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AKD Drive Command Source Fieldbus versus Service



The command source ( DRV.COMMANDSOURCE ) setting for the AKD drive depends on the fieldbus type and operation mode. In some cases the position command is coming directly from the master controller and in other cases the AKD drive’s internal profile generator issues the actual position command.

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DRV.COMMANDSOURCE=1 ( Fieldbus ): The command source "Fieldbus" is only used when the actual command is coming through the fieldbus.

Torque Mode

Applied Fieldbuses:

Ethernet IP

Velocity Mode

Applicable fieldbuses:

CANopen/EtherCAT

Profinet:  The correct command source to use for AKD Profinet communication depends on the operation mode (or telegram) that is being used. For Velocity Mode (Telegram 1), use "Fieldbus" mode (DRV.CMDSOURCE = 1). This is because the motion command for velocity is actually coming directly from the master controller through the fieldbus. The velocity command is not generated by the drive itself.

Position Mode

Applicable fieldbuses:

CAN and EtherCAT: in Interpolated Position mode and Cyclic Synchronous position mode.

DRV.COMMANDSOURCE=0 ( Service ): The command is coming from the internal motion profile generator.

Velocity Mode

Ethernet IP: AKD_Jog AOI controls the velocity setpoint and does not require homing.

Position Mode

Ethernet IP: Position mode only writes to the motion task.  Then the profile generator issues the actual position command. AKD_Jog AOI requires homing.

CANopen/EtherCAT: point to point positioning mode writes to the motion task and executes the motion.

Profinet: The correct command source to use for AKD Profinet communication depends on the operation mode (or telegram) that is being used. For Position Mode (Telegrams 7 or 9), use "Service" mode (DRV.CMDSOURCE = 0). If you set the AKD to "Fieldbus" mode while the drive is in Position Mode, then the Profinet control word will not fully function, allowing it to enable the drive but not start motion. Position Mode requires the command source to be in Service mode, because the actual motion command is being generated by the drive, internal to the AKD's command generator (motion tasking).

 

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