Example For Writing The Operation Mode - Kollmorgen AKD Manual

AKD PROFINET | 3 Installation and Setup

3.6.2 Example for Writing the Operation Mode

For writing the operation mode an acyclic change parameter value request needs to be send
from the IO-Controller/Supervisor to the AKD.
If the user wants to write e.g. the operation mode to position mode (DRV.OPMODE 2) over
PROFINET, the PNU 930 needs to be written with value 0x0002. The PROFIdrive base para-
meter access (see "Position Units" (➜ p. 58)) describes the procedure.
Change parameter request (Operation mode):
Byte (dec) Value (hex)
0
1
2
3
4
5
6
7
8
9
10
11
12
13
The AKD answers with a positive response without values:
Byte (dec) Value (hex)
0
1
2
3
4
5
20 Kollmorgen | kdn.kollmorgen.com | November 2018
Description
0x05 Request reference: e.g. 5
0x02 Request ID: Change parameters
0x00 Axis: 0 (the AKD parameter manager)
0x01 No of Parameter: 1
0x10 Attribute: Value
0x01 No. of Elements
0x03 PNU: 930 Operation mode
0xA2
0x00 Subindex: 0
0x00
0x42 Format: Word
0x01 No of Values: 1
0x00 Operation mode
0x02
Description
0x05 Request Ref. mirrored: e.g. 5
0x02 Response ID: Change parameters
0x00 Axis: 0 (the AKD parameter manager)
0x01 No of Parameter: 1
0x00 Format
0x00 No. of Values 0