Kollmorgen AKD Manual

Ethernet IP with RSLogix | 5 Adding AKD Support to a New or Existing Project
Figure 5-18: Axis Communication Output
7. Once you have configured the drive communication block, you should be able to use any of the other
AKD Add-On instructions as you would the native RSLogix instructions.
8. Repeat steps 2-4 to add a new tag to the Axis_Internal parameter of the instruction, with a data type of
AKD_Axis.
9. For more information on each instruction, see “Section 5: AKD Instructions” below.
5.4 Reading and Writing Drive Parameters
In addition to the Add-On instructions listed in this manual, almost all drive parameters can be read or set
through the use of a MSG instruction.
Appendix B provides a list of parameters which are available.
5.4.1 Read Drive Parameter
To read a parameter, create a MSG instruction with the following settings:
Field Value
Message Type CIP Generic
Service Type Parameter Read
Service Code e (Hex)
Class f (Hex)
Instance Parameter Instance from Appendix B
24 Kollmorgen | kdn.kollmorgen.com | November 2018

Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing