Kollmorgen AKD Manual

Ethernet IP with RSLogix | 5 Adding AKD Support to a New or Existing Project
Figure 5-20: Message Configuration | Communication
5.4.2 Write Drive Parameter
To set a parameter, create a MSG instruction with the following settings:
Field Value
Message Type CIP Generic
Service Type Parameter Write
Service Code 10 (Hex)
Class f (Hex)
Instance Parameter Instance from Appendix B
Attribute 1
Source Element Create a tag to hold the value
Source Length Parameter size from Appendix B
Communication > Path Name of the ETHERNET-MODULE for the AKDaxis. Use the Browse button.
5.4.3 Execute Drive Command Parameter
Some drive parameters are actually commands which do not take a value, but execute a drive function such
as HOME.MOVE or DRV.CLEARFAULTS. To execute a command, create a MSG instruction to write to the
command:
26 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