6 Communication Profile
6.1 Explicit Messaging (on-demand)
Typically, Explicit Messages are used to configure the amplifier and setup drive parameters. Explicit Mes-
sages allow you to access a single parameter value at a time. The desired parameter is selected by spe-
cifying the class object number, instance number and attribute number in an explicit message.
See chapter 2, “Overview” for an overview of Explicit versus IO Assembly messaging.
6.1.1 Supported Services
l 0x10 – Write Value
l 0x0E – Read Value
6.1.2 Supported Objects
AKD supports a number of standard and vendor-specific objects for motion control. See the Drive Objects
chapter for information about these objects.
Parameter Object
Class Code: 0x0F
Instance: The instance number references the desired parameter. See Appendix B for a list of available para-
meters.
Description: The parameter object gives direct access to amplifier configuration parameters
Position Controller Supervisor Object
Class Code: 0x24
Instance: 1
Description: The position controller supervisor handles errors for the position controller.
Position Controller Object
Class Code: 0x25
Instance: 1
Description: The position controller object is used to set the operating mode (torque, velocity, position), con-
figure motion profiles, and initiate movement.
AKD also supports the required standard objects for EtherNet/IP communication. Typically the controller will
automatically configure these objects, and the user program will not need to directly use them:
l Identity
l Message Router
l Assembly
l Connection Manager
l TCP/IP
l Ethernet Link
Ethernet/IP Communications | 6 Communication Profile
Kollmorgen | December 2014 9
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