Akd As Drive Object (Do) - Kollmorgen AKD PROFINET RT Communication Manual

6.2 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 parameter 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 gen-
erated 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 supported by the AKD.
AKD PROFINET | 6 PROFIDRIVE over PROFINET IO
Kollmorgen | December 2014 29