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Kollmorgen
Servo Drives
AKD
Kollmorgen AKD
102 pages
Manual
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Table of Contents
Main Page
1 Table of Contents
3
2 Introduction
7
Controller Support
7
Add-On Instructions
7
3 AKD Installation and Setup
9
4 Quick Start with the AKD Sample Project
10
5 Adding AKD Support to a New or Existing Project
11
Adding the Ethernet IO Module for AKD Communication
11
Importing the AKD Add-On Instructions to a Project
14
Using the AKD Add-On Instructions in a Project
20
Reading and Writing Drive Parameters
24
Read Drive Parameter
24
Write Drive Parameter
26
Execute Drive Command Parameter
26
6 AKD Instructions
28
Motion Axis Drive Communication (Akd_Drive)
28
Description
28
Operands
28
AKD_DRIVE Structure
28
Execution
28
Changes to Axis Status Bits
29
Motion Axis on (Akd_Enable)
30
Description
30
Operands
30
AKD_ENABLE Structure
30
Execution
30
Changes to Axis Status Bits
31
Motion Axis off (Akd_Disable)
32
Description
32
Operands
32
AKD_DISABLE Structure
32
Execution
32
Changes to Axis Status Bits
33
Motion Axis Home (Akd_Home)
33
Description
33
Operands
33
AKD_HOME Structure
33
Execution
34
Changes to Axis Status Bits
34
Motion Axis Jog (Akd_Jog)
34
Description
34
Operands
35
AKD_JOG Structure
35
Programming Guidelines
35
Execution
35
Changes to Axis Status Bits
36
Motion Axis Move (Akd_Move)
37
Description
37
Operands
37
AKD_MOVE Structure
37
Programming Guidelines
38
Choosing a Move Type
38
Execution
38
Changes to Axis Status Bits
38
Description
39
Operands
39
Motion Axis Set Home Mode (Akd_Set_Home_Mode)
39
AKD_SET_HOME_MODE Structure
40
Homing Modes
40
Execution
40
Changes to Axis Status Bit
40
Motion Axis Set Acceleration (Akd_Set_Accel)
41
Description
41
Operands
41
AKD_SET_ACCEL Structure
41
Execution
41
Changes to Axis Status Bits
42
Motion Axis Set Deceleration (Akd_Set_Decel)
43
Description
43
Operands
43
AKD_SET_DECEL Structure
43
Execution
43
Changes to Axis Bits
44
Motion Axis Set Mode (Akd_Set_Mode)
45
Description
45
Operands
45
AKD_SET_MODE Structure
45
Operation Modes
45
Execution
46
Changes to Axis Status Bits
46
Motion Axis Set Position (Akd_Set_Position)
47
Description
47
Operands
47
AKD_SET_POSITION Structure
47
Execution
48
Changes to Axis Status Bits
48
Motion Axis Set Velocity (Akd_Set_Velocity)
49
Description
49
Operands
49
AKD_SET_VELOCITY Structure
49
Changes to Axis Status Bits
50
Kollmorgen | Kdn.kollmorgen.com | November
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Motion Axis Shutdown (Akd_Shutdown)
51
Description
51
Operands
51
AKD_SHUTDOWN Structure
51
Execution
51
Changes to Axis Status Bits
52
Motion Axis Shutdown Reset (Akd_Shutdown_Reset)
53
Description
53
Operands
53
AKD_SHUTDOWN_RESET Structure
53
Execution
53
Changes to Axis Status Bits
54
Motion Axis Smooth Stop (Akd_Stop_Smooth)
55
Description
55
Operands
55
AKD_STOP_SMOOTH Structure
55
Execution
55
Changes to Axis Status Bits
56
Motion Axis Get Position Controller Attribute (Akd_Get_Attribute)
57
Description
57
Operands
57
AKD_GET_ATTRIBUTE Structure
57
Execution
57
Changes to Axis Status Bits
58
Motion Axis Get Parameter (Akd_Get_Parameter)
59
Description
59
Operands
59
AKD_GET_PARAMETER Structure
59
Execution
59
Changes to Axis Status Bits
60
Motion Axis Set Position Controller Attribute (Akd_Set_Attribute)
61
Description
61
Operands
61
AKD_SET_ATTRIBUTE Structure
61
Execution
61
Changes to Axis Status Bits
61
Motion Axis Set Parameter (Akd_Set_Parameter)
63
Description
63
Operands
63
AKD_SET_PARAMETER Structure
63
Execution
63
Changes to Axis Status Bits
63
Motion Axis Set Units (Akd_Set_Units)
65
Description
65
Operands
65
AKD_SET_UNITS Structure
65
Execution
65
Changes to Axis Status Bits
65
Motion Axis Torque (Akd_Torque_Move)
67
Description
67
Operands
67
AKD_TORQUE_MOVE Structure
67
Programming Guidelines
67
Execution
67
Changes to Axis Status Bits
68
Fault Reset (Akd_Fault_Reset)
69
Description
69
Operands
69
AKD_FAULT_RESET Structure
69
Programming Guidelines
69
Execution
69
Changes to Axis Status Bits
70
7 Troubleshooting
71
Introduction
71
ER (Error) Bit
71
Unconfigured Axis was Specified
71
Communication Timeout
71
Operand Value out of Range
71
AKD Fault
72
Fieldbus Fault - F702
72
8 Appendix A: Supported Ethernet/Ip Objects and Attributes
73
Position Controller Object 0X25
73
9 Appendix B: Parameter Listing
74
10 Appendix C: Rslogix
96
PLC & Drive TCP/IP Settings
97
Read Explicit Message Setup
97
Write Explicit Message Setup
99
Kollmorgen | Kdn.kollmorgen.com | November
100
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