Kollmorgen AKD Basic User Manual

AKD BASIC User Guide | 3 AKDBASICLanguage
MBInfo
$MBMap32(5001, int2)
$MBMap64(5003, long1)
$MBMapfloat(5007, flt1)
End
'-------------- Main Program ------------------
-------
Main
'setup some data to be read
int2 = 262144
flt1 = 1.234
Long1 = 17179869184
End Main
Notice that address numbers have to be skipped for mapped varables larger than 16 bit. Ex: In
the program above, 5001 was assigned for a 32 bit integer and then next number available
would be 5003.
3.10.4 Drive Fault Table
The parameter MODBUS.FAULT1 to MODBUS.FAULT10 is used to read any drive fault con-
dition. The fault parameters are loaded with the AKD fault code, starting with parameter MODO-
BUS.FAULT1. DRV.CLRFAULT will reset the drive and clear out any data in
MODBUS.FAULT1 to MODBUS.FAULT10.
HMI fault tables only need to monitor MODBUS.FAULT1, but report faults, if present, in 1 to
10.
3.10.5 Drive Parameter Scaling Over Modbus
The predefined AKD velocity, position, acceleration, and deceleration parameters use the Mod-
bus scaling and do not use the “user units” configured in Workbench.
MODBUS.PSCALE
MODBUS.PIN
MODBUS.POUT
The default is 2^20 counts/ rev, 2^20 counts/sec, and 2^20 counts/sec^2
User defined variables, which have assigned Modbus address numbers, are not effected by
this scaling.
3.10.6 Special Modbus AKD Parameters
MODBUS.DIO
Bit 0 to 6 DIN.STATES
Bit 16 and 17 DOUT.STATES
MODBUS.DRVSTAT
Bit 0 Drive Active
Bit 1 STO Status
Bit 2 Pos Hw Limit
Bit 3 Neg Hw Limit
Bit 4 Pos Sw Limit
Bit 5 Neg Sw Limit
Kollmorgen™ | March 30, 2012 42

Kollmorgen AKD Basic Specifications

General

Brand	Kollmorgen
Model	AKD Basic
Category	Controller
Language	English