Kollmorgen AKD series Manual

Ethernet/IP Communications | 6 Communication Profile
Error Code (hex) Additional Code (hex) EtherNet IP Error
B FF ALREADY_IN_STATE
C FF OBJ_STATE_CONFLICT
D FF OBJECT_ALREADY_EXISTS
E FF ATTRIBUTE_NOT_SETTABLE
F FF ACCESS_DENIED
10 FF DEVICE_STATE_CONFLICT
11 FF REPLY_DATA_TOO_LARGE
13 FF NOT_ENOUGH_DATA
14 FF ATTRIBUTE_NOT_SUPP
15 FF TOO_MUCH_DATA
16 FF OBJECT_DOES_NOT_EXIST
17 FF FRAGMENTATION_SEQ_ERR
20 FF INVALID_PARAMETER
6.2.4 Data Handshake
Data handshaking is used to transmit data commands with I/O Assembly Messaging. To transmit a com-
mand to the amplifier, set the Command Type and load data into the data fields, then toggle the Load/Start bit
high. The amplifier will accept data only when Load/Start transitions from 0 to 1. If the data is loaded suc-
cessfully, the amplifier will set the Load Complete response flag high. Load Complete will be cleared by the
amplifier after Load/Start is cleared by the controller. If the data does not load successfully due to an error in
the command assembly, the amplifier will load an error response into the response assembly (Response
Type = 0x14, byte 4 = Error Code, byte 5 = Additional Code, bytes 6-7 echo command assembly bytes 2-3).
See I/O Assembly Messaging Response Type 0x14 – Command/Response Error for more information.
I/O Assembly Messaging Handshaking Sequence Example
1. Controller loads a valid Command Type and data into
the command assembly with Load/Start low (0).
Load a Target Position command of 1000. C: 0x80
0x00 0x21 0x20 0xE8 0x03 0x00 0x00 Enable=1,
Load/Start=0, Command Axis=1, Command
Type=1, Response Axis=1, Response Type=0
(none), Data=1000
2. Amplifier clears the Load Complete flag in the
response assembly when Load/Start is low in the com-
mand assembly.
Respond with status flags. No command yet. R:
0x84 0x00 0x00 0x20 0x00 0x00 0x00 0x00
Enabled=1, In Position=1, Load Complete=0,
Response Axis=1, Response Type=0 (none),
Data=0
3. Controller checks that the Load Complete flag in the
response assembly is low to ensure that the amplifier is
ready to receive data. Controller sets the Load Data flag
in the command assembly.
Set the Load Data flag. C: 0x81 0x00 0x21 0x20
0xE8 0x03 0x00 0x00 Enable=1, Load/Start=1,
Command Axis=1, Command Type=1, Response
Axis=1, Data=1000
16 Kollmorgen | December 2014

Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing