AMK servo info
25 Feb 2011 02:03 - 25 Feb 2011 02:05 #7439
by linuxcnc1
AMK servo info was created by linuxcnc1
AMKASYN
Servo inverter KE/KE and KU
Option card EtherCAT (SoE)
KW-EC1 / KU-EC1
Version:
Part-No.:
2008/16
202080
Notes on this document
Name:
PDK_202080_KUKW_Option_ EC1_en
Purpose:
Option card handling
What has changed:
Version
Change
Topic
Initials
2006/15
First release
Les
2008/16
Entire document
Expansion KU-EC1
Les
2008/39
supplement
Requirement/software
Bls
Further documentation:
-
Target group:
Users and customers
Display conventions:
-
Copyright notice:
. AMK GmbH & Co. KG
Any reproduction, distribution, public dissemination, transfer or any exploitation by any other
means of the contents of this document, without our express consent, is strictly and
unconditionally prohibited . Offenders are liable to the payment of damages. All rights are
reserved in the event of the grant of a patent or the registration of a utility model or design.
Reservation:
We reserve the right to modify the content of the documentation as well as to the delivery
options for the product.
Publisher:
AMK Arnold Müller Antriebs- und Steuerungstechnik GmbH & Co. KG
Gaussstrasse 37 – 39,
73230 Kirchheim/Teck, Germany
Tel.: +49(0)7021/5005-0,
Fax: 07021/5005-176
email: This email address is being protected from spambots. You need JavaScript enabled to view it.
Service:
Tel. no. +49/(0)7021 / 5005-191, Fax -193
Hours: Mo-Fr 7:30–16:30; on weekends and holidays, our Emergency Support telephone
number is provided on our answering machine message.
For fast and reliable troubleshooting, you can help us by informing our Customer Service
about the following:
.
Type plate data for each unit
.
Software version
.
Device configuration and application
.
Type of fault/problem and suspected cause
.
Diagnostic messages (error numbers)
Internet address:
www.amk-antriebe.de
Content
1 Product description 4
1.1 Product name 4
1.2 Ordering data 4
1.3 Requirement 4
1.4 Product overview 4
1.5 Intended Use 5
2 Connector technology 6
2.1 Front panel of device 6
2.2 Interfaces 6
2.2.1 Light-emitting diodes 6
2.3 Cable properties 7
3 Assembly 8
3.1 Specific safety instructions for personal protection 8
3.2 Notes on how to prevent material damage: 8
3.3 Installation location and position 9
3.4 Installation and Tools 9
4 Startup 11
4.1 Configuration file (XML Device Description File) 11
4.2 Configuration 11
4.3 Bus device address 11
4.3.1 Set node addresses using rotary code switches S1 and S2 11
4.3.2 Set node address using parameter to ID34023 11
1 Product description
1.1 Product name
Picture name: ZCH_KUKW-EC1_Produktbezeichnung.png
1.2 Ordering data
Product name
Ordering
data
Use
KW-EC1
O804
New applications together with an AMK
EtherCAT Master (e.g., AS PL15) or external
controller
KU-EC1
O796
KW-EC1
O753
Replacement card for existing applications
with EtherCAT as master external controller
1.3 Requirement
Device
Hardware
Software
KU
Controller card KU-R03 with version ≥ 2.03
AER3_312_0620_201300
KW
Controller card KW-R03 with version ≥ 2.03
AER3_512_0620_201330
1.4 Product overview
The EtherCAT option card allows for communication between an EtherCAT master and slave (KW module or KU unit). These
units use "Servo Drive Profile over EtherCAT (SoE)" (IEC 61491) as the communication protocol.
AMK conforms to the following compatibility classes:
.
Class B position control, speed control and torque control
.
Class C
.
Communication cycle time min. 0.5 ms, range 2 (in steps of 0.5 ms)
Additional functions:
.
Actual position value for slave
.
Parameter set switching
.
Calliper cycle level 1 (one calliper)
.
Torque threshold Mdx
.
Spindle positioning (only absolute positioning ID153)
.
External encoder
Note:
The EtherCAT Master in use must support "Distributed Clock" functionality and the "Servo Drive Profile over
EtherCAT (SoE)" protocol
Function gateway
For AMK modules not directly accessed via EtherCAT (e.g., KE, IDT ...), you can use the LKU-/ KW-EC1 option card as the
gateway. To do this, a KW or KU unit with KU-/ KW-EC1 is used as the gateway device. The gateway device establishes a
direct data connection between the EtherCAT and ACC BUS using the "routing" mechanism.
Principal device configuration:
Picture name: ZCH_Routing_Ablauf
The EtherCAT master writes the address of the ACC BUS device to be accessed into the "ID32944 SYADR" gateway
parameter. All subsequent parameter accesses are forwarded to the corresponding slave (routing).
When a patch cable is plugged in, the green LED next to the RJ45 connectors remain lit to indicate that a patch cable has been
plugged in. While data is being transferred, the LED begins to flash.
The LEDs above the rotary code switch flash in different sequences to indicate the status of the manual addressing or the type
of error on the EtherCAT state machine.
Process data is mapped the same way as in the SERCOS interface using ID numbers ID15, ID16 und ID24.
1.5 Intended Use
The KU-EC1 and KW-EC1 option cards are designed for inverter modules KU or KW and provide them with an EtherCAT slave
interface.
The KW-EC1 can be installed in slot 1 or 2 in the compact inverter.
The KU-EC1 is only conceived for use in slot 2 of the compact inverter KU.
2 Connector technology
2.1 Front panel of device
Picture name: ZCH_KEKW_KW-EC1_Frontblatte
2.2 Interfaces
2.2.1 Light-emitting diodes
The option card contains 6 LEDs, 4 of which are active and indicate the status of the network, master and slave.
H3 green LED indicator for status of EtherCAT State Machine (ESM)
Colour
Status
Explanation
Off
Init
The EtherCAT bus is initialised as soon as power is supplied to the electronics of the device.
Flashing
f=2.5Hz;
Ton=Toff
200ms
Preoperational
It is possible to configure the IDs using the demand data transfer feature.
Cyclical
flashing
Ton= 200
ms
Toff= 1000
ms
Safe Operational
Data transferred from the slave is processed further and data transferred from the master is
ignored. The drive can now synchronise.
On
Operational
Fault-free operation Data can be exchanged.
H3 red LED indicator for error status in EtherCAT State Machine (ESM)
Colour
Status
Definition
Example
Off
No Error
The EtherCAT communication status is indicated when
LED H3 is green
-
Cyclical
flashing
Ton= 200
ms
Toff= 200
ms
Invalid
Configuration
General configuration fault
It is not permitted to command the status
change from the master due to the
registry and object settings.
Cyclical
flashing
Ton= 200
ms
Toff=
1000 ms
Unsolicited
State Change
State change has not been requested
The slave unit has changed its own EtherCAT status.
Parameter change in AL (application layer), status
registry is set to 0x01: change/error.
Synchronisation fault, unit switches
automatically to safe operating mode
H4/ H5 LED indicator for physical link (Link) / data transfer (Activity)
The greed LED on the RJ-45 connector indicates that the physical address exists or that data is being transferred.
The following condition of the LED indicates the respective status.
Colour
Status
Explanation
Green
Link
Connection established, no data transfer
Flickering at f=10Hz
Ton=Toff = 50ms
Link and Activity
Connection established, data transfer underway
Off
Off
No connection, no data transfer
2.3 Cable properties
Terminal
X85
Designation
EtherCAT input (connection to EtherCAT master or previous node X86
Cable type
Patch cable in category CAT5e with RJ45 category
Note
Maximum line length of EtherCAT network is 100m
Terminal
X86
Designation
EtherCAT output (connection to next node X85
Cable type
Patch cable in category CAT5e with RJ45 category
Note
Maximum line length of EtherCAT network is 100m
3 Assembly
3.1 Specific safety instructions for personal protection
Electrical hazard
The electrical terminals and connectors are electrically live and can be lethal when contacted.
Hazard prevention measures:
Before working on the device, be sure to open all power feeds using the main switch and secure them
against being switched on again. Before beginning work on the modules, allow them to discharge for
at least 3 minutes! Measure the terminal voltages to determine whether the terminal is de-energised
or not. For instance, you can measure the voltage of the intermediate circuit between the UZP and
UZN terminals.
3.2 Notes on how to prevent material damage:
Caution
Static discharge can destroy components!
Avoid touching the electrical connections and contacts on the soldering and component side of the
electronic modules (e.g., option cards, controller cards), because static discharge can destroy the
components.
Hazard prevention measures:
Before handling the electronic component, you need to cause a static discharge by touching the PE.
3.3 Installation location and position
KU: The KU-EC1 may only be installed in slot 2 (bottom) of the KU controller card.
KW: The KW-EC1 can be installed in slot 1 or 2 of the KW controller card.
Picture name: KW-EC1_R03_Frontblende
3.4 Installation and Tools
1. Make sure that the drive system is disconnected from the grid and de-energised. (wait for discharge time of at least 3
minutes)
2. Disconnect the blind panel at the chosen slot by removing the two collar screws using a slotted head (Phillips)
screwdriver.
3. If available, remove the collar screws from the left side of the option card in the other slot.
4. Remove the two collar screws from the right side of the front panel of the controller card and carefully remove the card.
Place the controller card on a non-conducting, cushioned surface. Otherwise, static discharge may damage the electrical
components.
5. Press the two lockable plastic standoff pillars into the corresponding holes on the controller card (assigned to slop 1 or
2).
6. Plug in the BUS connector until the side containing the longer pins is deep inside the slotted plugs of the option card and
the BUS connector pins are flush with the socket plugs on the top.
7. Take the BUS connector on the option card with the short pins and press it into the corresponding socket connector on
the controller card. At the same time, press the standoff pillar into the holes of the option card until they snap into place.
Figure name: KEKW_AE-EC1
8. Carefully slide the controller card together with the option card into the card slot until the controller card is firmly
positioned in the mating connector.
9. Tighten the collar screws of the controller card and the option card(s).
4 Startup
4.1 Configuration file (XML Device Description File)
The EtherCAT master configures the EtherCAT slaves. To do this, you must make an "EtherCAT XML Device Description File“
available for each slave in the AMK master and this has to be stored in the master software.
The device description file also contains the distributed clock (DC) settings. The settings for the distributed clock are used to
synchronise the EtherCAT slaves.
4.2 Configuration
No special parameters are required to operate the option card. All settings are made internally using the automatic card
detection.
The communication parameters can be configured by the master during startup.
During this procedure, the following parameters are written by the master:
ID1
NC cycle time
Task configuration master
ID2
SERCOS cycle time
Task configuration master
ID15
Telegram type
Process data configuration master
ID16
List AT
Process data configuration master
ID24
List MDT
Process data configuration master
Note:
The EtherCAT Master cycle time must be identical to the SERCOS cycle time ID2 and the NC cycle time ID1. If
this is not the case, the times are automatically overwritten by the EtherCAT master. (Reboot necessary for AMK
system / error message 2576 info 27 is issued.)
Note:
If you are using an additional ACC bus master, do not select the hardware synchronization cycle (ID34026 bit3).
4.3 Bus device address
4.3.1 Set node addresses using rotary code switches S1 and S2
If the device addresses are to be set using rotary code switches S1 and S2, this hast to be activated in the configuration
program of the EtherCAT master controller.
S1: Low Nipple (hex)
S2: High Nibble (hex)
If rotary code switch is deactivated (Deactivation performed in master ) if addresses are distributed from EtherCAT master.
4.3.2 Set node address using parameter to ID34023
To use the node address in parameter ID34023, 00hex must be entered using the rotary code switch. (must be activated in
EtherCAT master)
Note:
If the address has been activated using the master, the rotary code switches and any settings in the ID34023 will
be ignored.
AMK Arnold Müller GmbH & Co. KG
Antriebs- und Steuerungstechnik
Gau.strasse 37-39
73230 Kirchheim/Teck
DEUTSCHLAND
Telefon: +49 (0) 70 21 / 50 05-0
Telefax: +49 (0) 70 21 / 50 05-199
This email address is being protected from spambots. You need JavaScript enabled to view it.
www.amk-antriebe.de
Servo inverter KE/KE and KU
Option card EtherCAT (SoE)
KW-EC1 / KU-EC1
Version:
Part-No.:
2008/16
202080
Notes on this document
Name:
PDK_202080_KUKW_Option_ EC1_en
Purpose:
Option card handling
What has changed:
Version
Change
Topic
Initials
2006/15
First release
Les
2008/16
Entire document
Expansion KU-EC1
Les
2008/39
supplement
Requirement/software
Bls
Further documentation:
-
Target group:
Users and customers
Display conventions:
-
Copyright notice:
. AMK GmbH & Co. KG
Any reproduction, distribution, public dissemination, transfer or any exploitation by any other
means of the contents of this document, without our express consent, is strictly and
unconditionally prohibited . Offenders are liable to the payment of damages. All rights are
reserved in the event of the grant of a patent or the registration of a utility model or design.
Reservation:
We reserve the right to modify the content of the documentation as well as to the delivery
options for the product.
Publisher:
AMK Arnold Müller Antriebs- und Steuerungstechnik GmbH & Co. KG
Gaussstrasse 37 – 39,
73230 Kirchheim/Teck, Germany
Tel.: +49(0)7021/5005-0,
Fax: 07021/5005-176
email: This email address is being protected from spambots. You need JavaScript enabled to view it.
Service:
Tel. no. +49/(0)7021 / 5005-191, Fax -193
Hours: Mo-Fr 7:30–16:30; on weekends and holidays, our Emergency Support telephone
number is provided on our answering machine message.
For fast and reliable troubleshooting, you can help us by informing our Customer Service
about the following:
.
Type plate data for each unit
.
Software version
.
Device configuration and application
.
Type of fault/problem and suspected cause
.
Diagnostic messages (error numbers)
Internet address:
www.amk-antriebe.de
Content
1 Product description 4
1.1 Product name 4
1.2 Ordering data 4
1.3 Requirement 4
1.4 Product overview 4
1.5 Intended Use 5
2 Connector technology 6
2.1 Front panel of device 6
2.2 Interfaces 6
2.2.1 Light-emitting diodes 6
2.3 Cable properties 7
3 Assembly 8
3.1 Specific safety instructions for personal protection 8
3.2 Notes on how to prevent material damage: 8
3.3 Installation location and position 9
3.4 Installation and Tools 9
4 Startup 11
4.1 Configuration file (XML Device Description File) 11
4.2 Configuration 11
4.3 Bus device address 11
4.3.1 Set node addresses using rotary code switches S1 and S2 11
4.3.2 Set node address using parameter to ID34023 11
1 Product description
1.1 Product name
Picture name: ZCH_KUKW-EC1_Produktbezeichnung.png
1.2 Ordering data
Product name
Ordering
data
Use
KW-EC1
O804
New applications together with an AMK
EtherCAT Master (e.g., AS PL15) or external
controller
KU-EC1
O796
KW-EC1
O753
Replacement card for existing applications
with EtherCAT as master external controller
1.3 Requirement
Device
Hardware
Software
KU
Controller card KU-R03 with version ≥ 2.03
AER3_312_0620_201300
KW
Controller card KW-R03 with version ≥ 2.03
AER3_512_0620_201330
1.4 Product overview
The EtherCAT option card allows for communication between an EtherCAT master and slave (KW module or KU unit). These
units use "Servo Drive Profile over EtherCAT (SoE)" (IEC 61491) as the communication protocol.
AMK conforms to the following compatibility classes:
.
Class B position control, speed control and torque control
.
Class C
.
Communication cycle time min. 0.5 ms, range 2 (in steps of 0.5 ms)
Additional functions:
.
Actual position value for slave
.
Parameter set switching
.
Calliper cycle level 1 (one calliper)
.
Torque threshold Mdx
.
Spindle positioning (only absolute positioning ID153)
.
External encoder
Note:
The EtherCAT Master in use must support "Distributed Clock" functionality and the "Servo Drive Profile over
EtherCAT (SoE)" protocol
Function gateway
For AMK modules not directly accessed via EtherCAT (e.g., KE, IDT ...), you can use the LKU-/ KW-EC1 option card as the
gateway. To do this, a KW or KU unit with KU-/ KW-EC1 is used as the gateway device. The gateway device establishes a
direct data connection between the EtherCAT and ACC BUS using the "routing" mechanism.
Principal device configuration:
Picture name: ZCH_Routing_Ablauf
The EtherCAT master writes the address of the ACC BUS device to be accessed into the "ID32944 SYADR" gateway
parameter. All subsequent parameter accesses are forwarded to the corresponding slave (routing).
When a patch cable is plugged in, the green LED next to the RJ45 connectors remain lit to indicate that a patch cable has been
plugged in. While data is being transferred, the LED begins to flash.
The LEDs above the rotary code switch flash in different sequences to indicate the status of the manual addressing or the type
of error on the EtherCAT state machine.
Process data is mapped the same way as in the SERCOS interface using ID numbers ID15, ID16 und ID24.
1.5 Intended Use
The KU-EC1 and KW-EC1 option cards are designed for inverter modules KU or KW and provide them with an EtherCAT slave
interface.
The KW-EC1 can be installed in slot 1 or 2 in the compact inverter.
The KU-EC1 is only conceived for use in slot 2 of the compact inverter KU.
2 Connector technology
2.1 Front panel of device
Picture name: ZCH_KEKW_KW-EC1_Frontblatte
2.2 Interfaces
2.2.1 Light-emitting diodes
The option card contains 6 LEDs, 4 of which are active and indicate the status of the network, master and slave.
H3 green LED indicator for status of EtherCAT State Machine (ESM)
Colour
Status
Explanation
Off
Init
The EtherCAT bus is initialised as soon as power is supplied to the electronics of the device.
Flashing
f=2.5Hz;
Ton=Toff
200ms
Preoperational
It is possible to configure the IDs using the demand data transfer feature.
Cyclical
flashing
Ton= 200
ms
Toff= 1000
ms
Safe Operational
Data transferred from the slave is processed further and data transferred from the master is
ignored. The drive can now synchronise.
On
Operational
Fault-free operation Data can be exchanged.
H3 red LED indicator for error status in EtherCAT State Machine (ESM)
Colour
Status
Definition
Example
Off
No Error
The EtherCAT communication status is indicated when
LED H3 is green
-
Cyclical
flashing
Ton= 200
ms
Toff= 200
ms
Invalid
Configuration
General configuration fault
It is not permitted to command the status
change from the master due to the
registry and object settings.
Cyclical
flashing
Ton= 200
ms
Toff=
1000 ms
Unsolicited
State Change
State change has not been requested
The slave unit has changed its own EtherCAT status.
Parameter change in AL (application layer), status
registry is set to 0x01: change/error.
Synchronisation fault, unit switches
automatically to safe operating mode
H4/ H5 LED indicator for physical link (Link) / data transfer (Activity)
The greed LED on the RJ-45 connector indicates that the physical address exists or that data is being transferred.
The following condition of the LED indicates the respective status.
Colour
Status
Explanation
Green
Link
Connection established, no data transfer
Flickering at f=10Hz
Ton=Toff = 50ms
Link and Activity
Connection established, data transfer underway
Off
Off
No connection, no data transfer
2.3 Cable properties
Terminal
X85
Designation
EtherCAT input (connection to EtherCAT master or previous node X86
Cable type
Patch cable in category CAT5e with RJ45 category
Note
Maximum line length of EtherCAT network is 100m
Terminal
X86
Designation
EtherCAT output (connection to next node X85
Cable type
Patch cable in category CAT5e with RJ45 category
Note
Maximum line length of EtherCAT network is 100m
3 Assembly
3.1 Specific safety instructions for personal protection
Electrical hazard
The electrical terminals and connectors are electrically live and can be lethal when contacted.
Hazard prevention measures:
Before working on the device, be sure to open all power feeds using the main switch and secure them
against being switched on again. Before beginning work on the modules, allow them to discharge for
at least 3 minutes! Measure the terminal voltages to determine whether the terminal is de-energised
or not. For instance, you can measure the voltage of the intermediate circuit between the UZP and
UZN terminals.
3.2 Notes on how to prevent material damage:
Caution
Static discharge can destroy components!
Avoid touching the electrical connections and contacts on the soldering and component side of the
electronic modules (e.g., option cards, controller cards), because static discharge can destroy the
components.
Hazard prevention measures:
Before handling the electronic component, you need to cause a static discharge by touching the PE.
3.3 Installation location and position
KU: The KU-EC1 may only be installed in slot 2 (bottom) of the KU controller card.
KW: The KW-EC1 can be installed in slot 1 or 2 of the KW controller card.
Picture name: KW-EC1_R03_Frontblende
3.4 Installation and Tools
1. Make sure that the drive system is disconnected from the grid and de-energised. (wait for discharge time of at least 3
minutes)
2. Disconnect the blind panel at the chosen slot by removing the two collar screws using a slotted head (Phillips)
screwdriver.
3. If available, remove the collar screws from the left side of the option card in the other slot.
4. Remove the two collar screws from the right side of the front panel of the controller card and carefully remove the card.
Place the controller card on a non-conducting, cushioned surface. Otherwise, static discharge may damage the electrical
components.
5. Press the two lockable plastic standoff pillars into the corresponding holes on the controller card (assigned to slop 1 or
2).
6. Plug in the BUS connector until the side containing the longer pins is deep inside the slotted plugs of the option card and
the BUS connector pins are flush with the socket plugs on the top.
7. Take the BUS connector on the option card with the short pins and press it into the corresponding socket connector on
the controller card. At the same time, press the standoff pillar into the holes of the option card until they snap into place.
Figure name: KEKW_AE-EC1
8. Carefully slide the controller card together with the option card into the card slot until the controller card is firmly
positioned in the mating connector.
9. Tighten the collar screws of the controller card and the option card(s).
4 Startup
4.1 Configuration file (XML Device Description File)
The EtherCAT master configures the EtherCAT slaves. To do this, you must make an "EtherCAT XML Device Description File“
available for each slave in the AMK master and this has to be stored in the master software.
The device description file also contains the distributed clock (DC) settings. The settings for the distributed clock are used to
synchronise the EtherCAT slaves.
4.2 Configuration
No special parameters are required to operate the option card. All settings are made internally using the automatic card
detection.
The communication parameters can be configured by the master during startup.
During this procedure, the following parameters are written by the master:
ID1
NC cycle time
Task configuration master
ID2
SERCOS cycle time
Task configuration master
ID15
Telegram type
Process data configuration master
ID16
List AT
Process data configuration master
ID24
List MDT
Process data configuration master
Note:
The EtherCAT Master cycle time must be identical to the SERCOS cycle time ID2 and the NC cycle time ID1. If
this is not the case, the times are automatically overwritten by the EtherCAT master. (Reboot necessary for AMK
system / error message 2576 info 27 is issued.)
Note:
If you are using an additional ACC bus master, do not select the hardware synchronization cycle (ID34026 bit3).
4.3 Bus device address
4.3.1 Set node addresses using rotary code switches S1 and S2
If the device addresses are to be set using rotary code switches S1 and S2, this hast to be activated in the configuration
program of the EtherCAT master controller.
S1: Low Nipple (hex)
S2: High Nibble (hex)
If rotary code switch is deactivated (Deactivation performed in master ) if addresses are distributed from EtherCAT master.
4.3.2 Set node address using parameter to ID34023
To use the node address in parameter ID34023, 00hex must be entered using the rotary code switch. (must be activated in
EtherCAT master)
Note:
If the address has been activated using the master, the rotary code switches and any settings in the ID34023 will
be ignored.
AMK Arnold Müller GmbH & Co. KG
Antriebs- und Steuerungstechnik
Gau.strasse 37-39
73230 Kirchheim/Teck
DEUTSCHLAND
Telefon: +49 (0) 70 21 / 50 05-0
Telefax: +49 (0) 70 21 / 50 05-199
This email address is being protected from spambots. You need JavaScript enabled to view it.
www.amk-antriebe.de
Last edit: 25 Feb 2011 02:05 by linuxcnc1.
Please Log in or Create an account to join the conversation.
Time to create page: 0.568 seconds