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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
5 Setup
5.1 Setting an IP Address in the Drive
5.3 Setting Expected Packet Rate in the Controller
6 Communication Profile
6.1 Explicit Messaging (on-demand)
6.2 I/O Assembly Messaging (cyclic)
6.2.1 Controller Configuration
6.2.2.1 Command Assembly Data Structure
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
6.2.3.1 Response Assemly Data Structure
6.2.3.4 Response Type 0x05 - Actual Torque
6.2.3.5 Response Type 0x14 - Command/Response Error
9
8
7
3
5
6
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
6.7 Saving to Non-volatile Memory
7 Drive Objects
7.1 Position Controller Class 0x25
7.2 Position Controller Supervisor Class 0x24
7.3.4 Execute a Command Parameter
8 Units
8.2 Velocity and Acceleration Units
8.4 Other Floating Point Values
9 RS Logix Sample Projects
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
29
21
30
31
42
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
Tel.:
+1 - 540 - 633 - 3545
Fax:
+1 - 540 - 639 - 4162
Internet
www.kollmorgen.com
Tel.:
+49 - 2102 - 9394 - 0
Fax:
+49 - 2102 - 9394 - 3155
Internet
www.kollmorgen.com
Tel.:
+86 - 400 666 1802
Fax:
+86 - 10 6515 0263
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