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Kollmorgen AKD EtherNetIP RSLogix Communications Manual EN

1. 10 3 Write Explicit Message Setup Kollmorgen May 2014 Ethemet IP with RSLogix 10 1 PLC amp Drive TCP IP Settings 10 1 PLC amp Drive TCP IP Settings This section contains instructions for setting the PLC and Drive TCP IP The following settings are recommended in the Channel Configuration window Channel Configuration General ChannelQ Channel 1 Channel 2 Driver Ethernet r Network Link ID o Hardware Address IPAddress 132 168 0 5 Subnet Mask 255 255 255 0 Gateway Address 0 0 0 0 DNE User Provided web Pages efault Domain ame 0 Priman Name Server Starting Data File Number Secondary NameServer 0 0 0 0 USL Protocol Control BOOTP Enable DHCP Enable Msg Connection Timeout x 15 15000 SNMP Server Enable SMTP Client Enable Msg Reply Timeout 1115 3000 v HTTP Server Enable DNP3 over Enable Modbus TCP Enable Disable EtherNet IP Incoming Connections Inactivity Timeout Min 30 Z Auto Negotiate Disable Duplicate IP Address Detection Port Setting 00 Mbps Full Duplex Half Duplex gt Contact Location AAOELLL x AAAUUEAA Cancel Apply Help As seen above enabling HTTP server support is recommended with
2. 66 6 21 5 Execution oboe ul lle gwen bled bio 66 6 21 6 Changes to Axis Status Bits _ 67 6 22 Fault Reset Fault 68 6 22 1 LT ML 68 6 22 2 Operands 2 2 2 4 4 2 74 7 474 2 2 24 21 1 68 6 22 3 FAULT RESET Structure 244 2 68 6 22 4 Programming Guidelines 68 6 22 5 Execution 2 2 24 68 6 22 6 Changes to Axis Status Bits _ 69 7 Troubleshooting 2 2 2 70 7 1 Introduction 70 7 2 ER Error bit 70 7 2 1 Unconfigured Axis was Specified 70 7 2 2 Communication Timeout 70 7 2 3 Operand
3. 60 6 16 5 Changes to Axis Status Bits 61 6 17 Motion Axis Get Parameter Get Parameter 62 6 17 1 gt 2 aska 62 6 17 2 Operands 2 22 2 1 74 3 7 41 24 244 04 1 62 6 17 3 GET PARAMETER Structure 2 62 6 17 4 Execution 62 6 17 5 Changes to Axis Status Bits 62 6 18 Motion Axis Set Position Controller Attribute Set Attribute 63 6 18 1 Description 2 ote eR umu 63 6 182 ce 63 6 18 3 SET ATTRIBUTE Structure 63 6 18 4 Execution 63 6 18 5 Changes to Axis Status Bits 63 Kollmorgen May 2014 5 Ethernet IP with RSLogix 1 Table of Contents 6 19 Motion Axis Set Parameter Set Pa
4. 424 22 2 2 2 2 2 22 47 6 9 3 SET DECEL Structure 47 6 92 god 47 6 9 5 Changes to Axis Bits 47 6 10 Motion Axis Set Mode Set 48 010 BI Te Te To qe a N 48 6 10 2 Operands 4 4 4 2 4 4 48 6 10 3 SET MODE Structure 4 4 2222 48 6 10 4 Operation Modes 74247 4 2 2 48 6 10 5 Execution 2 2 1010 000205 49 6 10 6 Changes to Axis Status Bits 49 6 11 Motion Axis Set Position Set Position 50 6 11 1 Description 2 2 2 0 0 00 2 50 6 11 2 Operands hu u l ido se cnc bci n p EI cb 50 4 Kollmorgen May 2014 Ethernet IP with RSLogix 1 Table of Contents 6 11 3AKD SET POSITION Structure 2 2 4 4 4 24
5. Load Tasks Step 0 Dest Main Sequence Step 2 Sort Parameters nsert Instruction Defau Insert Definition Defaults Save Instruction Defaults ISR Bute mp To Subroutine butine Initialization_Sequence Kollmorgen May 2014 Ethernet IP with RSLogix 7 2 3 Operand value out of range 7 2 3 Operand value out of range Refer to Chapter 5 for valid operand values For specific AKD pararmeters data size and data type are shown in Appendix B Further information on and descriptions of AKD parameters can be found in Work bench Help section 7 3 AKD Fault For most Faults refer to the Fault and Warning Messages table in the AKD Installation Manual for further explanation and possible remedies 7 3 1 Fieldbus Fault F702 AKD F702 Fault is set if communication between the drive and controller is lost The primary cause of this fault is a communication timeout between the drive and controller The controller is responsible for setting the Requested Packet Interval rate at which cyclic messages are exchanged between the drive and con trol If the rate is set too short communication may timeout 10ms is the fastest support rate for Ether Net IP on AKD For simultaneous operation of Workbench and EtherNet IP communications the rate should be reduced to 20ms Kollmorgen May 2014 71 72 Ethernet IP with RSLogix 8 Appendix A Suppo
6. lt a Figure 4 5 Module Successfully Added to Project 7 Makesure that the Ethernet port for your controller is setup with a compatible IP address on the same subnet as the AKD drive IP address This can be configured by right clicking on 1769 L23E Kollmorgen May 2014 21 Ethernet IP with RSLogix 5 2 Importing the Add On Instructions to Project QB1 Ethernet Port Local and selecting properties See your controller user manual for more inform ation 5 2 Importing the AKD Add On Instructions to a Project NOTE The User Defined Data Types must be imported before the Add On Instructions 1 Right click the User Defined folder under Data Types and select Import Data Type Figure 4 6 Importing Data Types Controller Organizer 3 6 Controller Example Controller Tags Controller Fault Handler 23 Power Up Handler 5 3 Tasks MainTask MainProgram Unscheduled Programs 5 25 Motion Groups Ungrouped Axes Add On Instructions 5 3 Data Types Ca Strings New Data Type Module Define y 28 Trends ca 0 5 6 Configuration EB Copy Ctrl C 88 Backplane Co Paste Ctrl 1769 L32E 1769 L32E Ethernet Port LocalENB Ethernet 1769 L32E Ethernet Port LocalENB 8 ETHERNET MODULE AKD Drive CompactBus Local ad
7. Move ES FCDND Axis T Move_Type CER Accel 72 Decel 2 Speed T Position 6 6 1 Description Use the motion axis move Move instruction to move an axis to a specified relative or absolute pos ition Corresponds to the MAM instruction in Rockwell drives Drive must be enabled homed and in position mode in order to execute this instruction 6 6 2 Operands Operand Type Format Description Move MOVE Control tag for this instruction AKD AXIS The name of the axis to enable MoveType SINT Immediate For this move mode Enter Absolute 6 6 3 MOVE Structure Mnemonic Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut BOOL The enable output bit is the output of the enable input bit DN Done BOOL The done bit indicates when the move instruction is successfully initiated B The error bit indicates if the instruction detects an error mn the move completes or is terminated Complete 42 Kollmorgen May 2014 Ethernet IP with RSLogix 6 6 4 Programming Guidelines 6 6 4 Programming Guidelines Guideline Details In ladder diagram toggle the is a transitional instruction In ladder diagram toggle the rung con rung condition each time
8. 27 5 4 Reading and Writing Drive Parameters 31 5 4 1 Read Drive Parameter 31 5 4 2 Write Drive Parameter 222 2 2 242 32 5 4 3 Execute Drive Command Parameter 32 6 Instructions 34 6 1 Motion Axis Drive Communication Drive 35 6 1 1 Description 2 2 2 2 7 7 2 224 24 00 35 6 1 2 Operands 2 220 2 2 2 2 224 2 2 2 35 6 3 3AKD DRIVE Sth ct fe 35 6 1 4 Execution Den deed 35 6 1 5 Changes to Axis Status Bits 35 6 2 Motion Axis 36 6 2 1 Description 2 42 4 1 7 2 7 1 2 36 6 2 20 peri e eL e a ALLEE d 36 6 2 3
9. 44 6 7 1 44 6 7 2 oo ieee REPE 44 6 7 3 SET HOME MODE Structure 244 44 6 7 4 Homing Modes 23202 uuu 1 Ede d Ro research 45 6 7 5 Execution 4 4 1 000008480000 45 6 7 6 Changes to Axis Status Bit _ 45 6 8 Motion Axis Set Acceleration Set Accel 46 6 8 1 Description 2 2 2 2 2 400 2 0 0 46 6 8 2 Operands 24 42 0 020 2 2 2 22 46 6 8 3 SET ACCEL Structure 22 2 2 46 6 9 22 5522 Mu 46 6 8 5 Changes to Axis Status Bits _ 46 6 9 Motion Axis Set Deceleration Set Decel 47 6 9 1 Description 4 7 7 72 1 1 4 47 6 9 2 Operands 222
10. Position 6 11 1 Description Use the motion axis set position AKD Set Position instruction to set an axis position target for the Servo position control mode loop Set Position instruction initiates axis motion the same as the Move instruction It is recommended to use Set Position instruction only for updating the target position of a move already in progress or for repeating the previous move with a new target position Use the AKD Move for all other position motion To successfully execute an AKD Set Position instruction the drive must be enabled homed and in pos ition mode NOTE The AKD Set Position instruction execution may take multiple scans to execute because it requires transmission of a message to the motion module The Done DN bit is not set immediately but only after the position is set This is a transitional instruction e Inladder diagram toggle the rung condition in from cleared to set each time the instruction should execute 6 11 2 Operands Operand Type Format Description ition sss Axis Set SET Tag Control tag for this instruction POSITION iy AKD AXIS The name of the axis to modify Incremental BOOL Immediate For this position value Absolute Position DINT Position value for axis position control loop 6 11 3 SET POSITION Structure Description Type Enableln BOOL
11. Shutdown Reset 56 6 14 1 Description 4 4 2 0 00 0 0 2020 2 0 56 6 142 Operands L L uy REDEEM 56 6 14 3 SHUTDOWN RESET Structure 56 6 14 4 Execution 56 6 14 5 Changes to Axis Status Bits 56 6 15 Motion Axis Smooth Stop Stop 58 6 15 1 Description 2 4 4 74 4 58 6 15 2 Operands 20 bed 58 6 15 3 STOP SMOOTH Structure 4 4 4 58 6 154 aeuo nores cei perro 58 6 15 5 Changes to Axis Status Bits 59 6 16 Motion Axis Get Position Controller Attribute Get Attribute 60 6 1671 2 ST niii sees 60 6 6 2 0 CPC LC M 60 6 16 3 GET ATTRIBUTE Structure 24 4 2 60 6 16 4 Execution
12. 0 Break Connection 0 Awaiting Execution EW 0 UnConnected LIC Error 0 Message done 0 Message Transmitting ST 1 Message Enabled E N Error Error Code Hex No errors Error Description Next click on the MultiHop tab and enter the drive s IP address as seen below Kollmorgen May 2014 Ethernet IP with RSLogix 10 2 Read Explicit Message Setup MSG MG11 0 1 Elements _ General MultiHop Send Data Receive Data Ins Add Del Remove Hop To Address Type This MicroLogix Channel 1 EtherNet IP Device str 192 168 0 1 For 8 byte messages use two LONG data files enter one and RSLogix will automatically use the second reai awama General MultiHop Send Data Receive Data This Controller Control Bits ECCE Ignore if timed out 0 Communication Command Break Connection BK 0 Data Table Address Receive Awaiting Execution Ew Size in Bytes Receive Send UnConnected UC Error ER 0 m Target Device Message done 0 Message Timeout Message Transmitting ST 0 Message Enabled Local Remote MultiHop Extended Routing Info File RIX 6112 14 m Service Service Code hex E Enor 0 Class hex dec Instance hex dec Attribute hex deck errors Error
13. 40 6 5 Motion Axis 40 6 5 1 IDESCNIPLON u u uuu u ERR EET 40 6 5 2 0 2 2 u usuku u skala uns ee saus 40 6 5 SAKD JOG Structure ouod Qua uu su 41 6 5 4 Programming Guidelines _ 41 6 5 5 Execution 41 6 5 6 Changes to Axis Status Bits _ 41 6 6 Motion Axis Move AKD_Move 42 6 6 1 DeSCcFDLIOT 42 6 6 2 42 6 6 3AKD MOVE Structure 42 6 6 4 Programming Guidelines 2 4 4 43 6 6 5 Choosing a Move Type 43 6 6 6 Execution 43 6 6 7 Changes to Axis Status Bits 43 6 7 Motion Axis Set Home Mode Set Home Mode
14. Attribute Num4INT Immediate See Appendix A Position Controller Object Attrib ber utes Attribute _ DINT Value to which the specified attribute will be set Value 6 18 3 AKD SET ATTRIBUTE Structure Mnemonic Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut BOOL The enable output bit is the output of the enable input bit DN Done BOOL The done bit indicates when the set attribute command has been completed ER Error BOOL The error bit indicates if the instruction detects an error 6 18 4 Execution Condition Ladder Diagram Action Pre scan Initialize variables and clear timeout Rung condition in is Initialize variables and clear timeout false Instruction execution Send command to axis to set value Set done bit when axis response is 6 18 5 Changes to Axis Status Bits Bit Name State Meaning ne C Kollmorgen May 2014 63 Ethernet IP with RSLogix 6 19 Motion Axis Set Parameter Set Parameter 6 19 Motion Axis Set Parameter AKD Set Parameter KD Set Parameter Set Drive Parameter AKD Set Parameter Axis Parameter Number ER gt Parameter Value 6 19 1 Description Use the motion axis set parameter AKD Set Parameter instruction to modify a drive parameter or execute a
15. ENABLE Structure 4 36 6 2 4 Execution 4 4 0 0 00 00000000000 36 6 2 5 Changes to Axis Status Bits 36 6 3 Motion Axis Off AKD_Disable 37 6 3 1 Description 4 4 2222 22222 222224202022222 2 2 2 2 37 6 3 2 Operands hese a a 37 6 3 3 DISABLE Structure 2 2 2 1 42 24 37 sn cues mm uu 37 6 3 5 Changes to Axis Status Bits _ 38 6 4 Motion Axis Home AKD_Home 39 6 4 Descriptloli S Ti usan teeta 39 6 4 2 ae WEM 39 6 4 3 HOME Structure 42 2 2 2 4444 2 39 6 4 4 Execution 4 000054000 39 Kollmorgen 2014 3 Ethernet IP with RSLogix 1 Table of Contents 6 4 5 Changes to Axis Status Bits
16. Axis 6 22 1 Description This instruction will attempt to clear faults The drive must be disabled before executing this instruction NOTE In most cases AKD Shutdown Reset should be used instead as it disables the drive and checks that faults have been cleared successfully The AKD Fault Reset instruction execution may take multiple scans to execute because it requires transmission of a message to the motion module and time for the drive to execute the command The Done DN bit is not set immediately but only after the faults have been cleared 6 22 2 Operands Format Description Fault Reset FAULT Tag Control tag for this instruction RESET The name of the axis to reset Axis AKD AXIS 6 22 3 AKD FAULT RESET Structure Description Type The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false Check the General Fault bit to see if faults were all successfully cleared ER Error BOOL The error bit indicates if the instruction detects an error 6 22 4 Programming Guidelines Guideline Details In ladder diagram toggle the 5 is a transitional instruction In ladder diagram toggle the rung rung condition each time condition in from cleared to set each time you want to execute the you want to execute the instruction instruction 6 22 5 Execu
17. Ethernet IP with RSLogix 1 Table of Contents 1 Table of Contents 1 Table of Contents 3 2 Introduction 2 0 22 7 2 1 Controller Support 7 2 2 Add On Instructions 7 3 Installation and Setup 9 4 Quick Start with the Sample Project 10 41 2 24 2 22 2 1 10 4 2 Running the Main Program Loop 14 4 2 1 Test Sequence osos u Uu u uuu ueneno e 14 4 3 Testing Individual Instructions 15 5 Adding Support to a New or Existing Project 18 5 1 Adding the Ethernet IO Module for Communication 18 5 2 Importing the AKD Add On Instructions to a Project 22 5 3 Using the AKD Add On Instructions in a Project
18. Send ER Target Device Message done 0 Message Timeout 33 Message Transmitting ST 0 Message Enabled EN 0 Local 7 Remote MultiHop Extended Routing Info File RIX Eror Service Service Code hex Error CodefHex 0 Class hex deck i5 Instance hex dec Attribute hex __ deck Error Description No errors Then click on the MultiHop tab and enter the drive s IP address as seen below 56 MG11 1 1 Elements loj x General MultiHop Send Data Receive Data Ins Add Hop Del Remove Hop To Address This MicroLogix Channel 1 EtherNet IP Device str 192 168 0 1 Kollmorgen May 2014 95 96 Kollmorgen May 2014 This page intentionally left blank About Kollmorgen Kollmorgen is a leading provider of motion systems and components for machine builders Through world class knowledge in motion industry lead ing 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 irre futable marketplace advantage For assistance with your application needs visit www kollmorgen com or contact us at North America Europe Asia KOLLMORGEN KOLLMORGEN Europe GmbH KOLLMORGEN 203A West Rock Road Pempelfurtstra 3e 1 Rm 2205 Scite
19. Set Mode Trigger Drive Comm OK Set Mode 5 o Ee Set Drive Mode AKD Set Mode Drive Set Mode C Axis AKD Axis Mode Requested Mode Requested gt 1 Mode Actual Drive Mode oe Figure 3 6 AKD Instruction Subroutine Kollmorgen May 2014 Ethernet IP with RSLogix 4 3 Testing Individual Instructions All of the instructions have their own individual trigger coils To call an instruction toggle its trigger coil Figure 8 6 Toggling a Trigger Coil Enable drive in order to execute motion commands connections to the drive ethernet module are established and data is successfully transferring Enables Drive Drive Enable Trigger Drive Comm OK Enable 3 e 1 Enables Drive M Cut Instruction Enable Drive Enable C KCDN 3 Axis AKD_Axis ER Copy Instruction Ctrl C m Paste Delete Instruction Del Add Ladder Element Alt Ins gt Edit Main Operand Description Ctrl D Save Instruction Defaults Disable Drive Drive Diss Clear Instrclicn Defauks Disable 4 Disable Drive Disable Drive Disable DN2 Toggle Bit Ctrl T Axis AKD_Axis ER Force On Set Drive Mode Position 1 Velocity 2 Torque rce move For Go Ctrl G Instruction Help Fi Set Drive Mode Set Mode _ Set Mode Set Drive Mode AKD Set
20. 703 integer 704 integer 705 integer 706 integer 707 Varies 705 integer 710 integer integer 712 integer 713 Varies 715 integer 716 integer 717 integer 718 integer 715 Varies 72 integer integer 728 Kollmorgen 2014 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Parameter Data Size Data Type 727 728 730 integer integer 752 integer 735 integer 734 Float 736 integer 757 integer 758 integer E Float Zi integer 742 integer 748 integer Float 746 integer 747 integer 748 integer 748 Float 75i integer 752 integer 753 integer 754 Float 756 integer 757 integer 758 integer 755 Float 76i integer 762 integer 763 integer 764 Float 766 integer 57 integer 768 integer 769 Float nteger Float 776 integer Kollmorgen 2014 87 88 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Parameter Data Size Data Type 7er_ DRV OMDDELAY ____ Fe 79 Sure Kollmorgen 2014 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Parameter Data Size Data Type 838 835 B40 850 E 852 855 86 862 863 865 865 Kollmorgen May 2014 89 90 Ethernet IP with RSLogix 10 Appendix RSLogix 500 10 Appendix C RSLogix 500 10 1 PLC amp Drive TCP IP Settings 10 2 Read Explicit Message Setup
21. AKD Enable e AKD Fault Reset e AKD Get Attribute e AKD Get Parameter e AKD Home e AKD e AKD Move e AKD Set Accel e AKD Set Attribute e AKD Set Decel e AKD Set Home Mode e AKD Set Mode Kollmorgen May 2014 7 Ethernet IP with RSLogix 2 2 Add On Instructions e AKD Set Parameter e AKD Set Position e AKD Set Units e Set Velocity e AKD Shutdown e AKD Shutdown Reset e Stop Smooth e AKD Torque Move 8 Kollmorgen May 2014 Ethernet with RSLogix 3 Installation and Setup 3 AKD Installation and Setup See the following manuals for installation and setup of an AKD drive AKD Quick Start also available in hard copy This guide provides instructions for initial drive setup and connection to a network AKD Installation Manual also available in hard copy This manual provides instructions for install ation and drive setup AKD Parameter and Command Reference Guide This guide provides documentation for the para meters and commands used to program the AKD AKDEtherNet IP Communication Guide This guide describes the communication profile and use of EtherNet IP with the AKD Kollmorgen May 2014 9 Ethernet with RSLogix 4 Quick Start with the Sample Project 4 Quick Start with the AKD Sample Project The sample project AKD Sample Project ACD demonstrates the correct setup of an axis and runs a pro gram loop which demonstrates point to point position moves
22. Axis Input Axis l Axis Output Axis Internal Axis Set Main Sequence Step 1 to start operation EQU MOV MOV MOV 4 Equal Move Move Move Source amp Main Sequence Step Source Source 0 Source 0 1 Source B 1 Initialization Step Dest Position Move Step Dest Jog Move Step 100 10 MOV MOV Move Move Source Source 2 Dest Load Tasks Step Dest Main Sequence Step 1 Figure 3 5 Main Program of AKD Sample Project 4 2 1 Test Sequence Step 1 Setup sequence tags for test subroutines Step 2 Initialization Sequence e Disable and clear faults e Setunits to default Demonstrate how to set a drive configuration value using the cyclic message channel Readthe value back and verify correctness Set homing mode to default set current position as home e Enable the drive Step 3 Position Move Sequence 1 Setoperation mode to Position Home the axis Make a forward absolution position move Check actual position using status data from the cyclic message N Make areverse incremental move Kollmorgen May 2014 Ethernet IP with RSLogix 4 3 Testing Individual Instructions Step 4 Load Motion Tasks 1 Loadtwo motion tasks from a controller data structure into the drive Motion task 1 is configured to execute motion task 2 after it completes 2 Execute motion task 1 3 Confirm that both motion tasks execute properly Step 5 Jog Move
23. DHCP disabled The address can also be set using its rotary switches For instructions consult the AKD User Manual Kollmorgen May 2014 91 Ethernet IP with RSLogix 10 2 Read Explicit Message Setup 10 2 Read Explicit Message Setup Displayed below is an example of a read ladder rung The timer limits the read to every 50 ms T40 0013 TON T4 0 0014 Timer On Delay Timer Time Base 0 001 CDN2 gt Preset 100 Accum 44 lt MSG EN 4 0 0015 se Read Write Message kam EN MSG File MGII0 CDNS Setup Screen lt MSG To setup a read explicit message first create a MSG instruction and set it to the following settings MSG Read Write Message MSG File MG11 0 Setup Screen 7 3 MG11 0 1 Elements General MultiHop Send Data Receive Data Read Wrie Message kas EN MSG File MG11 14 CDN5 Setup Screen lt CER5 D x This Controller Channel Integral Communication Command ICIP Generic Data Table Address Receive Size in Bytes Receive Send r Target Device Message Timeout 33 Local Remote MultiHop Extended Routing Info File RIx Service Service Code hex E Class hex Instance hex Attribute hex 1 deck 7 _ Control Bits Ignore if timed out
24. Internal U Show MODULE SINT 4 0 0 v EDGE nbus P g Drive O AB ETHERNET Controller Proaram Figure 4 18 Axis Communication Output 7 Once you have configured the drive communication block you should be able to use any of the other AKD Add On instructions as you would the native RSLogix instructions 8 Repeat steps 2 4 to add a new tag to the Axis Internal parameter of the instruction with a data type of AKD Axis 9 For more information on each instruction see Section 5 Instructions below 510 Kollmorgen May 2014 Ethernet IP with RSLogix 5 4 Reading and Writing Drive Parameters 5 4 Reading and Writing Drive Parameters In addition to the Add On instructions listed in this manual almost all drive parameters can be read or set through the use of a MSG instruction Appendix B provides a list of parameters which are available 5 4 1 Read Drive Parameter To read a parameter create a MSG instruction with the following settings Value ervice Type arameter Read enice Code nstance 0 arameter Instance from Appendix B gt U reate a tag to hold the value ame of the ETHERNET MODULE for the axis Use the Browse button z ommunication gt Path O O gt 5S O zm 218 o Y oia 5 lt x Message Message C
25. Reset Get Attribute AKD Get Parameter AKD Home AKD Jog AKD Move AKD Set Accel AKD Set Attribute AKD Set Decel AKD Set Home Mode AKD Set Mode AKD Set Parameter AKD Set Position Set Lhits AKD Set Velocity Shutdown AKD Shutdown Reset AKD Stop Smooth amp Data Types User Defined Axis Control Status B New Module Command Table m Motion Task cut Strings Add On Defined Copy E Predefined Paste 8 Module Defined Delete Del Trends amp 1 0 Configuration Cross Reference Ctrl E Backplane CompactLogix System 1769 132 AKD_Sample_Project 4 1769 L32E Ethernet Port LocalENB Ethernet Print 8 BETHERNET MODULE AKD_Axis 1769 L32E Ethernet Port LocalENB CompactBus Local abea vers fy Edit properties For selected component Figure 3 3 Opening Ethernet Module Properties Kollmorgen May 2014 Ethernet with RSLogix 4 1 Setup 5 Note the IP Address configured for the drive in this module As changing the address would cause the MSG instruction blocks to no longer reference a valid address this value should not be changed in the module Instead configure your drive to match the project settings Module Properties LocalENB ETHERNET MODULE 1 1 General Connection Module Info Type ETHERNET MODULE Gen
26. The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut BOOL The enable output bit is the output of the enable input bit DN Done BOOL The done bit indicates when the position is successfully set ER Error BOOL The error bit indicates if the instruction detects an error 6 11 4 Execution Condition Ladder Diagram Action Prescan Initialize variables and clear timeout Kollmorgen May 2014 Ethernet with RSLogix 6 11 5 Changes to Axis Status Bits Condition Ladder Diagram Action Rung condition in is Initialize variables and clear timeout false Instruction execution Reset done and error bits and send position command when instruction is enabled Set done bit when axis command response received If a gen eral fault occurs or there is a communication response timeout set the error bit 6 11 5 Changes to Axis Status Bits Bit Name State Meaning Profile In Progress Profile move is in progress On Target Position True once current position equals last target position Kollmorgen May 2014 51 Ethernet IP with RSLogix 6 12 Motion Axis Set Velocity Set Velocity 6 12 Motion Axis Set Velocity AKD Set Velocity KD Set Velocity Set Drive Velocity AKD Set Velocity mn Velocity Axis 6 12 1 Description Use the motion axis set velocity AKD_Set_Velocity instru
27. Twisted Pair Media Parker Hannif n Find Add Favorite By Category Favorites Cancel Help Figure 4 2 Selecting Module Type Kollmorgen May 2014 19 Ethernet IP with RSLogix 5 1 Adding the Ethernet IO Module for AKD Communication 4 Enterthe settings for the new module as described below make sure the Open Module Prop erties checkbox is checked and click OK Table 4 1 Module Setting Values amp Figure 3 Entering Module Settings Field Value Gonfigurtionsze p Table 4 1 Module Setting Values New Module Type ETHERNET MODULE Generic Ethernet Module Vendor Allen Bradley Parent LocalENB Name AKD_Drive Connection Parameters Assembly Description Instance Size Input 102 64 86 Outpt amp 4 2 bi Comm Format Data SINT Address Host Name IP Address 192 168 0 Configuration 100 0 E 8 bit Host Name Module Properties Figure 4 3 Entering Module Settings 5 The New Module window now appears as a Module Properties LocalENB window with the Con nection tab selected Set the Requested Packet Interval RPI value to 20 0 ms this be reduced to 10 0ms when not using Workbench in combination with EtherNet IP If using firmware version 1 8 or higher check the box Use Unicast Connection over EtherNet IP if the option is available For older ver
28. execution Send command to axis to set units and if necessary update settings Set done bit when axis response is received If a general fault or timeout occurs set the error bit 6 20 5 Changes to Axis Status Bits Bit Name State Meaning me Kollmorgen May 2014 65 Ethernet IP with RSLogix 6 21 Motion Axis Torque Torque Move 6 24 Motion Axis Torque AKD Torque Move AKD Torque Move Set Torque Command AKD Torque Move Axis Torque 6 21 1 Description Usethe AKD Torque Move instruction to move an axis at a constant torque without regard to position Drive must be enabled and in torque mode in order to execute this instruction The AKD Shutdown Reset instruction execution may take multiple scans to execute because it requires transmission of a message to the motion module and time for the drive to execute the command The Done DN bit is not set immediately but only after the faults have been cleared 6 21 2 Operands Format Description Torque Move TORQUE MOVE Control tag for this instruction AKD AXIS The name of the axis to enable DINT Desired torque in milliarms 6 21 3 AKD TORQUE MOVE Structure Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set p until the instruction completes and the rung condition in goes false BOOL DN Done BOOL The done bit in
29. for this instruction AKD AXIS The name of the axis to enable 6 2 3 AKD ENABLE Structure Mnemonic Data Type Description The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false ER Error BOOL The error bit indicates if the instruction detects an error Axis AXIS The axis being enabled 6 2 4 Execution Condition Ladder Diagram Action Prescan Initialize variables and clear timeout Rung condition in is Initialize variables and clear timeout false Instruction execution Set enable bit in the command message to the drive if the drive does not have any faults Then set the done bit when the enabled response is returned If the drive has a general fault or there is a communication timeout set the error bit 6 2 5 Changes to Axis Status Bits BitName State Meaning Axis is in Enabled state with the servo loop active 36 Kollmorgen May 2014 Ethernet with RSLogix 6 3 Motion Axis AKD Disable 6 3 Motion Axis Off AKD Disable KD Disable Disable Drive AKD Disable Axis 6 3 1 Description The Motion Axis Off AKD Disable instruction directly and immediately turns off drive output and dis ables the servo loop on any physical servo axis This places the axis in the Disabled state The AKD Dis able instruction also disables any motions that may be active at the time of execution Corresponds
30. goes false DN Done BOOL The done bit indicates when the axis is successfully shutdown ER Error BOOL The error bit indicates if the instruction detects an error 6 13 3 Execution Condition Ladder Diagram Action rung condition in is false Clears hard stop command instruction execution Send hard stop command when instruction is enabled Set done bit when profile in progress is cleared If a general fault occurs set the error bit Kollmorgen May 2014 Ethernet with RSLogix 6 13 4 Changes to Axis Status Bits 6 13 4 Changes to Axis Status Bits Bit Name State Meaning Profile In Progress Axis is in Disabled state with the servo loop inactive Kollmorgen May 2014 55 Ethernet with RSLogix 6 14 Motion Axis Shutdown Reset Shutdown Reset 6 14 Motion Axis Shutdown Reset AKD Shutdown Reset Shutdown Reset Reset Drive after a Shutdown Com AKD Shutdown Reset 2 Axis 6 14 1 Description Use the motion axis shutdown reset Shutdown Reset instruction to transition an axis from the Shutdown state to the Disabled ready state faults associated with the specified axis are automatically cleared Corresponds to the MASR instruction in Rockwell drives The AKD Shutdown Reset instruction execution may take multiple scans to execute because it requires transmission of a message to the motion module and time for the drive to execute the command The Done DN b
31. motion tasking control and jogging This project can help you to learn e how to enable the drive how to write read a parameter via the acyclic channel how the cyclic data exchange is done e how to command motion in position or velocity mode how to clear faults e how to load and execute motion task sequences 4 1 Setup 1 Start RSLogix5000 and open the file Sample Project ACD in the installer directory 2 You will most likely need to update the controller properties to match your specific installation Right click on the controller AKD Controller at the top of the tree and select Properties Figure 1 Opening Controller Properties a Notethat you can also use the Controller Properties button located above the tree Controller Organizer i Controller Tags 28 Controller Fault 23 Power Up Handler Tasks Print MainTask MainProgram Program Tags MainRoutine Count Commands Initialization Sequence Jog Move Sequence Kollmorgen AOIs Load Motion Tasks Load One Task Position Move Sequence Generate Report Figure 3 1 Opening Controller Properties Kollmorgen May 2014 Ethernet with RSLogix 4 1 Setup 3 Update any controller properties in order for the controller to match your specific hardware setup most notably any communication settings and or the controller type and then close the controller properties window Fi
32. process bit is set during execution and the process complete bit is set when the command has successfully completed If the drive has a general fault or there is a communication timeout set the error bit 6 4 5 Changes to Axis Status Bits Bit Name State Meaning Home Level Level of home input Profile In Progress True Profile move is in progress this bit may be set and cleared during instruction execution 6 5 Motion Axis KD Motion amp xis AKD 404 Axis Accel Decel Direction Speed 6 5 1 Description Use the motion axis jog instruction to move the axis at a constant speed until you tell it to stop Corresponds to the MAJ instruction in Rockwell drives Drive must be enabled and in velocity or position mode in order to execute this instruction A general status bit can be used to test if the jog motion is in progress 6 5 2 Operands Format Description Direction DINT Immediate For this jog direction Enter Reese p DINT Immediate Speed to move the axis Kollmorgen May 2014 Ethemet with RSLogix 6 5 3 JOG Structure 6 5 3 AKD JOG Structure Mnemonic Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut The enable output bit is the output of the ena
33. the enable input DN Done BOOL The done bit indicates when the mode is successfully set ER Error BOOL The error bit indicates if the instruction detects an error Kollmorgen May 2014 Ethernet with RSLogix 6 7 4 Homing Modes 6 7 4 Homing Modes See the AKD User Manual for a full description of each homing mode This value corresponds to the drive parameter HOME MODE 6 7 5 Execution Condition Ladder Diagram Action Prescan Initialize variables and clear timeout Rung condition in is Initialize variables and clear timeout false Instruction execution Reset the done and error bits and set homing mode when instruction is enabled Set done bit when axis homing mode is set If a general fault occurs or there is a communication response timeout set the error bit 6 7 6 Changes to Axis Status Bit Bit Name State Meaning moe Kollmorgen May 2014 45 46 Ethemet IP with RSLogix 6 8 Motion Axis Set Acceleration Set Accel 6 8 Motion Axis Set Acceleration AKD Set Accel Set Set Drive amp cceleration AKD Set Accel Accel Axis 6 8 1 Description Use the motion axis set acceleration AKD_Set_Accel instruction to set the axis acceleration parameter used with axis moves NOTE The AKD Set Accel instruction execution may take multiple scans to execute because it requires transmission of a message to the motion module The Done DN bit
34. to the MSF instruction in Rockwell drives The Disable instruction requires no parameters simply enter the desired axis Use the Tag Editor to create and configure a new axis You can use the AKD Disable instruction to turn servo action OFF when you must move the axis by hand Since the position continues to be tracked even with the servo action Off when the servo loop is turned On again by the AKD Enable instruction the axis is again under closed loop control at the new position The Disable instruction execution may take multiple scans to execute because it requires transmission of a message to the motion module and time for the drive output and servo loop to be fully deactivated The Done DN bit is not set until this message has been successfully transmitted and the axis transitions to the Disabled state 6 3 2 Operands Format Description Disable DISABLE Tag Control tag for this instruction Axis AKD AXIS Tag The name of the axis to disable 6 3 3 AKD DISABLE Structure Mnemonic Data Type Description Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut he enable output bit is the output of the enable input bit DN Done he done bit indicates when the disable instruction completes ER Error he error bit indicates if the instruction detects a
35. value of range 2 2 2 71 7 3 AKD Fault A d e ena mae e A LLLA 71 7 3 1 Fieldbus Fault F702 _ 71 8 Appendix A Supported EtherNet IP Objects and Attributes 72 8 1 Position Controller Object 0x25 __________ ___ 72 9 Appendix B Parameter Listing 73 10 Appendix C RSLogix 500 _ 90 10 1 PLC amp Drive TCP IP Settings 91 10 2 Read Explicit Message Setup 92 10 3 Write Explicit Message Setup 6 Kollmorgen May 2014 Ethernet IP with RSLogix 2 Introduction 2 Introduction This manual provides an easy start guide for using AKD with RSLogix5000 an overview on how to import and configure the AKD Add On instructions using RSLogix5000 version 16 or later as well as a reference to the Add On instructions RSLogix sample projects and add on instructions which demonstrate an EtherNet IP network with a Compact Logix controller and the AKD are available on kollmorgen com The sample projects are based on an L32E CompactLogix controller
36. which can easily be changed to another controller which supports RSLogix5000 This document assumes that the reader has a basic knowledge of EtherNet IP protocols AKD drives and Rockwell RSLogix5000 2 1 Controller Support The Add On Instructions described in this manual are only supported on CompactLogix and ControlLogix controllers A sample project is available on kollmorgen com MicroLogix 1400 controllers are supported but the Add On Instructions provided with RSLogix5000 cannot be used Only explicit messaging is supported MicroLogix 1100 and SLC500 are not supported 2 2 Add On Instructions The Add On Instructions are RSLogix instructions that define drives and axis configurations These instructions are made to be imported into an RSLogix5000 project Once defined in a project they function just as a native RSLogix instruction The add on instructions encapsulate the most commonly used logic for AKD axes They provide easily reusable tools to operate drives and axes promoting con Sistency across different projects Note that the native MSG instruction is used in RSLogix for sending Explicit Messages A set of Add On instructions are provided for easy creation of AKD programs with RSLogix The instruc tions are written to mirror the native instructions leveraging existing knowledge of the software They provide easy control of IO Assembly messages Add On Instructions include e AKD Disable e AKD Drive e
37. you dition in from cleared to set each time you want to execute the instruc want to execute the instruction tion Use the Move instruction You can change the position target speed acceleration deceleration to change one that is already in limits and the change will take place immediately The axis will move to the updated position possibly even changing direction without stopping at the old end position 6 6 5 Choosing a Move Type See the AKD User Guide for more information on position move types 6 6 6 Execution Condition Ladder Diagram Action Prescan Initialize variables and clear timeout Rung condition in is Reset in process bit when axis profile is no longer in progress Set pro false cess complete bit when move command successfully completes Instruction execution Reset done and error bits then set accel decel speed and position Start move and set the done bit to indicate command started and set the in process bit to indicate that the command is running If the motion stops clear the in process bit Set process complete bit when move com mand successfully completes If a general fault occurs or there is a com munication response timeout set the error bit 6 6 7 Changes to Axis Status Bits Bit Name State Meaning Profile In Progress True Profile move is in progress On Target Position True once current position equals last target position Kollmorgen May 2014 43 E
38. 22 50 6 11 4 Execution 222225 Dili llu Dese 50 6 11 5 Changes to Axis Status Bits 51 6 12 Motion Axis Set Velocity Set 52 612 2 e cuente eee S 52 6 12 2 Operands 2 24 2 2 0 02 020 2 2 2 1 2 52 6 12 3 SET VELOCITY Structure 4 2 00 52 6 124 gt 52 6 12 5 Changes to Axis Status Bits _ 53 6 13 Motion Axis Shutdown Shutdown 54 6 13 0 1 Description 2 1 54 6 13 1 Operands 2 2 4 47 2 0 0 0 54 6 13 2 SHUTDOWN Structure 4 1 1 42 1 54 6 13 gt ee 54 6 13 4 Changes to Axis Status Bits 55 6 14 Motion Axis Shutdown Reset
39. 333 integer integer nteger 396 integer 557 integer 338 integer 339 Position Position EE Position 345 Position 347 Position se Position 351 Position 353 Position 355 integer 356 integer 57 integer 358 integer 359 None 360 integer None 362 integer 363_ REC TRIGPRMLIST integer Varies 366 integer 370 integer Float Kollmorgen 2014 1 3 80 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Data Size Data Type 373 None 376 integer 375 integer 380 Velocity 381 Velocity 382 integer 383 integer ET Position 386 Position 388 integer 389 integer 360 integer 391 integer 392 integer 393 integer ET integer 395 integer 396 integer y Float 396 integer 399 integer 200 integer a0 integer 42 integer 205 integer 404 Float 205 Float 406 Float 207 Float 408 Float 200 Float 410 Float an Float 412 Float 418 integer a nteger 416 integer 217 Float Kollmorgen May 2014 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Parameter Data Size Data Type 419 420 azi Float 225 Float Float 225 Velocity 226 Velocity 227 Veloaty 428 Velocity 429 Velocity 430 Velocity a integer 432 Velocity 433 Velocity 434 Float 435 Float 436 Float 437 Float 438 459 Velocity 240 Velocity un Float 422 Velocity us Float 424 integer 205 Velocity 426 None 47 Position 25 Position 5 Float integer 453 int
40. 8 Data Types Successfully Imported Controller Organizer 225 Controller Example Controller Tags 1 Controller Fault Handler 29 Power Up Handler 8 3 Tasks 2 68 MainTask s MainProgram 1 Unscheduled Programs 5 5 Motion Groups 29 Ungrouped Axes Add On Instructions 8 5 Data Types ES Axis Control Status 1 Motion Task E Cg Strings Add On Defined Predefined Cg Module Defined Trends amp 1 0 Configuration Backplane CompactLogix System 84 1769 L32E Example 4 1769 L32E Ethernet Port LocalENB 5 25 Ethernet 4 1769 1 32 Ethernet Port Loc BJ ETHERNET MODULE AKD Dri CompactBus Local Figure 4 8 Data Types Successfully Imported 5 Next to import the add on instructions right click on the Add On Instructions folder and select Import Add On Instruction Figure 9 Importing Add On Instructions 1 Motion Groups Ungrouped Axes Add On Instructions 25 Data Types New Add On Instruction Ei i User Defined Import Add On Instruction AKD Axis Conn 2 trl X AKD_Status Ba M x Ch Strings nda Add On Define Paste Predefined Module Defined Figure 4 9 Importing Add On Instructions 2014 Ethernet IP with RSLogix 5 2 Importing the Add On Instructions to Project 6 Brows
41. AKD Using AKD EtherNet IP with RSLogix Manual Edition May 2014 Revision G Valid for firmware version 1 13 Part Number 903 200009 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 2000000 KOLLMORGEN Because Motion Matters Ethernet with RSLogix Record of Document Revisions Revision Remarks 10 2011 C 06 2012 Changes made to and Stop Smooth instructions D 08 2012 Minor changes made to phrasing and formatting 09 2013 Information on using Unicast connection added gt p 20 Controller Support pg 7 information updated Data size of IL FB corrected in Appendix B F 12 2013 26 Parameter Listing pg 73 05 2014 Steps 7 updated in Test Sequence pg 14 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 May 2014
42. Cut Ctrl X Figure 4 6 Importing Data Types 22 Kollmorgen May 2014 Ethernet IP with RSLogix 5 2 Importing the Add On Instructions to Project 2 Browsetothe location of the AKD User Defined Data Type library and select the desired User Defined Data Type then click Import Figure 4 7 Selecting a UDT a Import the data types in the order shown in Table 2 UD T Import Order Import Data Type Look in O Data Types Axis UDT L5X 4 Control UDT L5X My Recent Status UDT LSX Documents W Motion Task UDT L5X My Documents My Computer RADLT HVD5 File name AKD Axis UDT a Files of type RSLogix 5000 XML Files LEX My Network Files containing Data Type Places Into Data Types Figure 4 7 Selecting a UDT Order File Descrption Control UDT L5X Control message for sending to axis Status UDT L5X Status message for updating from axis AKD Axis UDT L5X Axis definition Motion Task UDT L5X Task data table structure Table 4 2 UDT Import Order 3 Click OK on the import configuration dialog if one appears Repeat for all files in Table 4 2 UDT Import Order to import all of the needed data types Kollmorgen May 2014 23 Ethernet IP with RSLogix 5 2 Importing the Add On Instructions to Project 4 The data types should now show up under the Data Types gt User Defined folder Figure
43. Description Kollmorgen May 2014 Ethemet IP with RSLogix 10 3 Write Explicit Message Setup 94 10 3 Write Explicit Message Setup Displayed below is an example of a command write ladder The one shot is to prevent the instruction from continuously writing to the parameter commands don t require data but RSLogix 500 does require a data table address The act of writing to the command parameter will trigger a response 10 B3 0 MSG 0000 JE ONS Read Write Message EN 0 1 MSG File MG11 1 DN5 Bul 1766 Setup Screen lt ER 5 The following is an example of a 8 byte write ladder The one shot is to prevent the instruction from con tinuously writing to the parameter In this case the drive parameter is 8 bytes so the data to be written is in L9 0 LSB amp L9 1 MSB 1 0 B3 0 0001 J m 7 Bul 1766 Read Write Message MSG File MO11 3 Setup Screen To setup a write explicit message first create a MSG instruction and set it to the following settings MSG Read Wnte Message MSG File MG11 1 Setup Screen Kollmorgen May 2014 Ethernet IP with RSLogix 10 3 Write Explicit Message Setup General MultiHop Send Data Receive Data This Controller Control Bits Channel Ignore if timed out TO 0 Communication Command CIP Generic Break Connection 0 Send Awaiting Execution 0 Size in Bytes Receive
44. Enable Fase is disabled FE Fault No following error fault is present Block Fault No block execution fault is present Kollmorgen May 2014 57 Ethernet IP with RSLogix 6 15 Motion Axis Smooth Stop Stop Smooth 6 15 Motion Axis Smooth Stop AKD Stop Smooth AKD Stop Smooth Motion Smooth Stop AKD Stop Smooth Axis 6 15 1 Description Use the motion axis smooth stop Stop Smooth instruction to end any controlled motion in process for the axis with a decelerated stop The instruction stops the motion without disabling the servo loop This command defaults to stop at the deceleration rate set for the current motion Corresponds to the MAS instruction in Rockwell drives Use the instruction to e Stopa specific motion process such as jogging or moving Stop the axis completely NOTE The AKD Stop Smooth instruction execution may take multiple scans to execute because it requires transmission of a message to the motion module and time for the drive to execute the command The Done DN bit is set once the motion stops 6 15 2 Operands Format Description AKD_STOP_ Tag Control tag for this instruction SMOOTH Axis AKD_AXIS The name of the axis to stop 6 15 3 AKD_STOP_SMOOTH Structure Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes fal
45. ME MOVE or DRV CLEARFAULTS To execute a command create a MSG instruction to write to the command Field Value Message Type CIP Generic Service Type Parameter Write Service Code 10 Hex Cms 32 Kollmorgen May 2014 Ethernet IP with RSLogix 5 4 3 Execute Drive Command Parameter Field Value nstance Parameter Instance from Appendix B Attribute ource Element Create a tag to hold the value Any actual value may be used it is ignored 1 ource Length ommunication gt Path Name of the ETHERNET MODULE for the axis Use the Browse button Kollmorgen May 2014 33 Ethernet with RSLogix 6 Instructions 34 6 AKD Instructions The AKD Add On Instructions are RSLogix instructions that define AKD drives and axis configurations These instructions are made to be imported into an RSLogix5000 project Once defined in a project they function just as a native RSLogix Motion instruction The add on instructions are written to mirror the nat ive instructions leveraging existing knowledge of the software The add on instructions encapsulate the most commonly used logic for AKD axes They provide easily reusable tools to operate drives and axes promoting consistency across different projects They provide easy control of I O Assembly Messages The native MSG instruction is used in RSLogix for sending Explicit Messages Only one AKD add on instruction can be enabled at a time in your project The
46. Mode Drive Set Mode CJ 5 RJ E Axis AKD_Axis Mode Requested Mode Requested ER2 ve Mode_Actual Drive Mode 0e Figure 3 7 Toggling a Trigger Coil Only one AKD add on instruction can be enabled at a time The add on instructions write to the same data structure to set control bits and command motion Trying to call two add on instructions at one time would create a conflict for the control of the communication channel Please keep this in mind when executing these instructions Kollmorgen May 2014 17 18 Ethernet IP with RSLogix 5 Adding Support to New or Existing Project 5 Adding Support a New or Existing Pro ject 5 1 Adding the Ethernet IO Module for AKD Communication These basic instructions can be used for any Rockwell PLC that uses RSLogix5000 and supports Ether Net IP 1 Start RSLogix5000 and open the project with which you want to use the AKD drive 2 Right click on the Ethernet port in the I O Configuration and select New Module Figure 4 1 Adding New Module Controller Organizer Controller Example Controller Tags 1 Controller Fault Handler 23 Power Up Handler 5 9 Tasks B MainTask 8 Cg MainProgram Unscheduled Programs amp 3 Motion Groups Ungrouped Axes Add On Instructions a Data Types User Defined Strings Add On Defined E Predefined Module Defined Trends 3 6 10 Configurat
47. Sequence 1 Set operation mode to velocity Jog forward 500ms Read torque using an explicit message MSG instruction Perform hard stop Clear hard stop and enable Jog reverse 1000ms Check target velocity and confirm Check actual velocity is in range Stop Step 6 Torque Move Sequence 1 Setoperation mode to torque Set Current command 40mA Configure cyclic Attribute to Get field to read actual current Read actual current for 100ms Stop motion by setting current command to 0mA Step 7 Loop to step 1 4 3 Testing Individual Instructions All of the instruction calls are in the Kollmorgen_AOls subroutine which you can open from Tasks gt Main Task gt MainProgram gt Kollmorgen AIOs Figure 8 5 Instruction Subroutine To test individual instructions set the tag Active Command Control 1 so that the Kollmorgen _ AOls subroutine will be called from MainRoutine Make sure to review AKD Instructions below for a complete understanding of the instructions and their operation before executing any instructions in the example program Kollmorgen May 2014 15 Ethernet IP with RSLogix 4 3 Testing Individual Instructions Controller Organizer J Controller Sample Project Controller Tags Controller Fault Handler E Power Up Handler Tasks 5 68 MainTask 8 MainProgram Program Tags MainRoutine Count Commands Initializat
48. add on instructions write to the same data structure the Command Assembly to set control bits and command motion Trying to enable or execute two add on instructions at one time would create a conflict for the control of the communication channel Keep this in mind when writing programs that utilize these instructions Kollmorgen May 2014 Ethemet IP with RSLogix 6 1 Motion Axis Drive Communication Drive 6 1 Motion Axis Drive Communication AKD Drive KD Drive Drive Communication AKD Drive Axis Input Axis Output Axis Internal 6 1 1 Description Use the motion axis drive communication Drive instruction to initiate communication for an axis This command is required for all other AKD commands to function properly 6 1 2 Operands Forma Description t AKD_Drive AKD_DRIVE Control tag for this instruction Axis Input AB ETHERNET_MODULE_SINT_8Bytes l 0 Input memory space for axis Axis Output MODULE SINT Tag Output memory space for axis 8Bytes O 0 Axis Intemal AXIS Tag of the axis to ini ialize This tag is an input para meter for all AKD instructions 6 1 3 AKD DRIVE Structure Mnemonic Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut BOOL The enable output bit
49. ble input bit DN Done The done bit indicates when the jog instruction is successfully initiated ER Error The error bit indicates if the instruction detects an error 6 5 4 Programming Guidelines Guideline Details In ladder diagram toggle the is a transitional instruction In ladder diagram toggle the rung con rung condition each time you dition in from cleared to set each time you want to execute the instruc want to execute the instruction tion Use an AKD Stop Smooth Seethe AKD Stop Smooth instruction for more details instruction to stop the jog 6 5 5 Execution Condition Ladder Diagram Action Prescan Initialize variables and clear timeout Rung condition in is Reset in progress bit when axis profile is no longer in progress false Instruction execution Send smooth stop to axis Set the in progress bit to indicate that the com mand has initiated successfully and command is running Set the done bit when the axis has stopped moving If a general fault occurs set the error bit 6 5 6 Changes to Axis Status Bits Bit Name State Meaning Current_Direction Input Defined Velocity mode direction False Reverse True Forward set based on parameter input Profile In Progress Profile move is in progress Kollmorgen May 2014 41 Ethernet IP with RSLogix 6 6 Motion Axis Move Move 6 6 Motion Axis Move AKD Move AKD Move Motion Axis Move Post
50. ch Tower China Radford VA 24141 USA 40880 Ratingen Germany 22 Jianguomen Wai Street Internet www kollmorgen com Internet www kollmorgen com Internet www kollmorgen com E Mail support kollmorgen com E Mail technik kollmorgen com E Mail sales asia kollmorgen com Tel 1 540 633 3545 Tel 49 2102 9394 0 Tel 86 400 666 1802 Fax 1 540 639 4162 Fax 49 2102 9394 3155 Fax 86 10 6515 0263 Because Motion Matters
51. ction to set an axis velocity setpoint for the servo control loop The AKD_Set_Velocity instruction initiates axis motion the same as the instruction when in velocity mode It is recommended to use AKD Set Velocity instruc tion only for updating the target speed of a jog already in progress and the AKD_Jog for all other constant speed motion To successfully execute an AKD_Set_Velocity instruction the drive must be enabled homed and in velo city mode NOTE The AKD Set Velocity instruction execution may take multiple scans to execute because it requires transmission of a message to the motion module The Done DN bit is not set immediately but only after the velocity is set This is a transitional instruction e Inladder diagram toggle the rung condition in from cleared to set each time the instruction should execute 6 12 2 Operands Type Format Description Operand AKD_Set_ SET Tag Control tag for this instruction eoe AXIS Tag The name of the axis to modify Velocity DINT Immediate Set velocity for axis control loop 6 12 3 AKD SET VELOCITY Structure Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes the rung condition in goes false B T DN Done The done bit indicates when the velocity is successfully set ER Error BOOL The error bit
52. dicates when the torque instruction is successful ER Error BOOL The error bit indicates if the instruction detects an error 6 21 4 Programming Guidelines Guideline Details In ladder diagram toggle the rung This is a transitional instruction In ladder diagram toggle condition each time you want to the rung condition in from cleared to set each time you execute the instruction want to execute the instruction UseanAKD Stop Smooth instruc See Motion Axis Smooth Stop Stop Smooth pg tion or command a zero torque to 58 for more details stop the move 6 21 5 Execution Condition Ladder Diagram Action Pre scan Initialize variables and clear timeout Rung condition in is Reset in progress bit when axis profile is no longer in progress false 66 Kollmorgen May 2014 Ethernet with RSLogix 6 21 6 Changes to Axis Status Bits Condition Ladder Diagram Action Instruction execution Reset done and error bits then set torque Start move and set the done bit to indicate command has been loaded to the drive If a general fault occurs or there is a communication response timeout set the error bit 6 21 6 Changes to Axis Status Bits Bit Name State Meaning Profile_In_Progress Profile move is in progress Kollmorgen May 2014 67 Ethernet IP with RSLogix 6 22 Fault Reset AKD Fault Reset 6 22 Fault Reset AKD Fault Reset KD Fault Reset Drive Fault Reset AKD Fault Reset lend
53. drive command on an axis The time required to execute the command is highly dependent on the particular parameter See Appendix B AKD Parameters for a list of available parameters and num bering 6 19 2 Operands Operand Type Format Description AKD_Set_ AKD SET Tag Control tag for this instruction Parameter PARAMETER Axis AKD AXIS The name of the axis to modify Parameter Immediate See Appendix B AKD Parameters Number DINT Value to which the specified parameter will be set Value 6 19 3 AKD SET PARAMETER Structure Mnemonic Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut BOOL The enable output bit is the output of the enable input bit DN Done BOOL The done bit indicates when the set parameter command has been com pleted ER Error BOOL The error bit indicates if the instruction detects an error 6 19 4 Execution Condition Ladder Diagram Action Pre scan Initialize variables and clear timeout Rung condition in is Initialize variables and clear timeout false Instruction execution Send command to axis to set value Set done bit when axis response is received If a general fault or timeout occurs set the error bit 6 19 5 Changes to Axis Status Bits Bit Name State Meaning ne C Kollmorgen May 2014 Ethemet IP wi
54. eger nteger integer integer nteger 458 integer 459 Velocity 460 integer ac integer nteger 265 Kollmorgen 2014 81 82 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Parameter Data Size Data Type 467 468 469 integer 470 None ari integer 472 integer 73 integer 474 integer 475 integer 276 integer 477 integer 478 integer 479 integer 480 integer 48 integer 482 integer 483 integer 484 integer 285 integer 486 integer 487 integer 488 integer 250 integer 290 integer voosusuNmasE Sting 492 integer integer integer integer 46 integer 457 integer 498 integer 250 integer 500 integer integer integer 506 integer integer 506 integer Kollmorgen May 2014 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Parameter Data Size Data Type 509 ss nteger 515 integer 516 integer 517 integer 18 integer 515 integer 520 integer z integer 522 integer 528 integer 524 integer 525 integer 526 Float 527 integer 528 integer 525 integer 550 integer s Float 532 Float 533 integer ET integer 555 integer 550 integer 557 integer 538 Float 535 integer Float nteger nteger None None nteger 550 None None None 553 None None None Kollmorgen May 2014 83 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Parameter Data Size Data Type 558 560 568 Position 70 None 572 Float 573 None 574 Positi
55. eric Ethernet Module Vendor Allen Bradley Parent LocalENB Axis Connection Parameters Assembly Description Instance Size Input 64 8 bit Output 64 2 Comm Format Data SINT Address Host Name SIPAddrss 192 168 Status Input Configuration o 8 bit Catus J t Host Name status Uutpu Status Offline Apply Figure 3 4 Ethernet Module Properties 6 Once you have updated all of the configuration settings to match your specific hardware setup you can download the program to the controller and use the project to test any of the axis commands Kollmorgen May 2014 13 14 Ethernet IP with RSLogix 4 2 Running the Main Program Loop 4 2 Running the Main Program Loop The top level of the program is in the subroutine Tasks MainTask MainProgram MainRoutine The sample program has two modes When the tag Active Command Control 0 the program is setup to execute a continuous demo loop The second mode tag value 1 is used for testing individual commands and is described in the next section of the manual To begin executing the continuous demo loop set the tag Active Command Control 0 then set the tag Main Sequence Step 1 MainProgram MainRoutine SEE ES 55 5 8 sea 4 cm Drive Communication KD Drive 0 Drive Communication Drive Drive CJ
56. etothe location of the AKD Add On Instruction library and select the desired AOI then click Import Figure 4 10 Selecting an AOI a For complete functionality import all of the files listed in Table 4 3 All Add On Instructions Import Add On Instruction Add On Instructions Disable L5X Set Mode L5X AKD Drive L5X Set Parameter L5X Enable L5X Set Position L5X Fault Reset L5X AKD Set Units L5X AKD Get Attribute L5X AKD Set Velocity L5X TEJ Get Parameter L5X Shutdown L5X E Home L5X Shutdown Reset L5X Jog L5X Stop Smooth L5X TEJ Move L5X AKD Torque Move L5X Set Accel L5X AKD Set Attribute L5X Set Decel L5X Set Home Mode L5X File name Files of type Files containing 2 Add On Instruction Into 89 Add On Instructions Figure 4 10 Selecting an AIO File Description AKD_Disable_AOI L5X Motion Axis Off Drive AOLL5X AKD Enable AOI L5X Motion Axis On AKD Fault Reset A Motion Axis Fault Reset OI L5X Kollmorgen May 2014 25 Ethernet IP with RSLogix 5 2 Importing the Add On Instructions to Project File Description Set Parameter 115 Set Axis Parameter Set Position AOI L5X Motion Axis Set Position Table 4 3 Add On Instructions 7 Click OK on the import co
57. gure 3 2 Controller Properties Controller Properties Sample Project Date Time Advanced SFC Execution File Nonvolatile Memory Memor General SerialPort System Protocol User Protocol Major Faults Minor Faults Vendor Allen Bradley Type 1769 L32E CompactLogix5332E Controller Change Controller Revision 13 11 Name AKD Sample Project Description Chassis Type lt none gt Slot 0 Figure 3 2 Controller Properties Kollmorgen May 2014 11 Ethernet with RSLogix 4 1 Setup 4 Next open the Ethernet Module setup for the axis communications by right clicking on ETHERNET MODULE Axis in the I O Configuration tree under the Ethernet port Figure 3 3 Opening Ethernet Module Properties RSLogix 5000 Sample Project 1769 L32E 19 11 File Edit View Search Logic Communications Tools Window Help Bae amp gt AxsControDirecton amp Offline 1 RUN Path ETH INIS2 168 No Edits M des enh sb alle E 1 0 Favorites Safety Controller Organizer B Move Sequence Kollmorgen_AOIs Load_Motion_Tasks Load_One_Task Position_Move_Sequence 29 Unscheduled Programs 3 Motion Groups 3 Ungrouped Axes a Add On Instructions AKD Disable AKD Drive AKD Enable AKD Fault
58. has been com pleted ER Error BOOL The error bit indicates if the instruction detects an error 6 17 4 Execution Condition Ladder Diagram Action Pre scan Initialize variables and clear timeout Rung condition in is Initialize variables and clear timeout false Instruction execution Send command to axis to request value Set done bit and copy response to parameter value output when axis response is received If a general fault or timeout occurs set the error bit 6 17 5 Changes to Axis Status Bits Bit Name State Meaning me 62 Kollmorgen May 2014 Ethernet with RSLogix 6 18 Motion Axis Set Position Controller Attribute Set Attribute 6 18 Motion Axis Set Position Controller Attribute AKD Set Attribute KD Set Attribute Set Position Controller Attribute AKD Set Attribute Axis Attribute Number Attribute 6 18 1 Description Use the motion axis set attribute Set Attribute instruction to set a Position Controller attribute for an axis This instruction provides quick access to a special set of drive parameters which can always be set in one communication cycle See Appendix A Position Controller Object Attributes for a list of avail able attributes and numbering 6 18 2 Operands Format Description AKD_Set_ AKD SET Tag Control tag for this instruction Attribute ATTRIBUTE AKD AXIS 9 The name of the axis to modify
59. iables and clear timeout Rung condition in is Initialize variables and clear timeout false Instruction execution Reset done and error bits and send deceleration command when instruc tion is enabled Set done bit when axis command response received If a general fault occurs or there is a communication response timeout set the error bit 6 9 5 Changes to Axis Bits Bit Name State Meaning _ Kollmorgen May 2014 47 48 Ethemet IP with RSLogix 6 10 Motion Axis Set Mode Set Mode 6 10 Motion Axis Set Mode AKD Set Mode AKD Set Mode Set Drive Mode AKD Set Mode Axis Mode 6 10 1 Description Use the motion axis set mode AKD Set Mode instruction to set the operation mode for the axis servo loop control The Set Mode instruction execution may take multiple scans to execute because it requires transmission of a message to the motion module The Done DN bit is not set immediately but only after the mode is set This is a transitional instruction e In ladder diagram toggle the rung condition in from cleared to set each time the instruction should execute 6 10 2 Operands Type Format Description Operand AKD_Set_ AKD SET Tag Control tag for this instruction hose AXIS he name of the axis to modify Move Type SINT Immediate For Mode osition elocity orque 6 10 3 AKD SET MODE Structure Mnemonic Data Description Type BOOL The enab
60. indicates if the instruction detects an error 6 12 4 Execution Condition Ladder Diagram Action Prescan Initialize variables and clear timeout Rung condition in is Initialize variables and clear timeout false 52 Kollmorgen May 2014 Ethernet with RSLogix 6 12 5 Changes to Axis Status Bits Condition Ladder Diagram Action Instruction execution Reset done and error bits and send velocity command when instruction is enabled Set done bit when axis command response received If a gen eral fault occurs or there is a communication response timeout set the error bit 6 12 5 Changes to Axis Status Bits Bit Name State Meaning Profile In_Progress Profile move is in progress On Target Position True once current position equals last target position Kollmorgen May 2014 53 Ethernet with RSLogix 6 13 Motion Axis Shutdown Shutdown 6 13 Motion Axis Shutdown AKD Shutdown AKD Shutdown Motion Hard Stop Shutdown 8 Axis 6 13 0 1 Description The motion axis shutdown Shutdown instruction executes controlled stop then disables the servo loop disables drive output and places the axis into the Shutdown state This instruction is also referred to as a hard stop The shutdown state disables the drive output and deactivates the servo loop Another action initiated by the AKD Shutdown instruction is the clearing of all motion processes in pro gress and the c
61. ion Backplane CompactLogix System 1769 L32E AKD_Example 2 1769 L32E Ethernet Port Ethernet i New Module CompactBus Local Cut Ctrl x Copy Ctrl C Paste Ctrl v Delete Del Cross Reference Ctrl E Properties Alt Enter Print Figure 4 1 Adding New Module Kollmorgen May 2014 Ethernet with RSLogix 5 1 Adding the Ethernet IO Module for Communication 3 Select ETHERNET MODULE under Communications and click OK Figure 4 2 Selecting Mod ule Type Select Module Description Vendor Communications 1734 AENT 1734 Ethernet Adapter Twisted Pair Media Allen Bradley 1734 AENTR 1734 Ethernet Adapter 2 Port Twisted Pair Media Allen Bradley 1738 AENT 1738 Ethernet Adapter Twisted Pair Media Allen Bradley 1738 AENTR 1738 Ethernet Adapter 2 Port Twisted Pair Media Allen Bradley 1756 EN2F 1756 10 100 Mbps Ethernet Bridge Fiber Media Allen Bradley 1756 EN2T 1756 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley 1756 EN2TR 1756 10 100 Mbps Ethernet Bridge 2 Port Twisted Pair Allen Bradley 1756 ENBT 1756 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley 1756 1756 Ethernet Communication Interface Allen Bradley 1756 ENET B 1756 Ethernet Communication Interface Allen Bradley 1756 EWEB A 1756 10 100 Mbps Ethernet Bridge w Enhanced Web Serv Allen Bradley 1757 FFLD A 1757 Foundation Fie
62. ion Sequence Jog Move Sequence Kollmorgen_AOIs Load Motion Tasks Load One Task Position Move Sequence Unscheduled Programs S E Motion Groups Ungrouped Axes J Add On Instructions AKD Disable AKD Drive 9 Enable 05 Fault Reset 9 Get Attribute 9 Parameter 9 Home 204 Move Set Accel 03 Set Attribute AKD Set Decel AKD Set Home Mode AKD Set Mode Set Parameter AKD Set Position AKD Set Units AKD Set Velocity AKD Shutdown RA Shutdown Reset Shan Smanth 42246 B B ow gt Enable drive in order to execute motion commands All connections to the drive ethernet module are established and data is successfully transferring Enables Drive Drive Enable Trigger Drive Comm OK 3 Enables Drive Enable Drive Enable C DN5 Axis Axis connections to the drive ethernet module are established and data is successfully transferring Disable Drive Drive Disable Trigger Drive Comm OK Disable 4 J Ee Disable Drive r Disable Drive Disable CJ gt Axis AKD Axis Set Drive Mode O Position 17 Velocity 2 Torque connections to the drive ethernet module are established and data is successfully transferring Set Drive Mode
63. is not set immediately but only after the acceleration is set This is a transitional instruction In ladder diagram toggle the rung condition in from cleared to set each time the instruction should execute 6 8 2 Operands Format Description Set SET Tag Control tag for this instruction Accel ACCEL AKD AXIS The name of the axis to modify DINT Acceleration parameter for axis moves 6 8 3 AKD SET ACCEL Structure Mnemonic Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut The enable output bit is the output of the enable input bit DN Done EGG The done bit indicates when the acceleration is successfully set ER Error BOOL The error bit indicates if the instruction detects an error 6 8 4 Execution Condition Ladder Diagram Action Prescan Initialize variables and clear timeout Rung condition in is Initialize variables and clear timeout false Instruction execution Reset done and error bits and send acceleration command when instruc tion is enabled Set done bit when axis command response received If a general fault occurs or there is a communication response timeout set the error bit 6 8 5 Changes to Axis Status Bits Bit Name State Meaning LLL Kollmorgen May 2014 Ethernet IP with RSLogix 6 9 M
64. is the output of the enable input bit 6 1 4 Execution Condition Ladder Diagram Action Instruction execution Read response message and send command message to axis 6 1 5 Changes to Axis Status Bits Meaning All axis status bits are updated from drive Kollmorgen May 2014 35 Ethernet IP with RSLogix 6 2 Motion Axis Enable 6 2 Motion Axis On AKD Enable Enable Enables Drive AKD Enable Axis 6 2 1 Description The Motion Axis Enable instruction directly activates the drive and enables the configured servo loops associated with a physical servo axis It can be used anywhere in a program Corresponds to the MSO instruction in Rockwell drives The AKD Enable instruction automatically enables the specified axis by activating the drive and by activ ating the associated servo loop The most common use of this instruction is to activate the servo loop for the specified axis in its current position in preparation for commanding motion Enable instruction execution may take multiple scans to execute because it requires transmission of a message to the motion module and time for the drive output to stabilize and the servo loop to activate The Done DN bit is not set immediately but only after the axis is in the Enabled state 6 2 2 Operands Format Description Enable ENABLE Tag Control tag
65. it is not set immediately but only after the drive is reset This is a transitional instruction e In ladder diagram toggle the rung condition in from cleared to set each time the instruction should execute 6 14 2 Operands Format Description Tag Control tag for this instruction SHUTDOWN_ RESET AKD_AXIS The name of the axis to reset 6 14 3 AKD_SHUTDOWN_RESET Structure Mnemonic Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut BOOL The enable output bit is the output of the enable input bit DN Done BOOL The done bit indicates when the axis is successfully reset ER Error BOOL The error bit indicates if the instruction detects an error 6 14 4 Execution Condition Ladder Diagram Action Prescan Initialize variables and clear timeout Rung condition in is Initialize variables and clear timeout false Instruction execution Reset done and error bits disable axis and reset faults Set done bit when all axis command responses received If a general fault occurs or there is a communication response timeout set the error bit 6 14 5 Changes to Axis Status Bits Bit State Meaning General Fault No general fault is present 56 Kollmorgen May 2014 Ethernet with RSLogix 6 14 5 Changes to Axis Status Bits Meaning Bit Name State
66. ith RSLogix 6 16 5 Changes to Axis Status Bits 6 16 5 Changes to Axis Status Bits Bit State Meaning me Kollmorgen May 2014 61 Ethemet IP with RSLogix 6 17 Motion Axis Get Parameter Get Parameter 6 17 Motion Axis Get Parameter AKD Get Parameter AKD Get Parameter Get Drive Parameter AKD Get Parameter Axis Parameter Number Parameter _v alue 6 17 1 Description Use the motion axis get parameter AKD Get Parameter instruction to query a drive parameter from an axis The length of time to return the value is highly dependent on the particular parameter The value will be latched when the instruction is done Clear and re enable the instruction to get an updated value 6 17 2 Operands Operand Type Format Description AKD_Get_ GET Tag Control tag for this instruction Parameter PARAMETER AKD AXIS The name of the axis to query Parameter INT Immediate See Appendix B Parameters Number Parameter DINT Immediate Output tag to which the value of the parameter is Value passed 6 17 3 AKD GET PARAMETER Structure Mnemonic Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut BOOL The enable output bit is the output of the enable input bit DN Done BOOL The done bit indicates when the get parameter command
67. ldbus Linking Device Allen Bradley 1768 1768 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley 1768 1768 10 100 Mbps Ethernet Bridge w Enhanced Web Serv Allen Bradley 1769 L23E QB1 Et 10 100 Mbps Ethernet Port on CompactLogix5323E QB1 Allen Bradley 1769 L23E QBFC1 10 100 Mbps Ethernet Port on CompactLogix5323E QBF Allen Bradley 1769 L32E Etherne 10 100 Mbps Ethernet Port on CompactLogix5332E Allen Bradley 1769 L35E Etherne 10 100 Mbps Ethernet Port on CompactLogix5335E Allen Bradley 1783 504 1783 504 Ethernet Managed Switch Allen Bradley 1783 508 1783 508 Ethernet Managed Switch Allen Bradley 1783 ETAP 3 Port Ethernet Tap Twisted Pair Media Allen Bradley 1783 ETAP1F 3 Port Ethernet Tap 1 Fiber 2 Twisted Pair Media Allen Bradley 1783 ETAP2F 3 Port Ethernet Tap 2 Fiber 1 Twisted Pair Media Allen Bradley 1788 EN2DN A 1788 Ethernet to DeviceNet Linking Device Allen Bradley 1788 ENBT A 1788 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley 1788 1788 10 100 Mbps Ethernet Bridge w Enhanced Web Serv Allen Bradley 1794 AENT 1794 10 100 Mbps Ethernet Adapter Twisted Pair Media Allen Bradley Drivelogix5730 Eth 10 100 Mbps Ethernet Port on DriveLogix5730 Allen Bradley ETHERNET BRIDGE Generic EtherNet IP CIP Bridge Allen Bradley ETHERNET MODULE Generic Ethernet Module Allen Bradley EtherNet IP SoftLogix5800 EtherNet IP Allen Bradley PSSCENA Ethernet Adapter
68. le input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false The enable output bit is the output of the enable input bit The done bit indicates when the mode is successfully set ER Error BOOL The error bit indicates if the instruction detects an error 6 10 4 Operation Modes Mode Description Position 0 Axis will operate to match current position to target position Velocity 1 Axis will operate to match current velocity to target velocity Torque 2 Axis will operate to match current torque to target torque Kollmorgen May 2014 Ethernet IP with RSLogix 6 10 5 Execution 6 10 5 Execution Condition Ladder Diagram Action Prescan Initialize variables and clear timeout Rung condition in is Initialize variables and clear timeout false Instruction execution Reset done and error bits and send mode command when instruction is enabled Set done bit when axis command response received If a gen eral fault occurs or there is a communication response timeout set the error bit 6 10 6 Changes to Axis Status Bits Bit Name State Meaning moe Kollmorgen May 2014 49 Ethernet IP with RSLogix 6 11 Motion Axis Set Position Set Position 6 11 Motion Axis Set Position AKD Set Position AKD Set Position Set Drive Position Set Position L FCDND Axis Incremental 22
69. learing of all the motion status bits Associated with this action the command also clears all motion instruction IP bits that are currently set for the targeted axis Another characteristic of the Shutdown state is that any instruction that initiates axis motion is blocked from execution Attempts to do so result in an execution error By executing the Shutdown Reset instruc tion or disabling and re enabling the drive motion can be successfully initiated again The axis will remain in the shutdown state until a Motion Axis Shutdown Reset AKD Shutdown Reset instruction executes or the drive is disabled and re enabled Corresponds to the MASD instruction in Rock well drives Shutdown instruction execution may take multiple scans to execute because it requires transmission of a message to the motion module The Done DN bit is not set immediately but only after the shutdown set This is a transitional instruction In ladder diagram toggle the rung condition in from cleared to set each time the instruction should execute 6 13 1 Operands Operand Type Format Description AKD Shut AKD SHUTDOWN tag for this instruction down AKD AXIS The name of the axis to shut down 6 13 2 AKD SHUTDOWN Structure Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set EE until the instruction completes and the rung condition in
70. n error Axi AKD AXIS The axis being disabled 6 3 4 Execution Condition Ladder Diagram Action rescan Initialize variables and clear timeout Rung condition in is Initialize variables and clear timeout false Instruction execution Reset enable bit in the command message to the drive Then set the done bit when the disabled response is returned If the drive has a gen eral fault or there is a communication timeout set the error bit Kollmorgen May 2014 37 38 Ethernet IP with RSLogix 6 3 5 Changes to Axis Status Bits 6 3 5 Changes to Axis Status Bits Bit Name State Meaning Axis is in Disabled state with the servo loop active Kollmorgen May 2014 Ethernet IP with RSLogix 6 4 Motion Axis Home Home 6 4 Motion Axis Home AKD Home KD Home Home Axis AKD Home Axis 6 4 1 Description The Motion Axis Home AKD Home instruction triggers the axis to home using the currently configured homing mode See the AKD user manual for homing modes and setting instructions This command trig gers the drive to start the procedure and monitors for the process to complete Similar to the MAH instruc tion in Rockwell drives Drive must be enabled in order to execute this instruction This is a transitional instruction e Inladder diagram toggle the rung condition in from cleared to set each time the instruction should execute NOTE The HOME instruction execution may take multiple
71. nfiguration dialog if any appear Repeat for all files in Table 4 3 All Add On Instructions to import all of the needed instructions for full functionality 8 The instructions should now show up under the Add On Instructions folder Figure 11 AOI s Successfully Imported Controller Organizer J Controller Sample Project Controller Tags 1 1 Controller Fault Handler 22 Power Up Handler B Tasks 68 MainTask Cg MainProgram 23 Unscheduled Programs 2 25 Motion Groups 23 Ungrouped Axes Adon Instructions Disable Drive AKD Enable AKD Fault Reset AKD Get Attribute AKD Get Parameter AKD Home _ AKD Move Set Accel AKD Set Attribute AKD Set Decel AKD Set Home Mode AKD Set Mode Set Parameter Set Position Set Units AKD Set Velocity Shutdown Shutdown Reset Stop Smooth Data Types User Defined Strings Add On Defined x Predefined Module Defined E Trends 3 Configuration B Backplane CompactLogix System St ATEN Camel Dei lt gt Figure 4 11 5 Successfully Imported EO EC H E v Kollmorgen May 2014 Ethernet IP with RSLogix 5 3 Using the Add On Instructions in Project 5 3 Using the AKD Add On Instructions in a Project In any p
72. on 576 None 577 integer 576 None 575 None 580 integer 581 None 582 integer 583 integer 584 integer 550 integer 587 integer 588 integer 590 integer 592 integer 593 Float 594 integer 595 integer 596 integer 597 integer 598 integer 599 integer integer 50 integer 602 integer 60s integer integer 505 integer nteger 507 integer 606 Float 610 integer Kollmorgen May 2014 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Parameter Data Size Data Type 613 616 Float nteger aE Float gr Float 620 integer 52 Float 622 integer 623 Float ET Position 526 Float 627 Velocity 650 None 650 Float 657 Float 535 Float 639 integer 640 Float en Position EE Float 645 Float 647 Velocity Float 650 Float 65 Float 652 Velocity ET integer 655 integer 65 integer 657 integer 556 integer 659 Varies E integer 662 integer 565 integer 22 5 Varies 667 integer 565 integer ipe 570 Kollmorgen 2014 85 86 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Parameter Data Size Data Type 573 576 577 575 integer 680 integer ET integer 562 integer 683 Varies 685 integer 556 integer E integer 565 integer 689 Varies ET integer 592 integer oos integer integer 695 Varies 697 integer 596 integer integer 700 integer 701 Varies
73. ontrol My Message CJ Message Configuration Message Configuration Communication Tag Message Type Generic v Service Parameter Read Source Element Type prd Source Length 0 a Service Code Hex Class t Destination DIN1 MODE Instance Hex O Enable Enable Waiting Q Start Q Done Done Length Error Code Extended Error Code C Timed Out Error Path Error T ext Figure 4 19 Message Configuration Kollmorgen May 2014 31 Ethernet with RSLogix 5 4 2 Write Drive Parameter Message Configuration Message Configuration Communication Tag 6 Path Drive AKD Drive Broadcast Communication Method CIP Channel Destination Link with Ere n Sca iD Source Link 0 Destination Node Octal C Connected Cache Connections e Enable Enable Waiting Q Start Q Done Done Length 0 Error Code Extended Error Code Timed Qut Error Path Error Text Figure 4 20 Message Configuration Communication 5 4 2 Write Drive Parameter To set a parameter create a MSG instruction with the following settings Field Attribute 5 4 3 Execute Drive Command Parameter Some drive parameters are actually commands which do not take a value but execute a drive function such as HO
74. otion Axis Set Deceleration Set Decel 6 9 Motion Axis Set Deceleration AKD Set Decel KD Set Decel Set Drive Deceleration AKD Set Decel 8 Decel Axis 6 9 1 Description Use the motion axis set deceleration AKD Set Decel instruction to set the axis deceleration parameter used with axis moves NOTE The AKD Set Decel instruction execution may take multiple scans to execute because it requires transmission of a message to the motion module The Done DN bit is not set immediately but only after the deceleration is set This is a transitional instruction In ladder diagram toggle the rung condition in from cleared to set each time the instruction should execute 6 9 2 Operands Operand Type Format Description Set AKD_SET_ Control tag for this instruction Decel DECEL AKD AXIS The name of the axis to modify DINT Deceleration parameter for axis moves 6 9 3 AKD SET DECEL Structure Mnemonic Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut The enable output bit is the output of the enable input bit DN Done EGG The done bit indicates when the deceleration is successfully set ER Error BOOL The error bit indicates if the instruction detects an error 6 9 4 Execution Condition Ladder Diagram Action Prescan Initialize var
75. r Acceleration Integer Position Integer Float Integer None Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Parameter Data Size Data Type 208 213 integer Float 215 Float 217 Float 218 Float 218 Float 220 Float 22 Float 222 Float 223 Float 224 Float 225 Float 226 Float 227 Float 228 Float 228 Float 250 Float 231 Float 222 Float 255 Float 254 Float 255 Float 236 Float 257 258 integer 255 integer 240 integer Z integer 242 integer 243 integer Float Float 246 integer Float 248 Float Float 250 integer Float Kollmorgen 2014 77 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Parameter Data Size Data Type 258 integer 259 integer 260 integer 5 integer 262 integer 255 integer 264 Acceleration 266 integer 267 integer 266 None 269 Acceleration 27 integer 272 None 273 None 274 integer 275 integer 276 Position 278 None 275 integer 280 integer 281 Position 255 Velocity 254 Velocity 285 Velocity 286 Position 250 Position 250 integer 2 Position 255 Position Position 257 integer 250 Position 300 Position Float 306 Float Position 306 Postion 306 integer E Kollmorgen May 2014 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Parameter Data Size Data Type 316 320 Position 322 Position 324 Position 326 Position 326 integer 325 integer 550 integer 551 integer 552 integer
76. rameter 64 6 19 1 8625652 mici Nicias toD UN Ove ss 64 06 19 2 Operands 2 3 ts Ie thor UNDE MESE 64 6 19 3AKD SET PARAMETER Structure 1 24 4 64 6194 EXGCULIOD ceat oso e ide dre 64 6 19 5 Changes to Axis Status Bits 64 6 20 Motion Axis Set Units Set Units 65 6 20 1 RI T0140 Lo CERERI ES 65 6 20 2 Operands so cedet ot 65 6 20 3AKD SET UNITS Structure 4 242 22 65 6 20 4 Execution 65 6 20 5 Changes to Axis Status Bits _ 65 6 21 Motion Axis Torque Torque Move 66 6 21 1 2 RD cee takuy ot 66 6 21 2 Operands o ope DD dd Yann e domin 66 6 21 3 TORQUE MOVE Structure 2 2 66 6 21 4 Programming Guidelines
77. ries 0 integer i integer 72 integer 3 Varies 5 integer E integer 7 integer 8 Varies integer i integer 2 integer 3 Varies 5 integer integer 7 integer 28 Varies integer Kollmorgen May 2014 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Data Size Data Type pourcrt 9 poursmres _____ 99 _ ____ Integer 100 Float 102 integer 103 integer nteger Float integer 08 integer 09 Acceleration integer None None nteger Float Acceleration nteger None 20 integer 121 integer integer nteger integer integer 26 integer 127 integer 128 None 129 integer 130 integer 131 integer 132 Float 33 Float 155 integer 136 integer 137 None 138 None 139 integer 140 Kollmorgen 2014 75 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Data Size Data Type 148 146 76 148 150 E 152 153 E 155 156 157 158 159 160 5 163 178 79 180 5 783 785 188 789 190 193 196 198 199 206 8 Byte Signed Kollmorgen May 2014 Position Integer Float Integer Integer Float Float Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Integer Acceleration Acceleration Integer Integer None Integer Velocity Acceleration Intege
78. roject where you want to use the AKD Add On instructions you will need to include one instance of the Drive Communication logic for each axis Drive instruction 1 Addthe AKD Drive instruction to your ladder diagram f RSLogix 5000 Blank Proj 1769 L32E 19 111 MainProgram MainRoutine Ef File Edit view Search Logic Communications Tools Window Help 8 g X Ba HomeData YR amp m 0 RN gt gt ui No Forces b No Edits m 4 H Km e dk XY 49 LY gt lt gt Favorites Add On Alarms Bit Timer Counter Controller Organizer 3 6 Controller Blank Proj Controller Tags Controller Fault Handler Drive Communication Power Up Handler AKD Drive 5 69 Tasks Axis Input 589 MainTask m Axis Output Axis Internal a MainProgram Program Tags MainRoutine Unscheduled Programs 5 9 Motion Groups Ungrouped Axes 5 9 Add On Instructions Disable 25 Drive I Enable em e hom 6 MainRoutine MainPrograrr Figure 4 12 AKD_Drive Instruction 2 Right click the AKD_Drive parameter first question mark in the AKD_Drive instruction and select New Tag KD_Drive Drive Communication d Cut Instr
79. rted EtherNet IP Objects and Attributes 8 Appendix A Supported EtherNet IP Objects and Attributes 8 1 Position Controller Object 0x25 Attribute 55 Description Rule 1 Number of Attrib Get USINT Returns the total number of attributes supported utes by this object in this device 2 Attribute List Get Array of Retums an array with a list of the attributes sup Av E Get Set JUSINT Operating mode 0 Position mode default 1 mode 2 Torque mode Position Units Get Set DINT Position Units ratio value is the number of actual position feedback counts equal to one position unit default 1 5 Profile Units Get Set DINT 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 6 Target Position Get Set DINT Specifies the target position in counts Target Velocity Get Set DINT Specifies the Target Velocity in counts per second 8 jAcceleration Get Set DINT Not used yet peso eas Not used yet Incremental Position Get Set Incremental Position 0 absolute 1 incre Flag mental Load Data Profile Get Set BOOL Used to Load Command Data Start a Profile Handshake Move and indicate that a Profile Move is in pro gress 17 GeUSet Enable Output same as DRV EN m ewe Output torque Load Data Complete Get Set Indica
80. scans to execute because it requires transmission of a message to the motion module and time for the drive to per form the homing procedure 6 4 2 Operands Format Description Home HOME Control tag for this instruction AKD AXIS The name of the axis to home 6 4 3 AKD HOME Structure Mnemonic Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut BOOL The enable output bit is the output of the enable input bit DN Done BOOL The done bit indicates when the homing instruction completes ER Error BOOL The error bit indicates if the instruction detects an error In Process BOOL The in process bit is set when the command is enabled and remains true until PC Process BOOL The process complete bit is set when the homing command has suc Complete cessfully completed 6 4 4 Execution Condition Ladder Diagram Action Prescan Initialize variables and clear timeout Rung condition in is Initialize variables and clear timeout false Kollmorgen May 2014 39 40 Ethernet with RSLogix 6 4 5 Changes to Axis Status Bits Condition Ladder Diagram Action Instruction execution Set the home command in the command message to the drive Then set the done bit when the command has initiated The in
81. se EnableOut BOOL The enable output bit is the output of the enable input bit DN Done BOOL The done bit indicates when the stop command has completed and the motion has stopped ER Error BOOL The error bit indicates if the instruction detects an error In Process BOOL The in process bit is set when the command is enabled and remains true until the stop is complete 6 15 4 Execution Condition Ladder Diagram Action Rung condition in is Initialize variables false Instruction execution Send smooth stop to axis Set done bit when axis command is sent If a general fault occurs set the error bit 58 Kollmorgen May 2014 Ethernet with RSLogix 6 15 5 Changes to Axis Status Bits 6 15 5 Changes to Axis Status Bits Bit State Meaning Profile In_Progress No profile move executing Kollmorgen May 2014 59 Ethernet IP with RSLogix 6 16 Motion Axis Get Position Controller Attribute Get Attribute 6 16 Motion Axis Get Position Controller Attribute AKD Get Attribute AKD Get Attribute Get Position Controller Attribute AKD Get Attribute mi Axis Attribute Number Attribute salue 6 16 1 Description Use the motion axis get attribute AKD Get Attribute instruction to query a Position Controller attribute from an axis This instruction provides quick access to a special set of drive parameters which can always be accessed in one communication cycle The outp
82. sions of firmware leave this box unchecked Click OK Figure 4 Setting Module Kollmorgen May 2014 Ethernet with RSLogix 5 1 Adding the Ethernet IO Module for AKD Communication Module Properties LocalENB ETHERNET MODULE 1 1 58 General Connection Module Info Requested Packet Interval 10 0 2 ms 1 0 3200 0 ms Inhibit Module Major Fault Controller If Connection Fails While in Run Mode Use Unicast Connection over EtherNet IP Module Fault Status Offline Apply Figure 4 4 Setting Module RPI The drive should now be configured and will show up under the Ethernet Port Figure 5 Module Successfully Added to Project 5 Controller Example Controller Tags Controller Fault Handler Power Up Handler amp Tasks E MainTask MainProgram Unscheduled Programs J Motion Groups Ungrouped Axes Add On Instructions Data Types User Defined Strings Add On Defined Predefined Madule Defined 23 Trends J 1 0 Configuration CompactLogix5323E QB1 System 84 1769 123 1 Example E 1769 L23E QB1 Ethernet Port LocalENB zm Ethernet 1769 L23E QB1 Ethernet Port ETHERNET MODLILE Drive 88 CompactBus Local Embedded 1 0 1 Embedded IQ16F Discrete Inpul B 2 Embedded OB16 Discrete 23 Expansion
83. ternal Read Write Style C Constant Open Configuration 28 Kollmorgen May 2014 Ethernet IP with RSLogix 5 3 Using the Add On Instructions in Project Figure 4 16 Adding Axis Internal Parameter 5 Setthe Axis Input parameter to the input data of the axis for which you are setting up com munication Figure 4 18 Axis Communication Input Double click the A drop down box will appear Select the input data tag that corresponds to the ETHERNET MODULE object you cre ated in the I O Configuration of the project Drive Communication KD Drive Drive Communication AKD Drive 1 CJ Axis Input Avie Show MODULE SINT 4 0 B F AKD_Drive l AB ETHERNET Controller Figure 4 17 Axis Communication Input Kollmorgen May 2014 29 Ethernet IP with RSLogix 5 3 Using the Add On Instructions in Project 6 Setthe Axis Output parameter to the output data of the axis for which you are setting up com munication Figure 4 19 Axis Communication Output Double click the A drop down box will appear Select the output data tag that corresponds to the ETHERNET MODULE object you cre ated in the Configuration of the project Drive Communication KD Drive Drive Communication AKD Drive 1 CJ Axis Input Drive l Axis Output Avis
84. tes that valid data for a valid command message type has been loaded into the position controller device Get Set See home mode section of the AKD User Manual si Kollmorgen May 2014 Ethemet IP with RSLogix 9 Appendix B Parameter Listing 9 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 Instance Parameter Data Size Data Type Float Float Position Flot Velocity None 10 Float 1 integer 12 Float E Position 15 Float Float 19 Velocity 20 integer 21 Float 22 Float 25 integer 24 integer 25 integer 26 integer 27 Velocity 28 integer 29 integer 30 integer s integer m integer 33 Position 35 integer 36 integer mec iie integer integer Kollmorgen May 2014 73 Ethemet IP with RSLogix 9 Appendix B Parameter Listing Instance Parameter Data Size Data Type integer Position 28 integer 25 integer 0 integer integer 2 integer 3 integer Rccoleratin a integer 7 integer 8 Velocity 5 integer ES integer 2 integer 3 Varies 5 integer integer 7 integer Va
85. th RSLogix 6 20 Motion Axis Set Units Set Units 6 20 Motion Axis Set Units AKD Set Units Set Units Set Drive Units for Motion C Set Units Axis Units 6 20 1 Description Use the motion axis set units AKD_Set_Units instruction to set the current unit system used on an axis At the moment only mode 0 EIP POSUNIT 65536 and EIP PROFUNIT 65536 is available These scaling values can also be modified directly through EtherNet IP or Workbench See the AKD Ether Net IP User Manual for more information about unit scaling 6 20 2 Operands Operand Type Format Description AKD_Set AKD SET Tag Control tag for this instruction Units UNITS AKD AXIS The name of the axis to modify Unit SINT mmedate Forumts _________ Coms p 6 20 3 AKD_SET_UNITS Structure Mnemonic Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut he enable output bit is the output of the enable input bit BOOL DN Done BOOL he done bit indicates when the set units command has been completed BOOL ER Error The error bit indicates if the instruction detects an error 6 20 4 Execution Condition Ladder Diagram Action Pre scan Initialize variables and clear timeout Rung condition in is Initialize variables and clear timeout false T T Instruction
86. thernet IP with RSLogix 6 7 Motion Axis Set Home Mode Set Home Mode 6 7 Motion Axis Set Home Mode AKD Set Home Mode KD Set Home Mode Set Homing Mode AKD_Set_Home_Mode mi Axis 6 7 1 Description Use the motion axis set home mode Set Home Mode instruction to set the homing mode used by the drive when the AKD Home command is called NOTE The AKD Set Home Mode instruction execution may take multiple scans to execute because it requires transmission of a message to the motion module The Done DN bit is not set immediately but only after the home mode is set This is a transitional instruction e In ladder diagram toggle the rung condition in from cleared to set each time the instruction should execute 6 7 2 Operands Format Set SET Tag Control tag for this instruction Home Mode HOME MODE AKD AXIS The name of the axis to modify SINT Immediate For Mode urrent Position imit Input imit Zero Angle imit Index ome Input ome Zero Angle ome Index ero Angle osition Error osition Error Zero Angle osition Error Index ndex ome OR Position Error 6 7 3 AKD SET HOME MODE Structure Mnemonic Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set until the instruction completes and the rung condition in goes false EnableOut BOOL The enable output bit is the output of
87. tion Condition Ladder Diagram Action Pre scan Initialize variables and clear timeout Rung condition in is Reset in progress bit when axis profile is no longer in progress false Instruction execution Enable the instruction to initiate the clearing of faults If a fault condition remains or the drive is enabled faults will still be reported when the instruction completes 68 Kollmorgen May 2014 Ethernet with RSLogix 6 22 6 Changes to Axis Status Bits 6 22 6 Changes to Axis Status Bits Bit State Meaning General Fault No general fault is present if successful FE Fault No following error fault is present Block Fault No block execution fault is present Kollmorgen May 2014 69 Ethernet with RSLogix 7 Troubleshooting 7 Troubleshooting 7 1 Introduction Problems occur for a variety of reasons depending on the conditions in your program The causes of errors in multi axis systems can be especially complex If you cannot resolve a fault or other issue using the troubleshooting guidance presented below customer support can give you further assistance 7 2 ER Error bit ER Error Bit is set on an AKD add on instruction if the instruction detects an error Potential sources of error are e Unconfigured axis was specified e Communication timeout Operand value out of range 7 2 1 Unconfigured Axis was Specified Verify the Axis tag matches the name of the axis you are trying to modif
88. uction 2 Instruction Ctrl C 63 Paste Ctrl v Delete Instruction Del Figure 4 13 Add New Instruction Tag Kollmorgen May 2014 27 Ethernet IP with RSLogix 5 3 Using the Add On Instructions in Project 3 Fillin a name and description The data type should be AKD Drive Drive Communication AKD Drive Name Axis Input Z Axis Output Axis Internal Description Type v Alias For Data Type Drive Scope fla AKD_Example cin Read Write Style Constant Open Configuration Figure 4 14 Adding Drive Communication 4 Click OK in the New Tag window to create your tag It will now show up in your controller under Controller Tags i Controller Tags AKD_Example controller Scope Bo AKD_Example v Show All Tags Value AKD 1 AKD_Drive C AB ETHERNET_MODULE C 0 MODULE SINT B4Bytes LO Ed AB ETHERNET MODULE SINT 64 0 0 Figure 4 15 Tag Added to Program Drive Communication AKD Drive Drive Communication Name AKD Axis 1 Drive AKD 1 CJ Axis Input Drive l Axis Output AKD Drive O Axis Internal Description Type Connection Alias For Data Type Axis Scope fa Example Ex
89. ut value will be updated with live values each cycle as long as this instruction is enabled NOTE This instruction must not be enabled at the same time as the Get Parameter instruction See Appendix A Position Controller Object Attributes for a list of available attributes and numbering 6 16 2 Operands Format Description Control tag for this instruction ATTRIBUTE AXIS The name of the axis to query is Attribute Num4INT Immediate See Appendix A Position Controller Object Attrib ber utes DINT Tag Output tag to which the value of the attribute is passed 6 16 3 AKD GET ATTRIBUTE Structure Mnemonic Data Description Type Enableln BOOL The enable input bit indicates that the instruction is enabled It remains set MEE edd until the instruction completes and the rung condition in goes false B T DN Done he done bit indicates when the get attribute command has been completed ER Error BOOL The error bit indicates if the instruction detects an error 6 16 4 Execution Condition Ladder Diagram Action Pre scan Initialize variables and clear timeout Rung condition in is Initialize variables and clear timeout false Instruction execution Send command to axis to request value Set done bit and copy response to attribute value output when axis response is received If a general fault or timeout occurs set the error bit 60 Kollmorgen May 2014 Ethernet w
90. y 7 2 2 Communication Timeout The instructions share a common timeout value in the controller tag Axis Internal CommandTimeout This value is used to count down when a command is sent to ensure a response is received as expected In some project configurations this timeout may need to be increased such as if the rung for an Add On instruction is only scanned once per second In this case increase the value of CommandTimeout ms Note that with the default value of 0 the CommandTimeout is ignored by all instructions and will never timeout Drive Communication AKD Drive Properties Drive Rung 0 Drive Drive Communication Parameters Tag Drive Drive J Axis Input AKD Axis l Axis Output AKD Axis Internal Axis Enableln 1 EnableDut 1 BD Axis_Input AB utput AKD_Axis O C vee AB AKI Move Axis Intemal Control Axis Control E see AKI Source Axis_Internal Status AKD_Axis Status C see AKI B Axis Intemal Input Axis Input C vee Axis Internal Output Aws utpu C e AB EH Axis IntemalResponseMsgType AKD_Axis ResponseMsgT ype C 0 SIN Awis IntemalCommandTimeout AKD_Axis CommandTimeout C T Awis PositionFeedback Axis PosiionFeedback C 69942 DIN Source Axis Internal VelocityFeedback AKD_Axis VelocityFeedback C 229 DIN

Kollmorgen AKD EtherNetIP RSLogix Communications Manual EN

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