Control Word; Command Type 0X05 - Torque; Command Type 0X06 - Position Move - Kollmorgen AKD Series Manual

Ethernet/IP Communications | 6 Communication Profile
Byte Data
34- Reserved
35
36- Command
63 Dynamic Map
*Least significant byte first for all data fields

6.2.2.2 Control Word

Byte Bit 7 Bit 6
0 Enable Reserved Hard Stop Smooth Stop Direction Relative Start Block Load/Start
Enable: Setting this bit enables the amplifier.
Hard Stop: Setting this bit causes the amplifier to execute a Controlled Stop. The Enable bit must be cleared
and reset in order to enable motion again.
Smooth Stop: Setting this bit causes the amplifier to decelerate to a stop.
Direction: This bit is used only in velocity mode. Positive direction=1 and negative
direction=0.
Relative: This bit is used in only in position mode. This bit indicates whether a move executed with Com-
mand Type 1 (Target Position) or 6 (Position Move) should be absolute (0) or incremental (1).
Start Block: Executes a Motion Task sequence previously generated and stored in the drive. Put the starting
block number in the Block Number field (byte 1) and transition this bit high (1). The Load/Start flag must be
zero (0) while transitioning Start Block.
Load/Start: This bit is used for data handshaking between the controller and amplifier.
To transmit a command to the amplifier, set the Command Type and load data into the data fields, then toggle
Load/Start high. The amplifier will accept data only when Load/Start transitions from 0 to 1.
If the command type matches the operating mode (Target Position or Position Move in position mode, Target
Velocity or Jog in velocity mode, Torque in torque mode), the amplifier will start motion when the data is
loaded.
When the data has been loaded successfully, the amplifier will set the Load Complete response flag high.

6.2.2.3 Command Type 0x05 - Torque

This command type is used to change the target torque. This can only be used in torque mode. Motion will
begin as soon as the value is loaded.
Put drive in torque mode by sending a message to Position Controller class 0x25, Instance 1, Attribute
l
3 Operation Mode.
Load the desired torque value in bytes 4-7.
l
Set the Load/Start bit to begin the move.
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Torque values are in milliamps [mA].

6.2.2.4 Command Type 0x06 - Position Move

This command type is used to start a trajectory (Position mode only) of the specified distance, velocity, accel-
eration and deceleration. Since all command values are sent to the drive in a single assembly, this is the pre-
ferred way
The trajectory can be absolute or relative, depending on the value of the Relative bit. The move will begin as
soon as the command is loaded.
The position move is loaded into Motion Task 0 and can be viewed within Workbench.
Put drive in position mode by sending a message to Position Controller class 0x25, Instance 1, Attrib-
l
ute 3 Operation Mode.
12 Kollmorgen | December 2014
Comment
See EIP.CMDMAP (➜ p. 29) .
Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0