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The following is based on what was learned and worked through phone and WebEx support. The conventions in this application note cannot be guaranteed to work with your hardware model or software version. We cannot supply a sample HMI project.

The General MODBUS TCP Master is selected for the driver and the target AKD IP Address is selected. This will need to match your target drive’s IP address. Port No. 502 is the standard port# for Modbus TCP.

When using torque mode in an AKD Basic program, you must set DRV.CMDSOURCE=0 (Service) and DRV.OPMODE = 0 (Torque) in the program.

If the program executes an IL.CMDU command while DRV.CMDSOURCE=5, it will throw an F825 Runtime error. The runtime error message says that DRV.CMDSOURCE must be set to 5. This is normal for position control, but for torque control it must be set to zero. The Basic program will continue to run even after the command source changes to Service mode.

Note: I don’t have EzWare Plus software or the HMI and no specifics on software revisions or HMI hardware revisions or models. I have no sample project.

The following is based on what worked and was learned through support.

If a data field is declared as 32 bit in the Maple and you are trying to read an AKD parameter or AKD BASIC variable, the Maple needs an offset of 1 from the WB Help starting address and also word swapping.

For example in the AKD BASIC program

When using torque mode in an AKD Basic program, you must set DRV.CMDSOURCE=0 (Service) in the program.

If the program executes an IL.CMDU command while DRV.CMDSOURCE=5, it will throw an F825 Runtime error.  The runtime error message says that DRV.CMDSOURCE must be set to 5.  This is normal for position control, but for torque control it must be set to zero.  The Basic program will continue to run even after the command source changes to Service mode.

File Description: 
WorkBench is a Graphical User Interface that allows configuration from different Kollmorgen devices. Includes standard installer: the application with complete help files. The .NET Framework is downloaded from internet if not already installed. For more information regarding features, see the AKD WorkBench Release Notes
Language: 
Portuguese, Brazil
Release: 
1.16
Release Date: 
Thursday, April 20, 2017
File Description: 
WorkBench is a Graphical User Interface that allows configuration from different Kollmorgen devices. Includes full installer: the application with complete help files and the .NET Framework required by the application. For more information regarding features, see the AKD WorkBench Release Notes.
Language: 
Portuguese, Brazil
Release: 
1.16
Release Date: 
Thursday, April 20, 2017
Function Operation Mode ISO  13849-1 IEC 61508-2 PFH [1/h] TM [Years] SFF [%]
STO single channel PL d, CAT 2 SIL 2 1.88E-07 20 89
STO dual channel PL d, CAT 3 SIL 2 5.64E-09 20 87
STO dual channel with periodical testing PL d, CAT 4 SIL 3 5.64E-09 20 87

First to review what F402 means:

Analog signal amplitude is too low. Analog fault (resolver signal amplitude or sin/cos amplitude)

To troubleshoot:

Check primary feedback (X10 connection), resolver and sine/cos encoder only.

Then next is to SCOPE the signals and see EXACTLY what the issue is!  You can scope both analog input channels or alternatively scope the sum of the two.

See downloadable PDF for procedures.

Hi, I am currently using the AKD-T00306-NBAN drive and using the output pulse signal from port X9, pins 7 and 8 for channel zero, as a RPM reader. After swapping out the drive, the counter will work with no change to wiring or power supply.

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