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This article discusses AKD EtherCAT scaling for velocity, acceleration, and deceleration commands and actual velocity.  For the position modes, FBUS.PARAM05 applies to position scaling and the scaling for velocity, acceleration, and deceleration.

PP = Profile Position
IP = Interpolated Position
CSP = Cyclic Synchronous Position
PV = Profile Velocity

PN.ACCSCALING sets the scaling factor for acceleration rates related to PROFINET motion commands.

The AKD PROFINET manual states that it applies to Jog Acc (PNU 1006), Jog Dec (PNU 1007), DRV_ACC (Telegram Signal 108), and DRV_DEC (Telegram Signal 109), and no other parameters.

However, it also applies to MDI_ACC (Telegram Signal 36), and MDI_DEC (Telegram Signal 37) for use in Telegrams 9 and 400.

The following summarizes the 2 types of torque scalings for AKD1G EtherCAT and CANopen.

See the attached document for a full application note.

Scaling

Profile Torque

AKD EtherCAT and CANopen Torque Scaling

Velocity Scaling

AKD EtherCAT Scaling for Velocity, Acceleration, Deceleration

Position Scaling (in multiple modes of operation ) 

Below is a sample of a new project that has been opened in KAS/Win10. Some descriptions are cut off.

image

One solution:

  • “Pin” the Kollmorgen IDE to the start menu
  • Used a right mouse click over the IDE icon, then left mouse click on Properties as shown below

image

This article outlines setting up a digitizing axis (secondary external encoder) or encoder master in a PxMM controller application that is using the PLCopen motion engine. The encoder input port is: AKD connector X9.

Acceptable formats for the master signal are:

   image 

Step 1

In the IDE Project setup a new  Axis for the secondary external encoder:

          Type : Digitizing

I have attached two screen shots of typical CoE (CanOpen over EtherCAT) mapping for position control using 0x6060 Interpolated position mode (7).  scale is set by FBUS.PSCALE in units of the power of 2.  Default is 2^20 counts/rev of the motor.

This article demonstrates how the AKD Motion Tasking and AKD BASIC drives differ in units and position scaling.

This document demonstrates how to program the AKI HMI and AKD-T ( BASIC ) to  enter ( or view ) decimal values on the AKI screen and how scaling works in the AKI and AKD BASIC drive.

This article discusses AKD EtherCAT scaling for Position command and Actual Position

PP = Profile Position

IP = Interpolated Position

CSP = Cyclic Synchronous Position

 

You have two choices for defining the position scaling for EtherCAT:

Option A: Specify the scaling based on user unit via AKD parameters (Workbench)

Option B: Specify the scaling via DS402  objects for Feed Constant and Gear Ratio (CAN/EtherCAT)

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