Communication Profile; Explicit Messaging (On-Demand); Supported Services; Supported Objects - Kollmorgen AKD Series Manual

6 Communication Profile

6.1 Explicit Messaging (on-demand)

Typically, Explicit Messages are used to configure the amplifier and setup drive parameters. Explicit Mes-
sages allow you to access a single parameter value at a time. The desired parameter is selected by spe-
cifying the class object number, instance number and attribute number in an explicit message.
See chapter 2, "Overview" for an overview of Explicit versus IO Assembly messaging.

6.1.1 Supported Services

0x10 – Write Value
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0x0E – Read Value
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6.1.2 Supported Objects

AKD supports a number of standard and vendor-specific objects for motion control. See the Drive Objects
chapter for information about these objects.
Parameter Object
Class Code: 0x0F
Instance: The instance number references the desired parameter. See Appendix B for a list of available para-
meters.
Description: The parameter object gives direct access to amplifier configuration parameters
Position Controller Supervisor Object
Class Code: 0x24
Instance: 1
Description: The position controller supervisor handles errors for the position controller.
Position Controller Object
Class Code: 0x25
Instance: 1
Description: The position controller object is used to set the operating mode (torque, velocity, position), con-
figure motion profiles, and initiate movement.
AKD also supports the required standard objects for EtherNet/IP communication. Typically the controller will
automatically configure these objects, and the user program will not need to directly use them:
Identity
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Message Router
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Assembly
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Connection Manager
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TCP/IP
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Ethernet Link
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Ethernet/IP Communications | 6 Communication Profile
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