1 Table of Contents
1 Table of Contents 3
2 About this Manual 5
3 Overview 6
4 AKD EtherNet/IP Features 7
4.1 Supported Features 7
4.2 Expected Packet Rate 7
4.3 Connection Port 7
4.4 Network Topology 7
5 Setup 8
5.1 Setting an IP Address in the Drive 8
5.2 Controller Setup 8
5.3 Setting Expected Packet Rate in the Controller 8
6 Communication Profile 9
6.1 Explicit Messaging (on-demand) 9
6.1.1 Supported Services 9
6.1.2 Supported Objects 9
6.1.3 Data Types 10
6.1.4 Error Codes 10
6.2 I/O Assembly Messaging (cyclic) 10
6.2.1 Controller Configuration 10
6.2.2 Command Assemblies 11
6.2.2.1 Command Assembly Data Structure 11
6.2.2.2 Control Word 12
6.2.2.3 Command Type 0x05 - Torque 12
6.2.2.4 Command Type 0x06 - Position Move 12
6.2.2.5 Command Type 0x07 - Jog Move 13
6.2.2.6 Command Type 0x1B - Set Attribute of Position Controller Object 13
6.2.2.7 Command Type 0x1F - Read or Write Parameter Value 13
6.2.2.8 Get Attribute 13
6.2.3 Response Assemblies 14
6.2.3.1 Response Assemly Data Structure 14
6.2.3.2 Status Word 1 14
6.2.3.3 Status Word 2 15
6.2.3.4 Response Type 0x05 - Actual Torque 15
6.2.3.5 Response Type 0x14 - Command/Response Error 15
6.2.4 Data Handshake 16
6.3 Velocity Mode 17
6.3.1 Setup Velocity Mode 17
6.3.2 Velocity Moves 17
6.4 Position Mode 17
6.4.1 Setup Position Mode 17
6.4.2 Homing 18
6.4.3 Position Moves (point to point) 18
6.4.4 Running a Stored Motion Task Sequence 18
Ethernet/IP Communications | 1 Table of Contents
Kollmorgen | December 2014 3
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