Sending Ethernet/IP command to a Kollmorgen drive

Hello,

Now, we have never had this kind of mapping to do in our project and we are unsure of how these signals should be mapped in the IRC5 controller.

Let's take for example that I want to send a torque command to one of my drives, could someone enlighten me on how this can be done?

Thank you,

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Charles-David Robitaille
July 29, 2024 12:11

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Hello, we have succeeded and we consider it relevant to publish the information here.

In the initialization phase, byte 2, byte 4 and byte 24 must be respectively at 1B, 3 and 2. This corresponds to bits 16-23, 32-39 and 192-199. In addition, values like 1B are in hexadecimal; for our controller, we preferred to use decimals. 1B is converted to 27.

With bit 0, we apply the parameters. When we look in the Kollmorgen WorkBench, we see that we are indeed in Torque Mode and FieldBus.

Then, we put byte 24 and byte 4 back to 0, we initialize byte 2 to 5 to define the type of command that will follow. Then, with bytes 4-5, or bits 32-47, we define the desired current value in milliamps. To execute the command, bit 7 must be at 1, then bit 0 must be turned on.

Note that commands can only be positive. In our case, in order to be able to open and close our actuator, we used an offset on the current loop.

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