Appendix A: Supported Ethernet/Ip Objects And Attributes; Position Controller Object 0X25 - Kollmorgen AKD Manual

Ethernet IP with RSLogix | 8 Appendix A: Supported EtherNet/IP Objects and Attributes
8 Appendix A: Supported EtherNet/IP Objects and Attrib-
utes

8.1 Position Controller Object 0x25

Attribute Name
ID
(Decimal
Value)
1 Number of
Attributes
2 Attribute List Get
3 Mode
4 Position
Units
5 Profile Units Get/Set DINT
6 Target Pos-
ition
7 Target Velo-
city
8 Acceleration Get/Set DINT
9 Deceleration Get/Set DINT
10 Incremental
Position
Flag
11 Load
Data/Profile
Handshake
17 Enable
25 Torque
58 Load Data
Complete
100 Home Mode Get/Set INT
101 Home Move Set
Access Type Description
Rule
Get USINT Returns the total number of attributes supported by this
object in this device.
Array Returns an array with a list of the attributes supported by
of this object in this device.
USINT
Get/Set USINT Operating mode. 0 = Position mode(default), 1 = Velocity
mode, 2 = Torque mode.
Get/Set DINT Position Units ratio value is the number of actual position
feedback counts equal to one position unit (default 1).
Profile Units ratio value is the number of actual position
feedback counts per second or second2 equal to one velo-
city, acceleration or deceleration unit (default 1).
Get/Set DINT Specifies the target position in counts.
Get/Set DINT Specifies the Target Velocity in counts per second.
Not used yet.
Not used yet.
Get/Set BOOL Incremental Position Flag 0 := absolute, 1:= incremental.
Get/Set BOOL Used to Load Command Data, Start a Profile Move, and
indicate that a Profile Move is in progress.
Get/Set BOOL Enable Output (same as DRV.EN).
Get/Set DINT Output torque.
Get/Set BOOL Indicates that valid data for a valid I/O command message
type has been loaded into the position controller device.
See home mode section of the AKD User Manual
BOOL Initiate a home move.
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