AKD2G vs AKD Profinet Comparison | 11 Oct 2021 | |

AKD2G vs AKD Profinet Comparison

This is a list of differences between AKD2G and AKD related to Profinet.

AKD2G	AKD
Profinet RT: “Real-Time” Velocity mode (Telegram 1) Position mode (Telegrams 7 or 9) Point to point moves (motion task)	Profinet RT: “Real-Time” Velocity mode (Telegram 1, 350, 351) Position mode (Telegram 7, 9, 352) Point to point moves (motion task)
Profinet IRT: “Isochronous Real-Time” Velocity mode (Telegram 5) Position mode (Telegram 3) Real-Time setpoint stream Update on the fly	AKD does not support IRT

AKD2G	AKD
Fastest rate: 0.25ms Dependent on PLC capability Typical 4ms for lower level PLC	Fastest rate: 8ms

AKD2G	AKD
Telegram 0 up to 16 words in each direction 16bit words 16 words for setpoints 16 words for actual values	Telegram 400 up to 12 words in each direction 16bit words 12 words for setpoints 12 words for actual values
Supplemental Telegram up to 8 words in each direction This is in addition to the standard telegram.	AKD does not support supplemental telegrams

AKD2G	AKD
Telegram 0 is free mappable Mappable via PNU’s 915 and 916 Mappable in Workbench Default mapping is based on whichever telegram was previously selected. Supplemental telegrams are free mappable	Telegram 400 is free mappable Mappable only via PNU’s 915 and 916 Default mapping is based on Telegram 9

AKD2G	AKD
Ports X11, X12 Internal IRT rated switch In/Out Interchangeable Connect into or out of either port Allows “daisy chain” for multiple devices X11/X12 have a single IP address for Profinet X20 (Service Port) and X11/X12 have separate IP addresses	Port X11 (Service Port) Single connection Single IP address Use Ethernet switch for multiple devices

AKD2G	AKD
Profinet Device Name must be assigned by PLC. Can be read in PROFINET.INFO Device Name is empty until assigned. Device Name is retained even if the drive parameters are set to factory defaults. Once assigned, the Device Name is used until it is overwritten by assigning a new name.	Profinet Device Name can be set by DRV.NAME or assigned by PLC. Can be read by PN.DEVICENAME Default Device Name is “no_name” based on the default of DRV.NAME. Device Name is reset to “no_name” when parameters are set to factory defaults. Device Name is reset to empty when resetting by PLC.

AKD2G	AKD
SIMATIC S7-1200 supports RT SIMATIC S7-1500 supports RT and IRT SIMATIC S7-1500T (Technology) supports technology objects with IRT for easier motion control setup in PLC program MC function blocks with and without technology objects Siemens function block “PD_TEL9_DrivePos” for use with Telegram 9 position control (motion tasking) Handles the state machine and motion commands	SIMATIC S7-1200 supports RT SIMATIC S7-1500 with RT only Kollmorgen function block “AKD_PN_TG400_v03” for use with Telegram 400 for position control (motion tasking) Handles the state machine and motion commands

AKD2G	AKD
MDI supported in Telegrams 9 and 0 MDI data mapped to internal registers Not mapped to a motion task Telegram data viewable in Workbench Profinet telegram screen	MDI supported in Telegrams 9, 352, 353, 400 MDI data mapped to Motion Task 0 Motion Task 0 can be seen in Workbench

AKD2G

AKD

Real-Time Jog supported in telegrams that use MDI
Supported in Telegrams 9 and 0
STW1 bit 12 starts motion, doing a Real-Time Jog move, using the MDI settings.
Jog 1 (bit 8) uses AXIS#.PROFIENT.JOG1V.
- Turning on bit 8 starts the Jog 1 move.
Jog 2 (bit 9) uses AXIS#.PROFIENT.JOG2V.
- Turning on bit 8 starts the Jog 1 move.
If any of the three jog moves are active (moving) and a different jog move is started (with bits 8, 9 , or 12), the current jog move will be terminated (stop motion) and the newly executed jog move will start.

Real-Time Jog supported in telegrams that use MDI
Supported in Telegrams 9, 352, 353, 400
STW1 Bit 12 enables Real-Time Jog feature (as an option)
If Bit 12 is ON, then bit8 or bit9 starts the Real-Time Jog using the MDI settings.
If Bit 12 is OFF, then bit 8 or bit 9 starts the regular jog move using the Service Motion settings (SM.V1 and SM.V2).
- Bit 8 starts Jog 1; Bit 9 starts Jog 2

AKD2G	AKD
Velocity Units Velocity mode: N2 Value = Desired rpm * 0x4000 / 3000 Position mode: N4 Value = Desired rpm * 0x40000000 / 3000	Velocity Units Velocity mode: N2: 2¹⁵ = 12000 rpm Position mode: N4: 2³² = 12000 rpm
Position Units Scaled via Feed Constant and Gear Ratio	Position Units Default: 2¹⁶ = 1 motor rev Scaled with PNU 1002
Accel/Decel Units N2 (2 bytes) Value = Desired rpm/s * 0x4000 / 65536	Accel/Decel Units 2¹⁶ = 50,000,000 rpm/s Scaled with PNU 1008
Current Units Value = Desired amps * 0x4000 / AXIS#.IPEAK	Current Units 2¹⁴ = DRV.IPEAK (A rms)

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