Kollmorgen Support Network

Networks Supported by KAS, PCMMs, and PDMMs | 30 Mar 2017 | |

Networks Supported by KAS, PCMMs, and PDMMs

The following chart outlines the networks (field buses) supported by the PCMM and PDMM and the key parameters of each.

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 Non-Motion NetworksMotion Networks
CategoryModbus TCP/IPUDPHTTPProfinetEtherNet/IPEtherCAT
Transmission Speed100 Mbits/sec
Deterministic?NoYes
Hardware LayerEthernet Technology
Update Rate20 to 1000 msecdown to 1 msec100 to 200 msecdown to 8 msecdown to 10 msec0.25 to 2.5 msec
Support in IDEDedicated setup screen for mapping dictionary variables to Modbus transmission address.Set of FBs to setup communications and send data in non-string or string format.Setting on Controller Properties in Project view for making all parameters accessible to HTTP link. Can use standard HTTP commands to start and stop a project, and for reading/writing variable values. Dedicated setup screen for mapping dictionary variables to transmission locations.Dedicated setup screen for mapping dictionary variables to transmission locations.FBs for reading/writing parameters to Drives and third-party I/O: DriveParamRead, DriveParamWrite, ECATReadSDO, ECATWriteSDO.
Automatic network setup through scan feature. Screens to setup init and PDO variables. Tools to integrate third-party products. 
Types SupportedSlave OnlySend or ReceiveServer OnlyProfinet IO RT Controller, Profinet IO RT DeviceScanner, Adapter, Tag ClientCoE (CAN Application Protocol Over EtherCAT)  Master
Documentation AvailableYesYesYes, includes examples using C# and C++ programming languagesYesYesYes
Sample Project Available?Yes, on KDNYesYes, on KDNNoYes, on KDNN/A
Transfer Motion?Non-Motion Profile onlyYes
Use with PC-based embedded Controller (Developed in VB, VS, etc, and in C#, C++, etc.)Typically notYesYesTypically notTypically notNo, PDMM is master only
PDMM Connection pointConnector X32Connector X6
IDE Requires Node Config FileNoYes
Typical Mating ProductsCommon for third-party HMI interfacesPC-based ControllerPC-based ControllerTypically used with Siemens PLC-Kollmorgen Drives, Kollmorgen I/O, third-party products

For more detail see the attached document. 

Comments

Submitted by silverwind on Wed, 04/24/2019 - 02:19

Dear  Author cwontrop：
  my devices includes three AKD pdmm and one PCMM.Now, I want to know if i can design a software on PC base on c# or labview to control the PCMM or AKD PDMM. I have find the AKD datasheet ,so can i use the cable from akd X6 into my computer and use my software to control the motor without the PCMM and KAS software? how to setup the connect between PC and AKD PDMM?  
 thanks for your answer.

Submitted by C Wontrop on Wed, 04/24/2019 - 13:33

The PCMM is a controller only product. The AKD PDMM is a combined motion controller and AKD drive. The PCMM or AKD PDMM X6 port is for EtherCAT communications only. The KAS controller, inside the AKD PDMM, is an EtherCAT master that will connect to  Kollmorgen AKD drives , Kollmorgen S700 drives, and Kollmorgen AKT remote IO. Additionally it can connect to third part EtherCAT slave devices. If your PC (and software)  can be an EtherCAT slave then it could possibly also connect to the PCMM  or AKD PCMM EtherCAT connection  via X6.

Other options to connect the PC based C# or Labview  software to the  AKD-PDMM or PCMM would be HTTP, Modbus TCP/IP , or UDP. There is information on these in KDN and in the online  KAS manual:  Welcome to KAS!.website

Submitted by silverwind on Mon, 04/29/2019 - 02:21

I was wrong. I have three AKD drives and one PCMM. Now I can use the KAS software to control these motors. But i think the  KAS software is difficult to control my motors to follow curves which are changed with time. so i want to write a software to control my motors. my software maybe an ethercat master.  and i find that if i use TCP/IP  or udp , I also need to open the kas software . 

Submitted by C Wontrop on Mon, 04/29/2019 - 13:14


If you provide more information on the " curves which are changed with time' ,  I can let you know if the KAS software could meet the performance need. Send to my email address: [email protected]. 
As an alternative, if you write your own  motion SW and place it on an ECAT master  then you can communicate directly with the 3 AKD drives. The ECAT master could then replace the PxMM KAS controller.

Submitted by Moreno on Wed, 06/12/2019 - 12:47

Hello

Normally for my applications I use many WAGO PLC with MODBUS protocol in a network tree.
To improve performance I use UDP MODBUS connection instead of TCP MODBUS connection.

Is possible make UDP MODBUS connection even with PCMM?

How many simultaneous MODBUS connection are permetted with PCMM?
I found the hanswer for AKD but not for PCMM.

Thanks in advance.

Submitted by C Wontrop on Sun, 06/16/2019 - 22:30

 The UDP interface in the PxMM controller does not have a Modbus application layer on top of the UDP. Although perhaps it would be possible to create it with application code? But, this would probably entails a major application software development effort. Let me know if you would like to discuss this further

The PxMM controller, which can only be a Modbus TCP/IP Slave, can communicate with multiple Modbus TCP/IP Masters. The number of Master would depend on the other application needs. Each master will take a slice of CPU power. How many would you like to connect to one PxMM?
 

Submitted by Moreno on Wed, 06/19/2019 - 07:09

Hello

It's the first time I use this device and I don't know its strengths and weaknesses, at the moment the program is only in my head.

At the moment I defined 4 communication channel
- Data pump from an old serial scale (may be I will use an RS232 to EtherCAT gateway)
- PcMM management from the master PanelPC
- I/O sharing with a secondary PanelPC
- I/O sharing with an external PLC WAGO

In any case, the use of the MODBUS protocol is not mandatory even if it is very convenient for me. In the case I will implement UDP communications


 

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C Wontrop