Akd As Drive Object (Do) - Kollmorgen AKD Manual

5.2 AKD as Drive Object (DO)

The drive object contains the following items:
General state machine
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Axis control task
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Parameter manager with parameter data base
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Multiple communication channels are used for read/write data values over PROFINET IO. The drive object can
be accessed via:
Cyclic data exchange
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Acyclic data exchange
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Alarm queue (currently not supported)
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Clock synchronous operation (currently not supported)
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The cyclic data exchange includes the transmission/reception of data values like set point values (e.g. Position
set point, velocity set point or control word) and actual values (actual position value, actual velocity or status
word) between the master and the drive object. These values are called IO data and are transferred in real time.
The acyclic data is used for configuring the drive, which typically is not time critical. Each DO has an own param-
eter manager, which handles the access. The non real time channel is used for this in PROFINET IO.
The alarm queue is used for signaling the master an exception situations, which are generated through the state
machine or the axis control task itself (not supported in AKD).
The clock synchronous operation requires PROFINET IRT (conformance class C), which is currently not sup-
ported by the AKD.
AKD PROFINET | Table of Contents
Kollmorgen™ | March 2012 27