Command Type 0X07 - Jog Move; Command Type 0X1B - Set Attribute Of Position Controller Object; Command Type 0X1F - Read Or Write Parameter Value; Get Attribute - Kollmorgen AKD Series Manual

Load Target Position, Velocity, Acceleration and Deceleration into bytes 8-23 (see Data Structure sec-
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tion).
Set the Load/Start bit to begin the move.
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Position values are scaled according to EIP.POSUNIT. Velocity and acceleration values are scaled accord-
ing to EIP.PROFUNIT.

6.2.2.5 Command Type 0x07 - Jog Move

This command type is used to change the target velocity, acceleration and deceleration in velocity and pos-
ition mode. The Direction bit sets the desired direction. The move will begin as soon as the target velocity is
loaded.
Put drive in velocity mode by sending a message to Position Controller class 0x25, Instance 1, Attrib-
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ute 3 Operation Mode.
Load Target Velocity, Acceleration and Deceleration into bytes 12-23 (see Data Structure section).
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Set the Load/Start bit to begin the move.
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Velocity and acceleration values are scaled according to EIP.PROFUNIT.
In position mode, a Jog Move may be blended into a Position Move.

6.2.2.6 Command Type 0x1B - Set Attribute of Position Controller Object

This command type is used to set a value in the Position Controller object, such as for configuring and trig-
gering a home move. See the Drive Objects chapter for a listing of available attributes in this object.
Set Command Type to 0x1B
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Load the Attribute number which you wish to set into bytes 4-5 (first half of the Data field, least sig-
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nificant byte first).
Load the desired value into bytes 24-31 Parameter/Attribute Data (see Data Structure section).
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Set the Load/Start bit to set the value in the drive.
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6.2.2.7 Command Type 0x1F - Read or Write Parameter Value

This command type is used to configure or read any parameter in the drive. See Appendix B for a listing of
parameter indexes, data types, and scaling.
Use this command to either read or write the desired parameter. Byte 6 is used to determine whether this is a
read or write command.
Some parameters can take a very long time to execute. When the command has completed, the Load Com-
plete status bit will be set in the response, or else an Error Response Assembly will be returned.
Set Command Type to 0x1F
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Load the parameter Index which you wish to access into bytes 4-5 (first half of the Data field, least sig-
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nificant byte first).
Set byte 6 according to whether you wish to read or write the parameter. 0=read, 1=write.
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If writing a parameter, load the desired value into bytes 24-31 Parameter/Attribute Data.
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Set the Load/Start bit to execute the command.
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If reading a parameter, the value will be returned in bytes 24-31 of the response.
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6.2.2.8 Get Attribute

Get Attribute field operates differently from the Command Types listed above, as it does not make use of the
Command Type field or require Load/Start to be set.
To read an attribute of the Position Controller in each cycle, just set byte 32 Attribute to Get to the desired
attribute number. The data will be returned in each response assembly in bytes 24-31 Parameter Data with
the Attribute to Get mirrored in byte 32 of the response.
Note: Attribute to Get and Command Type 0x1F Read Parameter Value both use bytes 24-31 of the response
assembly. When using command 0x1F to read a parameter, set the Attribute to Get field to 0.
Ethernet/IP Communications | 6 Communication Profile
Kollmorgen | December 2014 13