AKD Profinet Sample Project User Manual

Transcription

1 AKD Profinet Sample Project User Manual Programmed with TIA Portal V13 Edition: 1, August 2017 Original Documentation

2 AKD PROFINET Record of Document Revisions: Revision Remarks /2017, First revision. 1 08/2017, Updated for motion task editing, formatting AKD is a registered trademark of Kollmorgen Corporation TIA Portal is a registered trademark of SIEMENS AG SIMATIC is a registered trademark of SIEMENS AG PROFINET is a registered trademark of PROFIBUS and PROFINET International (PI) Technical changes which improve the performance of the device may be made without prior notice! Printed in the United States of America This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen. 2 Kollmorgen kdn.kollmorgen.com August 2017

3 AKD PROFINET 1 Table of Contents 1 Table of Contents 1 Table of Contents 3 2 Project Notes 5 3 Project Components 6 4 Introduction to the Sample Project 7 5 Configuration of the AKD 8 6 Starting with the Sample Project Overview GSD File Installation PLC Device Selection PLC IP Address AKD Device Name AKD IP Address Compile and Download Go Online Ladder Programming 14 7 Function Block Reference Telegram 400 Function Block General Description Notes Detailed input description Detailed output description Direct Parameter Access Function Block General Description Notes Detail input description Detail output description Edit Motion Task Position Function Block General Description Notes Detail input description Detail output description 30 8 Creating a New Project PLC Device Selection PLC IP Address GSD File Installation Add AKD Device AKD Device Name AKD IP Address Create the Profinet Network Add the Telegram Telegram I/O Addresses Compile and Download Go Online PLC Project Components 41 Kollmorgen kdn.kollmorgen.com August

4 AKD PROFINET 1 Table of Contents 8.13 Using Function Blocks in New Ladder Program Multi-Axis 44 4 Kollmorgen kdn.kollmorgen.com August 2017

5 AKD PROFINET 2 Project Notes 2 Project Notes For better readability of the code, some variables have a prefix of a lower case letter, the definition is as following. Prefix Size i o Description Unknown Function Block Input Unknown Function Block Output b 1 Bit Bool by 8 Bit Byte w 16 Bit Word dw 32 Bit Double Word Kollmorgen kdn.kollmorgen.com August

6 AKD PROFINET 3 Project Components 3 Project Components The sample project contains the following components: Telegram 400 Function Block Parameter Access (PNU) Function Block Edit Motion Task Position Function Block Tag Tables Data type (UDT) Ladder program Other similar projects for AKD Profinet will have similar components, but each component may vary depending on the purpose of the project. A new project can be created using the provided project components. The function blocks can even be modified to support other telegrams or added functionality. But the sample projects are provided as an initial complete solution, which can then be modified by the integrator as needed. Revision notes of the projects, components, and even this manual are listed in the ladder program properties of each project. This includes which revision of each component that is used in each project revision. These revision notes can also be found in the pdf printouts of the ladder programs. 6 Kollmorgen kdn.kollmorgen.com August 2017

7 AKD PROFINET 4 Introduction to the Sample Project 4 Introduction to the Sample Project This manual provides instructions and reference information for a sample project used in a Siemens PLC to control the Kollmorgen AKD drive with Profinet fieldbus communications. The system contains an S or S PLC and an AKD-Pxxxxx-xxPN drive. The sample project applies to both the 1200 CPU and the 1500 CPU. The program code between those versions is identical. This sample project is for a single AKD axis. However, it can be easily modified for a multi-axis system. All Automation functions are controlled by the PLC. The functions covered are the following: Initialization (Mapping Telegram 400) SW Enable/Disable Emergency stop Reset of drive faults Jog move Homing Starting of a pre-defined motion task Direct motion task configuration and execution Read / write access to drive parameters Each function is controlled by specific bits and variables and the actual values of the drive are read back in cyclic communication. This manual should help the PLC programmer understand the communication configuration and function block integration, and perform some simple motion. The communication between the AKD (connector X11) and the PLC (connector X1P1) is handled by the Profinet RT protocol hereafter called Profinet. The physical connection is via standard Ethernet cable. In the PLC, the instructions DPRD_DAT and DPWR_DAT are used to exchange cyclic data between the two devices in real time. For the service channel parameter access, the instructions RDREC and WRREC are used. At some points this manual refers to the AKD Profinet manual. The latest manual can be found on the Kollmorgen website. Never use the sample project unchanged in an application. The Sample Project is intended as an example of integrating the AKD into a TIA-Project. This Sample Project must be modified according to the real application. KOLLMORGEN cannot be held liable for any damage caused by the use of the Sample Project or any parts of it. This manual consists of 4 major sections: Starting with the sample project Function block reference information Creating a new project Modifying the sample project for multi-axis Kollmorgen kdn.kollmorgen.com August

8 AKD PROFINET 5 Configuration of the AKD 5 Configuration of the AKD The basic setup of the AKD has to be done in Workbench. The Profinet and Workbench connections can be used at the same time. The limitation is with the parameter access, as Profinet can deny access to certain parameters from outside. The drive should be commissioned and tested prior to setting up the Profinet communications. The two important settings relating to Profinet communications are the drive s name and the drive s IP address. 8 Kollmorgen kdn.kollmorgen.com August 2017

9 AKD PROFINET 6 Starting with the Sample Project 6 Starting with the Sample Project 6.1 Overview The sample project is made available as a TIA archive file. This allows the entire project to be contained in a single file. Save the TIA archive project file to your PC. In TIA Portal, open the Project View. Click on Project / Retrieve to open the project from the archive file. As the project opens, the GSD file will automatically be installed in your TIA system. After opening the project, go into the Device Configuration screen and make the following changes. The changes should be made in the offline mode. After making the changes, compile and download the project to the PLC. Change the CPU to the actual one being used. Set the IP address you want to use for the PLC. Set the AKD device name to match drive s name that was saved in Workbench. Set the AKD s IP address in the AKD Device Properties (this is the AKD s IP address). See detailed instructions below for each part of this setup. The project is set up to make some simple motion using digital inputs on the PLC. The ladder program uses the inputs for the following functions, but they can be modified to fit your specific application: Input 0: E-Stop(Level Triggered, Normally Closed) Input 1: Reset(Momentary, Normally Open) Input 2: Enable(Level Triggered, Normally Open) Input 3: Re-Initialize function block(momentary, Normally Open) Input 4: Start move(momentary, Normally Open) Input 5: Start jog(momentary, Normally Open) This sample project is for a single AKD drive. You can expand it to multi-axis by duplicating the function blocks, data blocks, and tags associated with those blocks for each axis. See the section on Multi-axis for more details. 6.2 GSD File Installation To control the AKD by the PLC, the drive must be added in the network list and be recognized as a Profinet device. The device configuration for the Kollmorgen AKD drive is stored in the GSDML-V2.1-Kollmorgen- AKD xml file. TIA Portal should install all required GSD files automatically when retrieving the archived sample project. If the file is not installed automatically, TIA-Portal allows adding a user defined device description file under Options -> Install general station description file (GSD). The specified file can be chosen and added to the hardware catalog. 6.3 PLC Device Selection The sample project is configured for a CPU 1212C DC/DC/DC. This must be changed to match the actual PLC hardware that is being used. Open the Device Configuration screen. (Expand PLC_1 in the Project Tree) Select the Device View. Kollmorgen kdn.kollmorgen.com August

10 AKD PROFINET 6 Starting with the Sample Project Right-click on the image of the CPU and click Change Device. Select your CPU part number. 6.4 PLC IP Address The sample project is configured with an IP address of for the PLC. Configure the PLC with any compatible IP address that you want to use. This is the IP address that is used for the Profinet communication between the PLC and the AKD drive. Open the Device Configuration screen. (Expand PLC_1 in the Project Tree) Select the Device View. Click on the image of the CPU. Click on Properties. (at the bottom) Click on Ethernet addresses. Enter the IP address you want to use for the PLC. 10 Kollmorgen kdn.kollmorgen.com August 2017

11 AKD PROFINET 6 Starting with the Sample Project 6.5 AKD Device Name The Profinet name of the device has to match the name of the AKD drive configured in Workbench. You can set the name in either or both places. The sample project uses the name AKD-PN for the AKD device, since this is the default name specified by the GSD file. Open the Device Configuration screen. (Expand PLC_1 in the Project Tree) Select the Topology View tab. Click on the icon of the AKD-Device. Select the Device View tab. Click on the icon of the AKD-Device (again). Right-click on the device name and click Rename. Enter the name you want to use. After configuring a drive name in Workbench and saving it, the drive needs to be rebooted in order for the PLC to recognize that new name. 6.6 AKD IP Address The sample project is configured with an AKD-Device IP address of You need to either configure the AKD for static IP using the rotary switches, or configure the IP address of your choice in the TIA project. Open the Device Configuration screen. (Expand PLC_1 in the Project Tree) Select the Topology View tab. Kollmorgen kdn.kollmorgen.com August

12 AKD PROFINET 6 Starting with the Sample Project Click on the icon of the AKD-Device. Select the Device View tab. Click on the icon of the AKD-Device (again). Click on Properties. (at the bottom) Click on Ethernet addresses. Enter the IP address that you want to use for the AKD drive. This is the same IP address that is configured by either the rotary switches on the AKD drive or in Workbench. It needs to have the same subnet as the PLC s IP address. 6.7 Compile and Download The project must be compiled and downloaded to the PLC. Select the PLC_1 heading or the Program blocks heading in the project tree. Click the Compile button in the toolbar. Wait for the compile to complete. Click the Download button in the toolbar. Select the PN/IE network and your network hardware and start the search for the PLC. Select the PLC in the search results and click Load. The software will give you some instructions or options prior to downloading (click Load ). 12 Kollmorgen kdn.kollmorgen.com August 2017

13 AKD PROFINET 6 Starting with the Sample Project Kollmorgen kdn.kollmorgen.com August

14 AKD PROFINET 6 Starting with the Sample Project 6.8 Go Online Click the Go Online button on the toolbar to connect to the PLC. When the software is online, you will see the header bars turn orange. There are colored status indicators next to some of the entries in the Project tree and in the Network Overview. These indicators should be green. If the indicators are red, then an error exists. One example of an error that is common is when the drive name has been saved in Workbench, but the drive has not yet been rebooted. The PLC will not recognize the name of the drive and will indicate that an error exists. 6.9 Ladder Programming At this point, you can start modifying and adding to the ladder program that is contained in the sample project. It is possible that you won t need certain parts of the existing program, and it s very likely that you will need to add more functionality for you application. 14 Kollmorgen kdn.kollmorgen.com August 2017

15 AKD PROFINET 6 Starting with the Sample Project One item in particular that may need to be changed or removed is the homing command. By default, the ladder program issues the start home command when the drive is enabled for the first time after the drive boots up. If you are using a multi-turn absolute feedback device, then you will probably want to remove the homing altogether. Your application will dictate how the homing should be started. This goes for the position moves and jog move as well. The PNU read/write may or may not be needed. If it s not used for your application, you can remove those ladder networks from the program. Tag names can be changed as needed, but make sure the change is made to every instance of the tag. Some functions in the sample project ladder program are not set up to be automated. For example, the PNU read and writes must be activated manually in the program by forcing the state of the contacts. You will need to complete the programming by providing digital inputs or other means of automation for these functions. Kollmorgen kdn.kollmorgen.com August

16 AKD PROFINET 7 Function Block Reference 7 Function Block Reference 7.1 Telegram 400 Function Block General Description The function block AKD_PN_TG400 is used as the interface for the AKD drive in the PLC. This block supports the Profinet communication between the S7-1200/S PLC and the Kollmorgen AKD-Profinet servo drive. It handles the configuration of Telegram 400 and uses Telegram 400 for cyclic data communication for general command exchange. 16 Kollmorgen kdn.kollmorgen.com August 2017

17 AKD PROFINET 7 Function Block Reference Kollmorgen kdn.kollmorgen.com August

18 AKD PROFINET 7 Function Block Reference Variable Name Data Type Direction Description EN Bool In Call of the DB iid HW_IO In Hardware identifier of the used telegram iinit Bool In Initialization of the communication with a zero telegram iestop Bool In Stop of all motion execution and disable the drive isw_enable Bool In Enable the drive istop Bool In Stop of all motion execution ireset Bool In Reset faults in the drive istart_homing Bool In Start the homing procedure istart_jog Bool In Start of a continuous motion istart_move Bool In Start of a discrete motion imt_pause Bool In Interrupt a discrete motion imt_movetype Word In Motion task control word (MDI_MOD) imtnum Word In Motion task number (SATZANW) icmdpos DWord In Commanded positon (MDI_TARPOS) icmdvel DWord In Commanded speed (MDI_VELOCITY) icmdacc Word In Commanded acceleration (MDI_ACC) icmddec Word In Commanded deceleration (MDI_DEC) ENO Bool Out DB call done oinitdone Bool Out Indicates completion of Initialization process ostatus DWord Out Actual status of the AKD Profinet connection opos DWord Out Actual position ovel Word Out Actual velocity ocurrent Word Out Actual current oenabled Bool Out Indicates when drive is enabled oerror Bool Out Error in Profinet connection or control omoving Bool Out Axis is active and moving ohomed Bool Out Axis is homed oinpos Bool Out Axis is within the commanded position window ofault Bool Out AKD drive fault condition exists owarning Bool Out AKD drive warning exists TG_400 UDT_AKD_ TG400 Static Profinet data wpnreadstatus Word Static Status of the read connection 0 = OK bpnreaderror Bool Static Fault with the read connection wpnwritestatus Word Static Status of the write connection 0 = OK bpnwriteerror Bool Static Fault with the write connection 18 Kollmorgen kdn.kollmorgen.com August 2017

19 AKD PROFINET 7 Function Block Reference Variable Name Data Type Direction Description bresetdone Bool Static Reset of drive faults rising edge bhomedone Bool Static Home start rising edge bstartmovedone Bool Static Start motion task rising edge bestop Bool Static Local flag for estop; True when Estop is active wstartreset Word Static ZSW2 at the reset time wstartmove Word Static ZSW2 at the start motion task time bysdodataarray [0..63] Byte Static Data array for the service data object exchange SDOWrite WRREC Static Service data object write SDORead RDREC Static Service data object read bsdoreq Bool Static Service data object request bsdowritebusy Bool Static Write active bsdowritedone Bool Static Write done bsdowriteerror Bool Static Write error bsdoreadbusy Bool Static Read active bsdoreaddone Bool Static Read done bsdoreaderror Bool Static Read error wsdoreadvalue Word Static Read service data object value wsdoaddress Word Static Service data object address bswenabled Bool Static Software enabled and drive active Status Data (Telegram 400 / position mode) TG_400.Receive. Variable Direction Size Description Bit Description Bit Description ZSW1 IN Int Status word 8 No following Error 0 Read to switch on AKTSATZ IN Int Last active motion task ZSW2 IN Int Status word two XIST_A IN DInt Actual position PL.FB 9 Controlled by master 1 Ready to operate 10 On target velocity 2 Operation enabled 11 Homed 3 Fault present 12 Move acknowledged 4 No coast stop 13 Drive stopped 5 No quick stop 14 Motion task active 6 Switch on inhibited 15-7 Warning present NIST_A IN Int Actual velocity VL.FB (in 16-bit resolution) Kollmorgen kdn.kollmorgen.com August

20 AKD PROFINET 7 Function Block Reference Variable Direction Size Description Bit Description Bit Description ITIST_GLATT IN Int Actual current IL.FB (in 16-bit resolution) IDT_DATAITEM_o_ 7 IDT_DATAITEM_o_ 8 IDT_DATAITEM_o_ 9 IDT_DATAITEM_o_ 10 IDT_DATAITEM_o_ 11 IDT_DATAITEM_o_ 12 IDT_DATAITEM_o_ 13 IDT_DATAITEM_o_ 14 IDT_DATAITEM_o_ 15 IN Int - IN Int - IN Int - IN Int - IN Int - IN Int - IN Int - IN Int - IN Int - Control data (Telegram 400 / position mode) TG_400.Send. Variable Direction Size Description Bit Description Bit Description STW1 IN Int Control word SATZANW IN Int Motion task number STW2 IN Int Control word two 8 Jog1 0 On/Off 9 Jog 2 1 No coast stop 10 Control by PLC 2 No quick stop 11 Start home 3 Enable operation 12 Real time jog 4 Do Not reject task 13 Invert real time jog MDI_TARPOS IN DInt Motion task target position MT.P* MDI_VELOCITY IN DInt Target velocity MT.V* MDI_ACC IN Int Acceleration MT.ACC* MDI_DEC IN Int Deceleration MT.DEC* 5 No intermediate stop 14-6 Activate task 15-7 Fault reset MDI_MOD IN Int Motion task control word MT.CNTL* HOME_DIST IN DInt Home distance HOME.DIST* 20 Kollmorgen kdn.kollmorgen.com August 2017

21 AKD PROFINET 7 Function Block Reference Variable Direction Size Description Bit Description Bit Description IDT_DATAITEM_o_ 12 IDT_DATAITEM_o_ 13 IDT_DATAITEM_o_ 14 IDT_DATAITEM_o_ 15 IN Int - IN Int - IN Int - IN Int - *The Profinet data are not mapped 1:1 into the AKD. The PROFIdrive data conversion has to be regarded. Detailed information can be found in the input description or the Profinet manual Notes The function block uses Telegram 400 for cyclic data communication. The AKD can also be controlled by any of the other telegrams specified in the AKD Profinet manual. The Profinet cycle time is 16ms. A new motion task is only accepted after a completed handshake which can take up to eight cycles. In the function block status word, the fault number is indicated if a drive fault is active. If only a warning and no fault is active the warning number is indicated in the status double word. The number is only read on occurrence. To reread the number an ireset has to be performed. In the workbench setup, the drive command source DRV.CMDSOURCE has to be set to zero (Service) and the DRV.OPMODE to two (position mode). These settings are required for the drive to be position controlled by Telegram 400. This project has been createdusing asiemens CPU1212C-DC/DC/DC and an AKD-P00306-NBPN-0000 with Firmware Detailed input description iid Hardware identifier of the telegram of the corresponding Profinet Device (AKD). The HW_SubModule can be linked to this input or the value of the hardware identifier can be directly entered. The Value is found with the properties of the telegram under hardware identifier. iinit With the iinit active the Profinet communication gets reset with an all zero send command. Starts the process of mapping Telegram 400. Only needs to run one time on program start to configure the data for Telegram 400. Can be activated subsequent times to reinitialize the function block. It acts as a PLC/communication reset. iestop Executes an immediate QuickStop. STW1 Bit2 is set to 0. All motion is brought to halt and the drive is software disabled. This uses DRV.DISMODE and the Controlled Stop parameters. To recover, ireset has to be executed once. It inhibits all other STW1 commands until the controlled stop is complete. Only one scan is required to start the controlled stop function. Multiple scans are required waiting for motion to stop, before any other STW1 bits are valid. It sets all STW1 bits=0 when motion stops. isw_enable 0 = disables the AKD Kollmorgen kdn.kollmorgen.com August

22 AKD PROFINET 7 Function Block Reference 1 = enables the AKD Handles the proper state machine sequence for enabling the drive. Requires several scans depending on state machine. istop 1 = Stop of all motion in progress without disabling the AKD. Commands a stop and pause of the motion task (STW1 bits 4 and 5 = 0) and clears the bits that start jog and home moves (STW1 bits 8, 9, 11, 12 = 0). ireset 1 = Reset of all active drive faults. The instruction gets executed once per rising edge. It turns on STW1 bit 7 and then turns it off after 3 scans. Only 1 scan required to start the reset. istart_homing 1= Starts the homing according to the setup done in Workbench. The icmdpos sets the homing distance (HOME.DIST) in the AKD, which performs an immediate absolute move after homing The instruction gets executed once per rising edge. istart_jog Starts a jog move. Uses icmdvel as the jog speed, and icmdacc and icmddec for the ramps. icmdvel, icmdacc, and icmddec must be non-zero for a jog move to start. A negative speed setpoint commands a jog move in the negative direction. STW1 bit12=1 is set during enable process. STW1 bit 8 is used for the start jog command. The axis needs to be homed to execute this command. Requires only one scan to start or stop the jog move. Deactivating this input will stop the jog move. istart_move Starts a motion task position move. imtnum defines which motion task is started. If imtnum is set to 0x8000, then the direct motion task configured with the icmdxxx parameters is executed. The instruction is executed once per rising edge. The execution can take up to eight scans, during which time the istart_move is ignored. Turns on STW1 bit 6 to start the move, and looks for the "move acknowledgement" to turn off bit 6 after the move has started. Requires only momentary activation of this input for one scan to start the move, assuming no stop, home, or jog commands are active. Requires being deactivated for at least one scan after the move starts before triggering a new start move command. Note: The AKD prevents any other motion (position move, jog, or homing) from being started while any of these types of moves are in progress. The current motion must complete prior to setting the start bits for a subsequent position move, homing move, or jog move. imt_pause Pauses (temporarily interrupts) a motion task. Activating this input sets STW1 bit 5 = 0 to pause the move. When this input is deactivated (bit 5 set back to 1), the move will continue from where it paused. If a Stop or a Software disable gets executed, the continuing option is suspended. 22 Kollmorgen kdn.kollmorgen.com August 2017

23 AKD PROFINET 7 Function Block Reference imt_movetype Selects the type of position move: 0 = Relative, 1 = Absolute. This is the telegram data referred to in the AKD Profinet manual as MDI_MOD. imtnum Selects the motion task to be executed. This is the telegram data referred to in the AKD Profinet manual as SATZANW. A value of (0x8000) selects the "Direct Motion Task", which uses the MDI profile data in the telegram (icmdxxx inputs) to define the Direct Motion Task (Motion Task 0). Any value from 1 to 128 selects a preconfigured motion task saved in the drive. icmdpos Target positon/distance for the direct motion task. This is the telegram data referred to in the AKD Profinet manual as MDI_TARPOS. The position resolution is per default scaled with 2^16 counts/rev. The resolution setting can be adjusted with PNU icmdpos * 360 / Value PNU 1002 = Position in degrees. It is also used for HOME.DIST (distance to be moved after homing). icmdvel Target velocity for the direct motion task or real time jog command. This is the telegram data referred to in the AKD Profinet manual as MDI_VELOCITY. The velocity is scaled with 2^32 equals 12,000 rpm. icmdvel * rpm / 2^32 = Velocity in revolution per minute. icmdacc Target acceleration for the direct motion task or real time jog command. This is the telegram data referred to in the AKD Profinet manual as MDI_ACC. The acceleration is per default scaled with 2^16 equals 50,000,000 rpm/sec. The smallest possible value for acceleration is 763 rpm/sec. To change the interpretation of an acceleration value, the PNU 1008 has to be set to the according minimum value. icmdacc / value PNU 1008 = Acceleration in revolution per minute per second. icmddec Target deceleration for a direct motion task or real time jog command. This is the telegram data referred to in the AKD Profinet manual as MDI_DEC. The deceleration is per default scaled with 2^16 equals 50,000,000 rpm/sec. The smallest possible value for acceleration is 763 rpm/sec. To change the interpretation of a deceleration value, the PNU 1008 has to be set to the according minimum value. icmddec / value PNU 1008 = Acceleration in revolution per minute per second. For a more detail instruction manual use the AKD workbench help at the designated commands Detailed output description Kollmorgen kdn.kollmorgen.com August

24 AKD PROFINET 7 Function Block Reference ostatus Shows the actual status word one (ZSW1) in the low word. Shows any active fault or warning number in the high word. oposition Actual position of the axis (XIST_A) as 32 Bit DWord. The position resolution is per default scaled with 2^16 counts/rev. The resolution setting can be adjusted with PNU oposition * 360 / Value PNU 1002 = Position in degree. ovel Actual speed of the axis (NIST_A) as 16 Bit Word. The velocity resolution is with 2^15 equals rpm scaled. ovel * rpm / 2^15 = Velocity in revolution per minute. ocurrent Actual current of the axis (ITIST_GLATT) as 16 Bit Word. The current resolution is with 2^14 equals the maximum current of the drive. ocurrent * DRV.IPEAK / 2^14 = Current in ampere. Multiplied with the KT of the motor, this gives the actual Torque. oenabled Indicates that the drive is enabled. oerror Indicates an error in the communication or the PLC command execution. omoving Indicates an active discrete or continuous motion in progress, (jogging, motion task or homing). ohomed Indicates that the homing has been done successful. This must be TRUE to start any motion task or real time jogging. oinpos Indicates that the actual position is within MT.POSWND, of the target position, of the executing motion task. The movement doesn t have to be finished at this moment. When a motion task is started, the oinpos always goes Zero for a minimum of one cycle. This also happens if the motion task called gives an error or doesn t do any movement at all. ofault Indicates a fault on the AKD. The corresponding fault number is in the status word or can be read with PNU Kollmorgen kdn.kollmorgen.com August 2017

25 AKD PROFINET 7 Function Block Reference owarning Indicates a warning on the AKD. The corresponding warning number is in the status word or can be read with PNU Direct Parameter Access Function Block General Description The direct parameter access works with the second function block AKD_PNU. This provides access to all available AKD parameters that are assigned a PNU number. Variable Name Data Type Direction Description EN Bool In Call of the DB iid HW_IO In Hardware identifier of the corresponding telegram istartrequest Bool In Starts a parameter request irequesttype Bool In Request type: 0 = read, 1 = write Kollmorgen kdn.kollmorgen.com August

26 AKD PROFINET 7 Function Block Reference Variable Name Data Type Direction Description iformat Int In Format of the requested parameter: 0x41, 0x42, 0x43 ipnunumber Word In PNU address of the requested parameter ipnusubindex Word In PNU address index of the requested parameter ENO Bool Out DB call done oactive Bool Out Request in progress odone Bool Out Request done oerror Bool Out Request failed ostatus DWord Out Status of xxrec function if data exchange fails iodata DWord In/Out iwrite = 1: data to be written iwrite = 0: data read PNURead RDREC Static Read function for the service data channel objects PNUWrite WRREC Static Write function for the service data channel objects bdowrite Bool Static Start write command bdoread Bool Static Start read command byreadarray[0..147] Byte Static Data array for the read command bywritearray[0..15] Byte Static Data array for the write command bpnuwritebusy Bool Static Write command active bpnuwritedone Bool Static Write command finished bpnuwriteerror Bool Static Write command failed dwpnuwritestatus DWord Static Write command status bpnureadbusy Bool Static Read command active bpnureaddone Bool Static Read command finished bpnureaderror Bool Static Read command failed dwpnureadstatus DWord Static Read command status wdatalenght Word Static Length of the read data breqactive Bool Static Rising edge of a new request wlenght Word Static Length of the write data byreference Byte Static Reference number of the last request breadactive Bool Static Read common execution bwriteactive Bool Static Write command execution Notes The Format of the requested parameter must be 0x41, 0x42, or 0x43. In read mode, (irequesttype = FALSE), the value of iodata always represents the last read data. In read mode, iodata is read-only. Reference the AKD parameter PN.POSSCALE for information on position scaling for PNU s with index greater than Detail input description 26 Kollmorgen kdn.kollmorgen.com August 2017

27 AKD PROFINET 7 Function Block Reference iid Hardware identifier of the telegram of the corresponding Profinet Device (AKD). The HW_SubModule can be linked to this input or the value of the hardware identifier can be directly entered. The Value is found with the properties of the telegram under hardware identifier. istartrequest Starts a read or write command. The instruction gets executed once per rising edge. irequesttype Sets the mode to read or write. 0 = Read 1 = Write iformat Sets the format (data size) of the requested parameter. If this value is outside the three possible values, an error is indicated. 0x41 = Byte, 8Bit 0x42 = Word, 16 Bit 0x43 = DWord, 32 Bit ipnunumber PNU address of the requested parameter. This can be seen in the AKD Profinet manual or in the Workbench help. ipnusubindex PNU subindex of the requested parameter.this can be seen in the AKD Profinet manual or in the Workbench help. iodata Output of the read data if irequesttype = FALSE, the value is updated when a new request is started. During a request the data is zero. Input if the data is written, irequesttype = TRUE. In write mode, the data is not changed at all in the function block Detail output description oactive Indicates a request in progress. odone Is set TRUE with every successful request. The Data are valid form this moment. Done is reset with a new request or a termination of the connection. oerror Kollmorgen kdn.kollmorgen.com August

28 AKD PROFINET 7 Function Block Reference Indicates an error with PNUWrite, PNURead or a validation fault. A validation fault is aninvalid input. ostatus Indicates the PNUWrite or PNURead status, only if the function has an error. 7.3 Edit Motion Task Position Function Block General Description The function block, AKD_Edit_Motion_Task_Position, allows editing of the position value of any saved motion tasks in the AKD drive, other than Motion Task 0. The motion task must already exist and be saved in the AKD. This function block can be used as an alternative to the PNU read/write FB to simplify the process of writing to a motion task position value. Variable Name Data Type Direction Description EN Bool In Call of the DB iid HW_IO In Hardware identifier of the corresponding telegram istartrequest Bool In Starts a parameter request itasknumber Word In Number of the motion task to be edited 28 Kollmorgen kdn.kollmorgen.com August 2017

29 AKD PROFINET 7 Function Block Reference Variable Name Data Type Direction Description iposition DWord In New position value ENO Bool Out DB call done oactive Bool Out Request in progress odone Bool Out Request done osuccess Bool Out Write was successful oerror Bool Out Request failed ostatus DWord Out Status of xxrec function if data exchange fails PNURead RDREC Static Read function for the service data channel objects PNUWrite WRREC Static Write function for the service data channel objects bdowrite Bool Static Start write command bdoread Bool Static Start read command byreadarray[0..147] Byte Static Data array for the read command bywritearray[0..15] Byte Static Data array for the write command bpnuwritebusy Bool Static Write command active bpnuwritedone Bool Static Write command finished bpnuwriteerror Bool Static Write command failed dwpnuwritestatus DWord Static Write command status bpnureadbusy Bool Static Read command active bpnureaddone Bool Static Read command finished bpnureaderror Bool Static Read command failed dwpnureadstatus DWord Static Read command status wdatalenght Word Static Length of the read data breqactive Bool Static Rising edge of a new request wlenght Word Static Length of the write data byreference Byte Static Reference number of the last request breadactive Bool Static Read common execution bwriteactive Bool Static Write command execution Notes The function block performs a PNU write sequence that includes writing to MT.NUM, MT.LOAD, MT.P, and MT.SET. It then reads the position value back from the task after issuing a new MT.LOAD command, and compares the value with what was written. If the values are not the same, it tries the sequence a second time. If odone is TRUE and osuccess is FALSE, it means that the FB attempted to write the new position value twice and failed both times. This can happen if the motion task was not created and saved in the AKD drive s memory. Reference the AKD parameter PN.POSSCALE for information on position scaling for PNU s with index greater than Kollmorgen kdn.kollmorgen.com August

30 AKD PROFINET 7 Function Block Reference Detail input description iid Hardware identifier of the telegram of the corresponding Profinet Device (AKD). The HW_SubModule can be linked to this input or the value of the hardware identifier can be directly entered. The Value is found with the properties of the telegram under hardware identifier. istartrequest Starts the sequence to write the motion task position. The instruction gets executed once per rising edge. itasknumber Selects the motion task. Must be a value ranging from 1 to 128. iposition Sets the value of the position to write into the motion task Detail output description oactive Indicates a request in progress. odone Is set TRUEwhen the request has been completed. odone is reset with a new request or a termination of the connection. osuccess Is set TRUEwhen the position value has been written successfully. osuccess is reset with a new request or a termination of the connection. oerror Indicates an error with PNUWrite, PNURead or a validation fault. A validation fault is aninvalid input. ostatus Indicates the PNUWrite or PNURead status, only if the function has an error. 30 Kollmorgen kdn.kollmorgen.com August 2017

31 AKD PROFINET 8 Creating a New Project 8 Creating a New Project Prior to creating a new project, install the GSD file for the AKD. (Under the Options menu) After creating a new project, go into the device configuration screen to configure the PLC, AKD-Profinet- Device, and the Profinet network See instructions below for each part of this setup. 8.1 PLC Device Selection The easiest way to select the PLC device is to select the entry Unspecified CPU Double-click Add new device. Expand the list of S series CPU s. Select 6ES7 2XX-XXXXX-XXXX under Unspecified CPU Select Version V4.0 Click the hyperlink detect to auto-detect the CPU. Click Start search. Click Detect. Kollmorgen kdn.kollmorgen.com August

32 AKD PROFINET 8 Creating a New Project 8.2 PLC IP Address Configure the PLC with any compatible IP address that you want to use. This is the IP address that is used for the Profinet communication between the PLC and the AKD drive. Open the Device Configuration screen. (Expand PLC_1 in the Project Tree) Select the Device View. Click on the image of the CPU. Click on Properties. (at the bottom) 32 Kollmorgen kdn.kollmorgen.com August 2017

33 AKD PROFINET 8 Creating a New Project Click on Ethernet addresses. Enter the IP address you want to use for the PLC. 8.3 GSD File Installation To control the AKD by the PLC, the drive must be added in the network list and be recognized as a Profinet device. The device configuration for the Kollmorgen AKD drive is stored in the GSDML-V2.1-Kollmorgen- AKD xml file. TIA-Portal allows adding a user defined device description file under Options -> Install general station description file (GSD). The specified file can be chosen and added to the hardware catalog. If the Hardware Catalog already contains the following folders, then there is no need to install the GSD file: Other field devices -> PROFINET IO -> Drives -> Kollmorgen -> AKD -> Head module Other field devices -> PROFINET IO -> Drives -> Kollmorgen -> AKD -> Module. Kollmorgen kdn.kollmorgen.com August

34 AKD PROFINET 8 Creating a New Project 8.4 Add AKD Device If you created a new project or deleted the AKD device from the sample project, the AKD-Device can be found in the Hardware catalog in the category Other field devices -> PROFINET IO -> Drives -> Kollmorgen - > AKD -> Head module. Drag and drop the AKD-PN-DEVICE into the Network View. 34 Kollmorgen kdn.kollmorgen.com August 2017

35 AKD PROFINET 8 Creating a New Project 8.5 AKD Device Name The Profinet name of the device has to match the name of the AKD drive configured in Workbench. You can set the name in either or both places. The default name specified by the GSD file is AKD-PN. Open the Device Configuration screen. (Expand PLC_1 in the Project Tree) Select the Topology View tab. Click on the icon of the AKD-Device. Select the Device View tab. Click on the icon of the AKD-Device (again). Right-click on the device name and click Rename. Enter the name you want to use. 8.6 AKD IP Address Set the AKD drive s IP address in the Device Properties for the AKD device. This is the same IP address that is configured by either the rotary switches on the AKD drive or in Workbench. It needs to have the same subnet as the PLC s IP address. Kollmorgen kdn.kollmorgen.com August

36 AKD PROFINET 8 Creating a New Project Open the Device Configuration screen. (Expand PLC_1 in the Project Tree) Select the Topology View tab. Click on the icon of the AKD-Device. Select the Device View tab. Click on the icon of the AKD-Device (again). Click on Properties. (at the bottom) Click on Ethernet addresses. Enter the IP address that you want to use for the AKD drive. 8.7 Create the Profinet Network Link the AKD device to the Profinet master to establish the Profinet Network (PN/IE). This is done by clicking on the blue Not assigned hyperlink in the AKD device icon and selecting PLC_1.PROFINET interface_1. 36 Kollmorgen kdn.kollmorgen.com August 2017

37 AKD PROFINET 8 Creating a New Project 8.8 Add the Telegram After the Profinet network connection is defined, the appropriate telegram must be added to the AKD-Device. Drag and drop the telegram module from the hardware catalog into the Device Overview, (the possible area highlights in blue under the interface line). The telegram can be found in the Hardware catalog in the category Other field devices -> PROFINET IO -> Drives -> Kollmorgen -> AKD -> Module. Kollmorgen kdn.kollmorgen.com August

38 AKD PROFINET 8 Creating a New Project 38 Kollmorgen kdn.kollmorgen.com August 2017

39 AKD PROFINET 8 Creating a New Project Other telegrams that are supported by the AKD drive and descriptions of the data they contain are listed in the AKD Profinet manual. The cyclic communication function block in the sample project works with Telegram 400, but you can use any of the available telegrams if you create a function block to support it. Telegram 400 consists of the data in telegram 9 plus some additional free mappable bytes. 8.9 Telegram I/O Addresses It is important that the input and output start addresses of the telegram data are set to 256 or greater, otherwise there can be conflicts in communication Compile and Download The project must be compiled and downloaded to the PLC. Select the PLC_1 heading or the Program blocks heading in the project tree. Click the Compile button in the toolbar. Wait for the compile to complete. Click the Download button in the toolbar. Select the PN/IE network and your network hardware and start the search for the PLC. Select the PLC in the search results and click Load. The software will give you some instructions or options prior to downloading (click Load ). Kollmorgen kdn.kollmorgen.com August

40 AKD PROFINET 8 Creating a New Project 40 Kollmorgen kdn.kollmorgen.com August 2017

41 AKD PROFINET 8 Creating a New Project 8.11 Go Online Click the Go Online button on the toolbar to connect to the PLC. When the software is online, you will see the header bars turn orange. There are colored status indicators next to some of the entries in the Project tree and in the Network Overview. These indicators should be green. If the indicators are red, then an error exists. One example of an error that is common is when the drive name has been saved in Workbench, but the drive has not yet been rebooted. The PLC will not recognize the name of the drive and throw and error PLC Project Components At this point, the project is created and the Profinet network is set up, but there is no program. You can start writing the program from scratch, or you can import the project components from the sample project. Import- Kollmorgen kdn.kollmorgen.com August

42 AKD PROFINET 8 Creating a New Project ing from the sample project uses a global library. A global library is a location on your PC that is accessible by any project in TIA Portal. Open the sample project. Click on Libraries. Create a new global library. Drag and drop the following files into the Master copies section of the library. Close the project. Open your new project. Drag and drop each file from the library into the appropriate section of the Project Tree. Compile and download. In order to use the function blocks from the sample project, the necessary files are: FB1 Function block for telegram 400 FB2 Function block for PNU access UDT PLC data type file (maps the FB data to the telegram) Optionally, you can use the ladder program from the sample project. The files are: Main program DB1 Data block for FB1 DB2 Data block for FB2 Tag table 42 Kollmorgen kdn.kollmorgen.com August 2017

43 AKD PROFINET 8 Creating a New Project 8.13 Using Function Blocks in New Ladder Program If you don t want to use the ladder program from the sample project, you can open any ladder program and add the function blocks. When you place a function block into the ladder, the software will prompt you to create a data block associated with that function block. Name it appropriately, so you can identify which function block and axis it is for. Kollmorgen kdn.kollmorgen.com August

44 AKD PROFINET 8 Creating a New Project The inputs and outputs of the function block must be defined. Commonly, tags are used these. You can drag and drop tags from the tag table or select them from the available list for each input and output on the function block. The iid is the hardware submodule identification. This tells the function block which telegram is being used for the AKD-Device Multi-Axis 44 Kollmorgen kdn.kollmorgen.com August 2017

45 AKD PROFINET 8 Creating a New Project The sample project can be easily modified for a multi-axis system containing multiple AKD drives by adding duplicate AKD-Devices, function blocks, data blocks, and tags for each axis. It is important to keep the naming of the function blocks, data blocks, and tags in a convention that is easily understood so it is clear which ones are for which axis. Kollmorgen kdn.kollmorgen.com August

46 About KOLLMORGEN Kollmorgen is a leading provider of motion systems and components for machine builders. Through world-class knowledge in motion, industry-leading quality and deep expertise in linking and integrating standard and custom products, Kollmorgen delivers breakthrough solutions that are unmatched in performance, reliability and easeof-use, giving machine builders an irrefutable marketplace advantage. Join the Kollmorgen Developer Network for product support. Ask the community questions, search the knowledge base for answers, get downloads, and suggest improvements. North America KOLLMORGEN 203A West Rock Road Radford, VA USA Web: Mail: support@kollmorgen.com Tel.: Fax: South America KOLLMORGEN Avenida Tamboré, 1077 Tamboré - Barueri - SP Brasil CEP: Web: Tel.: Europe KOLLMORGEN Europe GmbH Pempelfurtstraße Ratingen Germany Web: Mail: technik@kollmorgen.com Tel.: Fax: China and SEA KOLLMORGEN Room 202, Building 3, Lane 168, Lin Hong Road, Changning District Shanghai Web: Mail: sales.china@kollmorgen.com Tel.: