Kollmorgen AKD series User Manual

21.4.2 AL Event (Interrupt Event) and Interrupt Enable
Communication between the drive and the EtherCAT FPGA can be interrupt-driven. The interrupt enable register
and the AL event register are responsible for the EtherCAT interface interrupt functionality.
Thereare twoevents whichlead alsoto aHW interrupt within thedrive, theEEPROM emulationevent and the
SyncManager2 event. The actual values of the drive(SyncManager 3data) arewritten without any ALevent
request during eachHW IRQ, e.g. triggeredby a SyncManager 2event. TheMailbox exchange between the
masterand theAKD is completely handledby pollingthe ALevent registerwithin thebackground task of thedrive.
The drive activates individual EtherCAT interface events when the corresponding bit of the interrupt enable reg-
ister is set to 1. When it is set to 0, the hardware interrupts for the specific events are deactivated.
21.4.2.1 Interrupt Enable Register (Address 0x0204:0x0205)
Parameter Address Bit
ZA
Drive
ZA
ECAT Description
AL Control Event 0x204 0 R/W R/O Activation of AL control event for phase run-up
- 0x204 1 R/W R/O Reserved
Sync0 DC Distributed
Clock
0x204 2 R/W R/O Activation of distributed clock (DC) sync 0 inter-
rupts for entire communication
Sync1 DC Distributed
Clock
0x204 3 R/W R/O Activation of distributed clock (DC) sync 1 inter-
rupts for entire communication
SyncManager activation
register change
0x204 4 R/W R/O Activation of ‘SyncManager activation register
change’ IRQ.
EEPROM emulation
event
0x204 5 R/W R/O Activation of the EEPROM emulation interrupts.
- 0x204 3 to 7 R/W R/O Reserved
Sync Manager 0 Event
(Mail Out Event)
0x205 0 R/W R/O Activation of output event mailbox (SDO, Sync
Manager 0) for object channel.
Sync Manager 1 Event
(Mail In Event)
0x205 1 R/W R/O Activation of input event mailbox (SDO, Sync Man-
ager 1) for object channel.
Sync Manager 2 Event
(Pro Out Event)
0x205 2 R/W R/O Activation of output event process data (PDO,
card's cyclical setpoints)
Sync Manager 3 Event
(Pro In Event)
0x205 3 R/W R/O Activation of input event process data (PDO,
drive's cyclical actual values)
- 0x205 4 to 7 R/W R/O Reserved
AKD User Guide |
Kollmorgen | December 2010 46

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