Kollmorgen AKD-x00306 Manual de usuario

AKD®

SynqNet Communication

Edition October 2020, Revision F

Valid for firmware version 1.20

Part Number 903-2000011-00

Keep all manuals as a product component during the life span of the product.

Pass all manuals to future users/owners of the product.

AKD SynqNet |

Record of Document Revisions:

Revision Remarks

A, 10/2011 Launch version

B, 03/2012 Added chapters on AKD SynqNet I/O Mapping and Enable Compare Output on RS485 I/O.

C, 08/2012 Added Important Things to Know chapter.

D, 09/2016 Updated SynqNet Supported Parameters (➜p. 24).

E, 10/2017 Added information on Node I/O (➜p. 19) mapping.

F, 10/2020 Added PMW, Brake Support for SynqNet, SynqNet Compare FB1.INITSIGNED and new Syn-

qNet Supported Parameters.

SynqNet is a registered trademark of Motion Engineering, 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

duced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or dis-

tributed by electronic means without the written permission of Kollmorgen.

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1 Table of Contents

1 Table of Contents 3

2 General 4

2.1 About this Manual 5

2.2 Target Group 5

2.3 Symbols Used 6

3 Safety 7

3.1 Safety Instructions 8

3.2 Use as directed 8

3.3 Prohibited use 8

4 Important Things to Know 9

4.1 Torque mode only 9

4.2 Wake-and-Shake support over SynqNet 9

4.3 STO state ignored by "Not Ready for Remote Control" status bit 9

4.4 WorkBench must re-connect after SynqNet reset 9

4.5 WorkBench GUIrequires Ethernet service port connection 9

4.6 Service motion disabled while SynqNet operational (cyclic) 9

4.7 Fieldbus fault cleared only by reset 10

5 Installation and Setup 11

5.1 Safety Instructions 12

5.2 SynqNet Onboard 13

5.3 Synqnet Cables 13

5.3.1 Recommended SynqNet Cabling 13

5.3.2 Synqnet Cable Length 13

5.4 LED functions 14

5.5 SynqNet Interconnection 14

5.5.1 String Topology 14

5.5.2 Dual String Topology 15

5.5.3 String and Dual String Topology with Termination 16

5.5.4 Ring topology 17

6 AKD SynqNet I/O Mapping 18

6.1 General Purpose I/O 18

6.2 Dedicated I/O 19

6.3 Node I/O 19

6.3.1 Analog Output 20

6.3.2 Analog Input 20

7 Enable PWM Output on RS485 I/O 21

7.1 PWM Parameter Scaling 22

7.2 Brake Support for AKD SynqNet 22

7.3 AKD-SynqNet Compare FB1.INITSIGNED 23

8 SynqNet Drive Parameters 24

8.1 SynqNet Supported Parameters 24

AKD SynqNet | 1 Table of Contents

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AKD SynqNet | 2 General

2 General

2.1 About this Manual 5

2.2 Target Group 5

2.3 Symbols Used 6

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2.1 About this Manual

This manual, AKD SynqNet Communication, describes the installation, setup, range of functions, and soft-

ware protocol for the SynqNet AKD product series. All AKD SynqNet drives have built-in SynqNet func-

tionality; therefore, an additional option card is not required.

A digital version of this manual (pdf format) is available on the disk included with your drive. Manual updates

can be downloaded from the Kollmorgen website.

Related documents for the AKD series include:

lAKD Installation Manual This manual provides instructions for installation and drive setup.

lAKD WorkBench Online Help. This help system describes how to use your drive in common applic-

ations. It also provides tips for maximizing your system performance with the AKD. The Online Help

includes the Parameter and Command Reference Guide which provides documentation for the para-

meters and commands used to program the AKD.

lAccessories Manual. This manual provides documentation for accessories like cables and regen res-

istors used with AKD. Regional versions of this manual exist.

2.2 Target Group

This manual addresses personnel with the following qualifications:

lInstallation: only by electrically qualified personnel.

lSetup: only by qualified personnel with extensive knowledge of electrical engineering

and drive technology

lProgramming: software developers, project-planners

The qualified personnel must know and observe the following standards:

lISO 12100, IEC 60364 and IEC 60664

lNational accident prevention regulations

During operation there are deadly hazards, with the possibility of death, severe injury or material damage.

The operator must ensure that the safety instructions in this manual are followed. The operator must ensure

that all personnel responsible for working with the servo drive have read and understand the manual.

AKD SynqNet | 2 General

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AKD SynqNet | 2 General

2.3 Symbols Used

Symbol Indication

Indicates a hazardous situation which, if not avoided, will

result in death or serious injury.

Indicates a hazardous situation which, if not avoided, could

result in death or serious injury.

Indicates a hazardous situation which, if not avoided, could

result in minor or moderate injury.

Indicates situations which, if not avoided, could result in

property damage.

This symbol indicates important notes.

Warning of a danger (general). The type of danger is spe-

cified by the text next to the symbol.

Warning of danger from electricity and its effects.

Warning of danger from suspended loads.

Warning of danger from high temperature.

Warning of danger from automatic start.

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3 Safety

3.1 Safety Instructions 8

3.2 Use as directed 8

3.3 Prohibited use 8

AKD SynqNet | 3 Safety

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AKD SynqNet | 3 Safety

3.1 Safety Instructions

During operation there are deadly hazards, with the possibility of death, severe injury or material damage. Do

not open or touch the equipment during operation. Keep all covers and cabinet doors closed during operation.

Touching the equipment is allowed during installation and commissioning for properly qualified persons only.

lDuring operation, drives may have uncovered live components, depending on their level of enclosure

protection.

lControl and power connections may be live, even though the motor is not rotating.

lDrives may have hot surfaces during operation. Heat sink can reach temperatures above 80°C.

Electronic equipment can fail. The user is responsible for ensuring that in the event of a failure of the servo

amplifier, the drive is set to a state that is safe for both machinery and personnel, for instance with the aid of

a mechanical brake.

Drives with servo amplifiers and SynqNet are remote-controlled machines. They can start to move at any

time without previous warning. Take appropriate measures to ensure that the operating and service per-

sonnel is aware of this danger.

Implement appropriate protective measures to ensure that any unintended start-up of the machines cannot

result in dangerous situations for personnel or machinery. Software limit-switches are not a substitute for the

hardware limit-switches in the machine.

Install the drive as described in the Installation Manual. Never break any of the electrical connections to the

drive while it is live. This can result in destruction of the electronics.

Do not connect the Ethernet line for the PC with the set up software to the SynqNet interface X5/X6. The set

up Ethernet cable must be connected to the service interface on X11.

3.2 Use as directed

Drives are components that are built into electrical plants or machines and can only be operated as integral

components of these plants or machines. The manufacturer of the machine used with a drive must generate a

risk assessment for the machine and take appropriate measures to ensure that unforeseen movements can-

not cause personnel injury or property damage.

lObserve the chapters "Use as directed” and "Prohibited use" in the AKD Installation Manual.

lThe SynqNet interface serves only for the connection of the AKD to a master with SynqNet con-

nectivity.

3.3 Prohibited use

Use other than that described in chapter “Use as directed” is not intended and can lead to personnel injuries

and equipment damage. The drive may not be used with a machine that does not comply with appropriate

national directives or standards. The use of the drive in the following environments is also prohibited:

lpotentially explosive areas

lenvironments with corrosive and/or electrically conductive acids, alkaline solutions, oils, vapors,

dusts

lships or offshore applications

The connectors X5 and X6 of the AKD SynqNet drive may not be used for any ethernet protocol except Syn-

qNet.

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4 Important Things to Know

This section addresses important things to know about AKD SynqNet.

4.1 Torque mode only

AKD SynqNet supports torque mode only. It does not support Velocity mode.

4.2 Wake-and-Shake support over SynqNet

Wake-and-shake is supported over SynqNet as of MPI 04.02.Beta04 and later. Wake-and-shake is triggered

by the MPI “PhaseFind” function.

See the utility sqDrivePhaseFind.exe: http://support.motioneng.com/Utilities/phaseFind/default.htm

For the software API, see: http://support.motioneng.com/Software-MPI_04_00/Topics/mtr_phase_find-

ing.htm

Before using PhaseFind, configure the wake-and-shake mode and parameters. These can be set using Syn-

qNet parameters or through WorkBench. We recommend saving the parameters to NVM in the AKD SynqNet

drive. The MPI PhaseFind function will then issue the final WS.ARM command and enable the drive, which

triggers the actual wake-and-shake action. When the AKD drive reports PhaseFind is complete, the MPI

clears the AmpEnable flag and return status (pass or fail).

Before PhaseFind, clear any pending faults in the AKD SynqNet drive or on the controller (including position

limit, HW Pos Limit, etc. associated with this motor).

The AKD offers 3 wake-and-shake modes, each with different parameters. The best results are with mode 1

(commutation). Mode 2 (auto) is least complex – no parameters required.

Over WorkBench, wake-and-shake is not affected by SynqNet unless SynqNet is cyclic, which blocks

WorkBench from enabling the motor.

4.3 STO state ignored by "Not Ready for Remote Control" status bit

The cyclic status bit “Not Ready for Remote Control” should indicate when the motor is ready to be enabled.

However, if the AKD is disabled by STO, the Not Ready for Remote Control is not cleared.

The STO input status is not directly visible over SynqNet (except by the parameter STO.STATE).

4.4 WorkBench must re-connect after SynqNet reset

Each SynqNet reset causes a full AKD reset, disconnecting any existing WorkBench session. You must re-

connect from WorkBench after the reset.

SynqNet reset is triggered by the meiReset.exe utility, controller reset from MotionConsole, SynqNet ini-

tialization from MotionConsole, and similar events from any other utilities or customer applications.

4.5 WorkBench GUIrequires Ethernet service port connection

WorkBench must be used over the Ethernet service port, X11. WorkBench is not supported through the Syn-

qNet network.

4.6 Service motion disabled while SynqNet operational (cyclic)

After SynqNet discovers an AKD drive and enters cyclic operation, service motion is disabled from

WorkBench. When SynqNet exits cyclic operation, the AKD drive remains disabled, causing service motion

to remain disabled until the next drive reset.

AKD SynqNet | 4 Important Things to Know

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AKD SynqNet | 4 Important Things to Know

4.7 Fieldbus fault cleared only by reset

When SynqNet reaches cyclic operation, and then exits cyclic operation, the AKD SynqNet will declare a

fieldbus fault. This fault is cleared by the reset at the beginning of the next SynqNet discovery cycle.

WorkBench cannot clear this fieldbus fault, so service motion is not possible until the drive is reset or power

cycled.

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