Kollmorgen AKD Manual

Ethernet IP with RSLogix | 1 Table of Contents
6.20.4 Execution 65
6.20.5 Changes to Axis Status Bits 65
6.21 Motion Axis Torque (AKD_Torque_Move) 67
6.21.1 Description 67
6.21.2 Operands 67
6.21.3 AKD_TORQUE_MOVEStructure 67
6.21.4 Programming Guidelines 67
6.21.5 Execution 67
6.21.6 Changes to Axis Status Bits 68
6.22 Fault Reset (AKD_Fault_Reset) 69
6.22.1 Description 69
6.22.2 Operands 69
6.22.3 AKD_FAULT_RESETStructure 69
6.22.4 Programming Guidelines 69
6.22.5 Execution 69
6.22.6 Changes to Axis Status Bits 70
7 Troubleshooting 71
7.1 Introduction 71
7.2 .ER (Error) bit 71
7.2.1 Unconfigured Axis was Specified 71
7.2.2 Communication Timeout 71
7.2.3 Operand value out of range 71
7.3 AKD Fault 72
7.3.1 Fieldbus Fault – F702 72
8 Appendix A: Supported EtherNet/IP Objects and Attributes 73
8.1 Position Controller Object 0x25 73
9 Appendix B: Parameter Listing 74
10 Appendix C: RSLogix 500 96
10.1 PLC & Drive TCP/IP Settings 97
10.2 Read Explicit Message Setup 97
10.3 Write Explicit Message Setup 99
6 Kollmorgen | kdn.kollmorgen.com | November 2018

Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing