINEAR

396 UNIT.VROTARY

397 VBUS.CALGAIN

398 VBUS.OVFTHRESH

399 VBUS.OVWTHRESH

400 VBUS.RMSLIMIT

401 VBUS.UVFTHRESH

402 VBUS.UVMODE

403 VBUS.UVWTHRESH

404 VBUS.VALUE

405 VL.ARPF1

406 VL.ARPF2

407 VL.ARPF3

408 VL.ARPF4

409 VL.ARPQ1

410 VL.ARPQ2

411 VL.ARPQ3

412 VL.ARPQ4

413 VL.ARTYPE1

414 VL.ARTYPE2

415 VL.ARTYPE3

416 VL.ARTYPE4

417 VL.ARZF1

418 VL.ARZF2

419 VL.ARZF3

2 Byte

1 Byte

2 Byte

1 Byte

2 Byte

4 Byte

4 Byte

4 Byte

4 Byte

1 Byte

4 Byte

1 Byte

1 Byte

1 Byte

4 Byte

2 Byte

Data Size

2 Byte Signed

2 Byte Signed

2 Byte

Command

2 Byte

2 Byte

8 Byte Signed

8 Byte Signed

1 Byte

2 Byte

8 Byte Signed

8 Byte Signed

2 Byte

1 Byte

1 Byte

4 Byte

4 Byte

4 Byte

4 Byte

4 Byte

4 Byte

1 Byte

1 Byte

1 Byte

1 Byte

4 Byte

4 Byte

4 Byte

38 Kollmorgen™ | August 2012

Integer

Integer

Integer

Integer

Integer

Float

Float

Float

Integer

Integer

Integer

Integer

Integer

Integer

Float

Integer

Data Type

Float

Float

Integer

None

Integer

Integer

Velocity

Velocity

Integer

Integer

Position

Position

Integer

Integer

Integer

Float

Float

Float

Float

Float

Float

Integer

Integer

Integer

Integer

Float

Float

Float

Ethernet/IP Communications | 11   Appendix B: Parameter Listing

Instance Parameter

420 VL.ARZF4

421 VL.ARZQ1

422 VL.ARZQ2

423 VL.ARZQ3

424 VL.ARZQ4

425 VL.BUSFF

426 VL.CMD

427 VL.CMDU

428 VL.ERR

429 VL.FB

430 VL.FBFILTER

431 VL.FBSOURCE

432 VL.FF

433 VL.GENMODE

434 VL.KBUSFF

435 VL.KI

436 VL.KO

437 VL.KP

438 VL.KVFF

439 VL.LIMITN

440 VL.LIMITP

441 VL.LMJR

442 VL.MODEL

443 VL.OBSBW

444 VL.OBSMODE

445 VL.THRESH

446 WS.ARM

447 WS.DISTMAX

449 WS.DISTMIN

451 WS.IMAX

452 WS.MODE

453 WS.NUMLOOPS

454 WS.STATE

455 WS.T

456 WS.TDELAY1

457 WS.TDELAY2

458 WS.TDELAY3

459 WS.VTHRESH

460 DIN1.FILTER

461 DIN2.FILTER

462 DIN3.FILTER

463 DIN4.FILTER

464 DIN5.FILTER

465 DIN6.FILTER

4 Byte

4 Byte

4 Byte

4 Byte

8 Byte Signed

8 Byte 

4 Byte

8 Byte Signed

4 Byte

4 Byte

8 Byte Signed

Command

8 Byte Signed

8 Byte Signed

2 Byte Signed

1 Byte

Data Size

4 Byte

4 Byte

4 Byte

4 Byte

4 Byte

8 Byte Signed

8 Byte Signed

8 Byte Signed

8 Byte Signed

8 Byte Signed

8 Byte Signed

1 Byte

8 Byte Signed

2 Byte

4 Byte

1 Byte

1 Byte

2 Byte

2 Byte

2 Byte

2 Byte

8 Byte Signed

2 Byte

2 Byte

2 Byte

2 Byte

2 Byte

2 Byte

Float

Float

Float

Float

Velocity

Velocity

Float

Velocity

Float

Integer

Velocity

None

Position

Position

Float

Integer

Data Type

Float

Float

Float

Float

Float

Velocity

Velocity

Velocity

Velocity

Velocity

Velocity

Integer

Velocity

Velocity

Float

Integer

Integer

Integer

Integer

Integer

Integer

Velocity

Integer

Integer

Integer

Integer

Integer

Integer

Kollmorgen™ | August 2012 39

Ethernet/IP Communications | 11   Appendix B: Parameter Listing

Instance Parameter

466 DIN7.FILTER

467 FB1.HALLSTATEU

468 FB1.HALLSTATEV

469 FB1.HALLSTATEW

470 DRV.NVSAVE

471 MODBUS.DIO

472 MODBUS.DRV

473 MODBUS.DRVSTAT

474 MODBUS.HOME

475 MODBUS.MOTOR

476 MODBUS.MT

477 MODBUS.SM

478 DRV.FAULT1

479 DRV.FAULT2

480 DRV.FAULT3

481 DRV.FAULT4

482 DRV.FAULT5

483 DRV.FAULT6

484 DRV.FAULT7

485 DRV.FAULT8

486 DRV.FAULT9

487 DRV.FAULT10

488 MODBUS.PIN

489 MODBUS.POUT

490 MODBUS.PSCALE

491 MODBUS.UNITLABEL

492 MOTOR.HFPHASEREAD

493 FB2.ENCRES

494 FB2.MODE

495 FB2.SOURCE

496 MOTOR.TBRAKETO

497 MODBUS.MSGLOG

498 USER.INT1

499 USER.INT2

500 USER.INT3

501 USER.INT4

502 USER.INT5

503 USER.INT6

504 USER.INT7

505 USER.INT8

506 USER.INT9

507 USER.INT10

508 USER.INT11

509 USER.INT12

4 Byte

2 Byte

-

2 Byte

4 Byte

2 Byte

2 Byte

2 Byte

2 Byte

2 Byte

2 Byte

2 Byte

2 Byte

2 Byte

2 Byte

4 Byte

Data Size

2 Byte

1 Byte

1 Byte

1 Byte

Command

4 Byte

4 Byte

4 Byte

4 Byte

4 Byte

2 Byte

4 Byte

2 Byte

2 Byte

2 Byte

1 Byte

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

40 Kollmorgen™ | August 2012

Integer

Integer

String

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Data Type

Integer

Integer

Integer

Integer

None

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Ethernet/IP Communications | 11   Appendix B: Parameter Listing

Instance Parameter

510 USER.INT13

511 USER.INT14

512 USER.INT15

513 USER.INT16

514 USER.INT17

515 USER.INT18

516 USER.INT19

517 USER.INT20

518 USER.INT21

519 USER.INT22

520 USER.INT23

521 USER.INT24

522 DRV.NVCHECK

523 FB3.MODE

524 FB3.P

525 MODBUS.SCALING

526 DRV.EMUEPULSEWIDTH

527 DRV.EMUECHECKSPEED

Data Size

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

4 Byte Signed

8 Byte 

2 Byte

8 Byte 

1 Byte

4 Byte

1 Byte

Data Type

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Float

Integer

Kollmorgen™ | August 2012 41

Ethernet/IP Communications | 12   Appendix C: Software Distribution License

12 Appendix C: Software Distribution License

SOFTWARE DISTRIBUTION LICENSE FOR THE

ETHERNET/IP(TM) COMMUNICATION STACK

(ADAPTED BSD STYLE LICENSE)

Copyright (c) 2009, Rockwell Automation, Inc. ALL RIGHTS RESERVED. EtherNet/IP is a trademark of

ODVA, Inc.

Redistribution of the Communications Stack Software for EtherNet/IP and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright and trademark notices, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

Neither the name of Rockwell Automation, ODVA, nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission from the respective owners.

The Communications Stack Software for EtherNet/IP, or any portion thereof, with or without modifications, may be incorporated into products for sale. However, the software does not, by itself, convey any right to make, have made, use, import, offer to sell, sell, lease, market, or otherwise distribute or dispose of any products that implement this software, which products might be covered by valid patents or copyrights of ODVA, Inc., its members or other licensors nor does this software result in any license to use the EtherNet/IP mark owned by ODVA. To make, have made, use, import, offer to sell, sell, lease, market, or otherwise distribute or dispose of any products that implement this software, and to use the EtherNet/IP mark, one must obtain the necessary license from ODVA through its Terms of Usage Agreement for the EtherNet/IP technology, available through the ODVA web site at www.odva.org. This license requirement applies equally (a) to devices that completely implement ODVA's Final Specification for EtherNet/IP (“Network Devices”), (b) to components of such Network Devices to the extent they implement portions of the Final Specification for EtherNet/IP, and (c) to enabling technology products, such as any other EtherNet/IP or other network protocol stack designed for use in Network Devices to the extent they implement portions of the Final Specification for EtherNet/IP. Persons or entities who are not already licensed for the EtherNet/IP technology must contact ODVA for a Terms of Usage Agreement.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIA-

BLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL

DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR

SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,

OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

42 Kollmorgen™ | August 2012

About Kollmorgen

Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and ease-of-use, giving machine builders an irrefutable marketplace advantage. 

For assistance with your application needs, visit www.kollmorgen.com or contact us at:

North America

KOLLMORGEN

203A West Rock Road

Radford, VA 24141 USA

Europe

KOLLMORGEN Europe GmbH

Pempelfurtstraße 1

40880 Ratingen, Germany

Asia

KOLLMORGEN

Rm 2205, Scitech Tower, China

22 Jianguomen Wai Street

Internet

www.kollmorgen.com

E-Mail

[email protected]

Tel.: 

+1 - 540 - 633 - 3545

Fax: 

+1 - 540 - 639 - 4162

Internet

www.kollmorgen.com

E-Mail

[email protected]

Tel.: 

+49 - 2102 - 9394 - 0

Fax: 

+49 - 2102 - 9394 - 3155

Internet

www.kollmorgen.com

E-Mail

[email protected]

Tel.: 

+86 - 400 666 1802

Fax: 

+86 - 10 6515 0263

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