Kollmorgen AKD series User Manual

AKD User Guide | 22 Modbus
22.6 Write Multiple Registers (0x10)
This function code is used to write all registers of one drive parameter.
Request
Function Code 1 Byte 0x10
Starting Address 2 Bytes
0x0000-0xFFFF (see Modbus index in parameter
lists)
Quantity of Reg-
isters
2 Bytes 2 (32-bit values) or 4 (64-bit values)
Byte Count 1 Byte 2 x N*
Register Value
N* x 2
Bytes
Data
*N = Quantity of Registers
Normal Response
Function Code 1 Byte 0x10
Starting Address 2 Bytes
0x0000-
0xFFFF
Quantity of Reg-
isters
2 Bytes 2 or 4
Error Response
Function Code 1 Byte 0x90
Exception
Code
1 Byte
See Exception Response
Codes
Following is an example of setting the mode of digital input 1 (DIN1.MODE) at index 122 (0x007A) to a value of 3.
Request
Function 10
Starting Address Hi 00
Starting Address Lo 7A
Quantity of Registers Hi 00
Quantity of Registers
Lo
02
Byte Count 04
Register 122 Hi 00
Register 122 Lo 00
Register 123 Hi 00
Register 123 Lo 03
Response
Function 10
Starting Address Hi 00
Starting Address Lo 7A
Quantity of Registers Hi 00
Quantity of Registers
Lo
02
72 Kollmorgen | December 2010

Kollmorgen AKD series Specifications

General

Continuous Current	Up to 180 A
Control Modes	Position, Velocity, Torque
Communication Interfaces	EtherCAT, CANopen, Modbus TCP/IP
Feedback Options	Resolver, Encoder
Safety Features	Safe Torque Off (STO), Safe Stop 1 (SS1)
Protection Features	Overvoltage, Undervoltage, Overcurrent, Short Circuit, Overtemperature
Switching Frequency	8 kHz, 16 kHz
Ambient Temperature	0°C to 40°C
Operating Temperature	0 - 40 °C (derating may apply)
Humidity	5% to 95% non-condensing