Table Of Contents - Kollmorgen AKD Series Manual

1 Table of Contents

1 Table of Contents
2 About this Manual
3 Overview
4 AKD EtherNet/IP Features
4.1 Supported Features
4.2 Expected Packet Rate
4.3 Connection Port
4.4 Network Topology
5 Setup
5.1 Setting an IP Address in the Drive
5.2 Controller Setup
5.3 Setting Expected Packet Rate in the Controller
6 Communication Profile
6.1 Explicit Messaging (on-demand)
6.1.1 Supported Services
6.1.2 Supported Objects
6.1.3 Data Types
6.1.4 Error Codes
6.2 I/O Assembly Messaging (cyclic)
6.2.1 Controller Configuration
6.2.2 Command Assemblies
6.2.2.1 Command Assembly Data Structure
6.2.2.2 Control Word
6.2.2.3 Command Type 0x05 - Torque
6.2.2.4 Command Type 0x06 - Position Move
6.2.2.5 Command Type 0x07 - Jog Move
6.2.2.6 Command Type 0x1B - Set Attribute of Position Controller Object
6.2.2.7 Command Type 0x1F - Read or Write Parameter Value
6.2.2.8 Get Attribute
6.2.3 Response Assemblies
6.2.3.1 Response Assemly Data Structure
6.2.3.2 Status Word 1
6.2.3.3 Status Word 2
6.2.3.4 Response Type 0x05 - Actual Torque
6.2.3.5 Response Type 0x14 - Command/Response Error
6.2.4 Data Handshake
6.3 Velocity Mode
6.3.1 Setup Velocity Mode
6.3.2 Velocity Moves
6.4 Position Mode
6.4.1 Setup Position Mode
6.4.2 Homing
6.4.3 Position Moves (point to point)
6.4.4 Running a Stored Motion Task Sequence
Ethernet/IP Communications | 1 Table of Contents
Kollmorgen | December 2014
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